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Human-following Control of Omnidirectional Autonomous Mobile Robot by Integrating Sensor Information |
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Takahiro Inoue(Tokyo Denki University, Japan) |
| We develop a small robot that can move in all directions and can follow people in an indoor environment. This robot has an infrared thermal sensor, a geomagnetic sensor, and five ranging sensors. In addition, by adopting an omni-wheel for the drive system, it is possible to move and enter narrow spaces. The posture control of the robot is realized by the geomagnetic sensor, and the stable straight running is achieved. In addition, we confirmed that the infrared heat sensor can measure human body temperature and show that it can be applied to human tracking control method. We define three modes according to the distance, and clarify that each mode works well in the tracking motion. |
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A Satcom On-the-move Phased-array Antenna Tracking Algorithm on Robot Operating System |
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Sheng-En Huang, Po-Hsun Chang, Xiu-Lin Lu, Jyh-Ching Juang(National Cheng Kung University, Taiwan) |
| The paper discusses the development and implementation of a satellite communication on-the-move (SOTM) algorithm for the connectivity between LEO satellites and moving vehicles on ground. The algorithm encompasses the prediction of satellite position/velocity, the determination of the motion of the vehicle, the compensation of the antenna array characteristics, and the tracking of the LEO satellite signal. The implementation on the ROS platform is also discussed and the experimental results are presented. |
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Analysis of accurate focal points and automatic method of Digital Holographic Microscopy (DHM) for obtaining an accurate 3D profile |
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Taishi Ono, Hyun-Woo Kim(Kyushu Institute of Technology, Japan), Myungjin Cho(Hankyong National University, Korea), Min-Chul Lee(Kyushu Institute of Technology, Japan) |
| Currently, Digital Holographic Microscopy(DHM) is used for researching disease diagnosis or microbes. It cannot obtain the correct 3D profile for a little noise. However, In DHM, focusing to obtain hologram images of biological cells in conventional DHM systems is entirely manual influenced by the objective lens, which makes it even more difficult to focus on the object. Therefore, in this paper, we propose the analysis of accurate focusing points using a noise map. We improved an accurate 3D profile. 3D profiles were created at the focal point by the proposed method and at the positions before and after the focal points, and evaluated for SNR. |
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A study on coherence length and interferometry in digital holographic microscopy |
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Takahiro Koga, Hyun-Woo Kim(Kyushu Institute of Technology, Japan), Myungjin Cho(Hankyong National University, Korea), Min-Chul Lee(Kyushu Institute of Technology, Japan) |
| Digital Holographic Microscopy (DHM) can display 3D profile of microscopic objects and is expected to be used in a wide range of fields. Since these fields require detailed information of the object, acquiring an accurate 3D profile is the most important. However, DHM requires several experimental equipment, and it does not define appropriate lasers for interferometer. Therefore, in this paper, we implement an experiment and find the optimum laser for the most accurate 3D profile of interferometer by comparing 3D profile. The results show that the relationship between the laser's coherence length and the optical path length of the interferometer is related to the accuracy of the 3D profile. |
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A study on spatial resolution enhancement using Real-ESRGAN in digital holographic microscopy (DHM) |
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Shuyuan Dong, Hyun-Woo Kim, Min-Chul Lee(Kyushu Institute of Technology, Japan) |
| This study introduces a novel method for improving the resolution of Digital Holographic Microscopy (DHM) images. By combining a low numerical aperture (NA) objective lens with the Real-ESRGAN algorithm, higher resolution images are achieved similar to those from higher NA lenses, maintaining cost-effectiveness. Experiments on real DHM data validate its efficacy in revealing previously finer details. This approach holds promise for cost-efficient DHM imaging, making it valuable for diverse biological and medical applications. |
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Dynamic Analysis of a Piston Air Compressor in a Railway Vehicle Using Sensor Data |
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Myeong-Joon Kim, Chul-Goo Kang(Konkuk University, Korea) |
| The study proposes a method that utilizes sensor data to monitor the compressor's operational state and analyze its performance characteristics. By collecting data such as pressure, temperature, and vibration measurements, valuable insights into the compressor's behavior are gained. Data mining and analysis techniques are employed to process and model the data, enabling the evaluation of the system's performance and identification of potential issues. The proposed dynamic analysis method contributes to enhancing safety, reliability, and maintenance practices in railway vehicles, providing early detection of anomalies and proactive identification of issues for optimal compressor performance. |
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