scholarly journals AdjustSense: Adaptive 3D Sensing System with Adjustable Spatio-Temporal Resolution and Measurement Range Using High-Speed Omnidirectional Camera and Direct Drive Motor

Sensors ◽  
2021 ◽  
Vol 21 (21) ◽  
pp. 6975
Author(s):  
Mikihiro Ikura ◽  
Sarthak Pathak ◽  
Jun Younes Louhi Kasahara ◽  
Atsushi Yamashita ◽  
Hajime Asama
Keyword(s):  
Temporal Resolution ◽  
High Speed ◽  
Measurement Range ◽  
Direct Drive ◽  
Multiple Measurement ◽  
Sensing System ◽  
Drive Motor ◽  
3D Sensing ◽  
Spatio Temporal ◽  
Conventional Systems

Many types of 3D sensing devices are commercially available and were utilized in various technical fields. In most conventional systems with a 3D sensing device, the spatio-temporal resolution and the measurement range are constant during operation. Consequently, it is necessary to select an appropriate sensing system according to the measurement task. Moreover, such conventional systems have difficulties dealing with several measurement targets simultaneously due to the aforementioned constants. This issue can hardly be solved by integrating several individual sensing systems into one. Here, we propose a single 3D sensing system that adaptively adjusts the spatio-temporal resolution and the measurement range to switch between multiple measurement tasks. We named the proposed adaptive 3D sensing system “AdjustSense.” In AdjustSense, as a means for the adaptive adjustment of the spatio-temporal resolution and measurement range, we aimed to achieve low-latency visual feedback for the adjustment by integrating not only a high-speed camera, which is a high-speed sensor, but also a direct drive motor, which is a high-speed actuator. This low-latency visual feedback can enable a large range of 3D sensing tasks simultaneously. We demonstrated the behavior of AdjustSense when the positions of the measured targets in the surroundings were changed. Furthermore, we quantitatively evaluated the spatio-temporal resolution and measurement range from the 3D points obtained. Through two experiments, we showed that AdjustSense could realize multiple measurement tasks: 360∘ 3D sensing, 3D sensing at a high spatial resolution around multiple targets, and local 3D sensing at a high spatio-temporal resolution around a single object.

Stabilization System for UAV Landing on Rough Ground by Adaptive 3D Sensing and High-Speed Landing Gear Adjustment

2021 ◽  
Vol 33 (1) ◽  
pp. 108-118
Author(s):  
Mikihiro Ikura ◽  
◽  
Leo Miyashita ◽  
Masatoshi Ishikawa
Keyword(s):  
Unmanned Aerial Vehicles ◽  
High Speed ◽  
Landing Gear ◽  
Detailed Measurement ◽  
Contact Points ◽  
Measurement Results ◽  
3D Sensing ◽  
Landing Gears ◽  
Spatio Temporal ◽  
Measurement Area

This paper proposes a real-time landing gear control system based on adaptive and high-speed 3D sensing to enable the safe landing of unmanned aerial vehicles (UAVs) on rough ground. The proposed system controls the measurement area on the ground according to the position and attitude of the UAV and enables high-speed 3D sensing of the focused areas in which the landing gears are expected to contact the ground. Furthermore, the spatio-temporal resolution of the measurement can be improved by focusing a measurement area and the proposed system can recognize the detailed shape of the ground and the dynamics. These detailed measurement results are used to control the lengths of the landing gears at high speed, and it is ensured that all the landing gears contact the ground simultaneously to reduce the instability at touchdown. In the experiment setup, the proposed system realized high-speed sensing for heights of contact points of two landing gears at a rate of 100 Hz and almost simultaneous contact on ground within 36 ms.

Motion Control of Ultra-High-Speed Manipulator with a Flexible Link Based on Dynamically Coupled Driving

2006 ◽  
Vol 18 (5) ◽  
pp. 598-607 ◽  
Author(s):  
Tomoari Maruyama ◽  
◽  
Chunquan Xu ◽  
Aiguo Ming ◽  
Makoto Shimojo
Keyword(s):  
Motion Control ◽  
High Speed ◽  
Wrist Joint ◽  
High Accuracy ◽  
Human Motion ◽  
Golf Club ◽  
Direct Drive ◽  
Flexible Link ◽  
Ultra High Speed ◽  
Drive Motor

We have developed a golf robot whose swing simulates human motion. The design concept is to realize ultra-high-speed dynamic manipulation using a dexterous mechanism. The robot consists of a shoulder joint with a high-power direct-drive motor and a wrist joint with a low-power direct-drive motor. High-speed golf swings are realized by a sort of motion control, called dynamically-coupled driving which compensates for the lack of drive in the wrist joint. In this paper a new model accounting for golf club flexibility with all parameters identified in experiments was developed. Based on this, we generated and implemented trajectories for different criteria. Experimental results confirmed the high accuracy of motion control and the feasibility of golf club flexibility in ultra-high-speed manipulation.

