Proceedings Article•
Pulse Induction Metal Detector Using Sample and Hold Method
19 Dec 2011-pp 45-48
TL;DR: In this paper, the authors presented the Pulse Induction Metal Detector using Sample and Hold Method (SANDM) which measured the output voltage from search coil and showed that the proposed method can detect metal with satisfied sensitivity and good linearity.
Abstract: This paper presents the Pulse Induction Metal Detector Using Sample and Hold Method. The proposed method is to measure output voltage from search coil. The system consists of the pulse generator circuit, amplifier circuit, integrator circuit, three mono-stable circuits, sample and hold circuit, comparator circuit and display circuit. The voltage output signal of the proposed technique is proportional to size, shape and type of metal target. The metal target with differential size was used in our experiment as an illustrative case study. Experimental results show that the proposed method can detect metal with satisfied sensitivity and good linearity.
Citations
More filters
Proceedings Article•
19 Dec 2011TL;DR: In this paper, the authors presented the design of the robot mechanism and the sensing algorithms for localization and elevation mapping in underground coal mine and demonstrated its feasibility as a viable aid to assist mining workers.
Abstract: The typical underground coal mine in Korea is an extremely harsh environment for workers due to high temperature, humidity, and harmful dusts. In such environment, a remotely operated robot can be of great help to alleviate the work load of miners. As a joint effort, KAIST, Hydraumatics Co., and Korea Coal Corporation have developed a mining robot and a tele-operation system to operate the robot from a safe remote place. In this paper, we present the design of the robot mechanism and the sensing algorithms for localization and elevation mapping. The robot is hydraulically powered to drive the track and the cylinders in the excavation mechanism. The robot is equipped with two cameras, two laser scanners, and many other sensors so that the human operator can perform various tasks such as shoveling and breaking at a remotely located console. The data from various sensors are fused together to provide the human operators with enhanced visual cues as well as the pose information of the robot and its boom/arm/bucket linkage. The robot has been recently deployed in an active coal mine to evaluate its effectiveness in the real environment and demonstrated its feasibility as a viable aid to assist mining workers.
22 citations
Proceedings Article•
19 Dec 2011TL;DR: Gait planning of the robot is developed such that the robot can walk with a given speed over a flat terrain while the robot center of mass remains inside the support polygon.
Abstract: In this paper, dynamics and gait planning of a quadruped robot is discussed. To this end, using Lagrangian method the equations of motion are first derived. Then, an approach is proposed to eliminate the terms corresponding to the constraints caused by the feet on the ground. The obtained dynamics model is validated using Matlab SimMechanics. Finally, gait planning of the robot is developed such that the robot can walk with a given speed over a flat terrain while the robot center of mass remains inside the support polygon. Obtained results reveal stable walking of a quadruped robot based on the proposed approach.
17 citations
01 Oct 2011
TL;DR: In this paper, a direct strain feedback (DSFB) with PID controller for vibration control of a flexible manipulator is presented, which is the main sensor used as a strain measurement for giving a feedback to the system.
Abstract: Flexible manipulator (FM) is a robotic arm that can accomplish different tasks and the arm is a lightweight type, which means at least one dimension of their cross section is relatively small compared to their length. This project presents the development of direct strain feedback (DSFB) with PID controller for vibration control of a FM system. Strain gauge is the main sensor used as a strain measurement for giving a feedback to the system. The strain measurement also has been used as a displacement sensor at the endpoint of the link. The displacement was used to observe the performance of the system. The performances of the controllers are assessed in terms of the input tracking capability (desired position) and vibration reduction as compared to original system. Finally, the DSFB with PID has been implemented to achieve the desired performance.
13 citations
Proceedings Article•
19 Dec 2011TL;DR: In this paper, a two-wheeled mobile tilting and balancing robot (MTB) can prevent unnecessary slowdowns in turning motions and increase passenger's riding feelings to validate the tilting effect.
Abstract: Two wheeled mobile balancing robot is a kind of under-actuation system that can maintain its posture and drive the robot with only two wheels In order to overcome the limitation in turning velocity due to the centrifugal force effect, this paper proposes a tilting balancing mechanism which is to offset the centrifugal force by active tilting motions The newly suggested two-wheeled mobile tilting and balancing robot (MTB) can prevent unnecessary slowdowns in turning motions and increase passenger's riding feelings To validate the tilting effect, the equation of motion of the MTB robot is derived and analyzed and the hardware design is followed
11 citations
Proceedings Article•
19 Dec 2011TL;DR: A new wheelchair control method is proposed which provides under-steering characteristic and also realizes comfortable function, i.e. driving with same easy stick operation like the traditional rear drive type wheelchair.
Abstract: Electrical wheelchair has been used as a convenient transport device for elderly and handicapped persons. Recently, front drive type electric wheelchair has been focused on, with which handicapped person get on it from a bed easily. However, the front drive type wheelchair is difficult to run straight not only on slope but also on flat floor because of its over-steering characteristic. If wheelchair can be driven by easy stick operation, it will be a comfortable function for handicap persons. In this paper, we propose a new wheelchair control method which provides under-steering characteristic and also realizes comfortable function, i.e. driving with same easy stick operation like the traditional rear drive type wheelchair. First, dynamic model of the wheelchair is outlined. Next, yaw rate control method based on internal model control (IMC) is proposed. Finally, the effectiveness of proposed method is confirmed by driving simulations on slope.
10 citations
References
More filters
29 Oct 2002
TL;DR: Techniques used to decompose the induced waveform into a summed series of exponential decays, enabling the target, vehicle and seawater to be separately measured are covered.
Abstract: The TSS 340 Pipe and Cable Tracking System was introduced in the early 1990s. Since then it has become the industry standard with nearly 200 units in use world-wide. This paper describes the fundamentals of pulse induction, the factors limiting its usability as a subsea tracking tool and the approaches taken to enhance the existing product. The paper covers techniques used to decompose the induced waveform into a summed series of exponential decays, enabling the target, vehicle and seawater to be separately measured. It also describes a simpler approach using dynamic calibration that has yielded robust results.
15 citations
05 May 2001
TL;DR: In this article, the authors compared different metal detectors (MD) technologies and the high sensitivity pulse inductive eddy current measurement method for detecting mines in low level magnetic fields immediately after high-energy magnetic pulses.
Abstract: Due to military conflicts, more than 100 million landmines are scattered all over the world. Besides the unbelievable human suffering these mines cause, mines are a strong economic and environmental problem and prevent industrial and agricultural use of land. State of the art mine detection is mainly based on metal detectors (MD). Due to military and urban metal parts like shrapnel, nails, etc., a huge number of "false alarms" make mine clearance a very time consuming and expensive task. Different MD technologies are compared, and the high sensitivity pulse inductive eddy current measurement method is presented. Measurement of low level magnetic fields immediately after high-energy magnetic pulses is presented, including the application of a high-resolution DAQ system with sample rates higher than 10/sup 6/. Test results and data analyses are presented for the time domain and the frequency domain.
10 citations
"Pulse Induction Metal Detector Usin..." refers background or methods in this paper
...Metal Detector have been widely used for mine detection, metal detection in food industry, weapon inspection, Airport security [1] [2] [3]....
[...]
...This effect is most apparent in the time it takes to reach 0V [1] [2] [3]....
[...]
Proceedings Article•
19 Dec 2011TL;DR: This paper divides the procedure of velocity field calculation into piplined stages, and executes them in parallel with a multicore computer, which reduces the calculating time, and enables more high speed optical flow estimation.
Abstract: In this paper we propose an optical flow estimation method based on parallel processing with multicore computer. The multichannel integration method refers to the method of measuring more accurate velocity field, but it takes a lot of processing time for the measurement. We divide the procedure of velocity field calculation into piplined stages, and execute them in parallel with a multicore computer. This method reduces the calculating time, and enables more high speed optical flow estimation. Experimental results show that velocity field can be measured faster than single-core processing.
9 citations