Development of Sensor-Less Power-Assisted System with Disturbance Observer Considering High Friction

2013 ◽  
Vol 25 (6) ◽  
pp. 1020-1028
Author(s):  
Takanori Miyoshi ◽  
◽  
Ryosuke Imai ◽  
Kazuhiko Terashima ◽  
Kanemitsu Ochiai ◽  
...  
Keyword(s):  
High Power ◽  
Disturbance Observer ◽  
High Speed ◽  
Static Friction ◽  
Force Sensor ◽  
Direct Drive ◽  
Speed Reduction ◽  
Drive Motor ◽  
Support Device ◽  
Friction Parameters

Japan has a dwindling birthrate and a rapidly aging population, which has led to an increasing number of elderly laborers. Although this has spurred development into power-assisted (PA) equipment that can reduce the physical demands, most of power assisted systems developed so far have used the force sensor, a direct drive motor, or a high power motor. The PA machine using force sensor is unable to detect and avoid obstacles that might collide with nonsensor components of the machine. The direct drive motor is too expensive for the practical use and its power tends to increase. According to Japanese law, a high power motor is not allowed to cooperate together with laborers in the factory. Thus, in this research, a sensor-less power-assisted (PA) system capable of estimating operator force based on a disturbance observer and friction correction is designed and built for a high friction production support device using a lowcapacity servo motor and a high-speed reduction ratio reducer. First, a dynamic model of a production support device is identified with specific friction parameters. Next, a sensor-less PA system is constructed that is equipped with an appropriate disturbance observer and dynamic friction correction. Moreover, the static friction issues are solved by the regular driving command. Finally, the accuracies of estimated force are examined, and the effectiveness of the constructed sensor-less PA system is verified.

Development of Table-on-Table-Type Five-Axis Machining Center: New Structure and Basic Characteristics

2011 ◽  
Vol 5 (2) ◽  
pp. 247-254 ◽  
Author(s):  
Naoshi Takayama ◽  
◽  
Hidehito Ota ◽  
Kensuke Ueda ◽  
Yoshimi Takeuchi ◽  
...  
Keyword(s):  
High Speed ◽  
Adjustment Process ◽  
Direct Drive ◽  
Rotary Axis ◽  
Advantages And Disadvantages ◽  
Machining Center ◽  
Wide Range ◽  
Drive Motor ◽  
Basic Characteristics ◽  
Five Axis

The demand for five-axis machining centers has been increasing rapidly, as companies seek “intensive processes” and “high accuracy.” However, it is generally more difficult for five-axis machining centers to achieve the same or higher accuracy than three-axis machining centers since it is necessary to have two more rotary feed axes besides the three linear feed ones. Many kinds of five-axis machining centers with various structures have been developed to date; an analysis of the advantages and disadvantages of major five-axis machining center structures was done first. As a result of this analysis, this paper focuses on the “table-on-table type” five-axis machining center. It is capable of accuracy because of its wide range of rotation for the rotary axis and its advantages in the adjustment process of the axis. and this paper proposes a five-axis machining center which has this construction. Furthermore, a new high-speed, highaccuracy, “table-on-table type” of five-axis machining center which uses a direct-drive motor for the rotary axis and a driven center of gravity for the linear axis has been developed based on this concept, and its accuracy has been verified.

scholarly journals Development of an Active High-Speed 3-D Vision System

Sensors ◽  
2019 ◽  
Vol 19 (7) ◽  
pp. 1572 ◽  
Author(s):  
Akio Namiki ◽  
Keitaro Shimada ◽  
Yusuke Kin ◽  
Idaku Ishii
Keyword(s):  
Real Time ◽  
High Speed ◽  
Vision System ◽  
Active Vision ◽  
Measurement Range ◽  
Target Object ◽  
Model Matching ◽  
Time Model ◽  
Sensing System ◽  
Position And Orientation

High-speed recognition of the shape of a target object is indispensable for robots to perform various kinds of dexterous tasks in real time. In this paper, we propose a high-speed 3-D sensing system with active target-tracking. The system consists of a high-speed camera head and a high-speed projector, which are mounted on a two-axis active vision system. By measuring a projected coded pattern, 3-D measurement at a rate of 500 fps was achieved. The measurement range was increased as a result of the active tracking, and the shape of the target was accurately observed even when it moved quickly. In addition, to obtain the position and orientation of the target, 500 fps real-time model matching was achieved.

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