scholarly journals Research on Decoupling of Parallel Six-Axis Force/Torque Sensor Based on an Independent Component Analysis

Symmetry ◽  
2021 ◽  
Vol 13 (2) ◽  
pp. 172
Author(s):  
Zhijun Wang ◽  
Lu Liu ◽  
Kai Wang ◽  
Jing He ◽  
Zhanxian Li
Keyword(s):  
Independent Component Analysis ◽  
Structural Model ◽  
Component Analysis ◽  
Independent Component ◽  
Test Results ◽  
Torque Sensor ◽  
Loading Test ◽  
Decoupling Method ◽  
Test Platform ◽  
Static Loading Test

This study proposes a parallel six-axis force/torque sensor decoupling method based on an independent component analysis (ICA), and the experimental platform is built for experimental exploration. First of all, the structural model and mathematical model of the parallel six-axis force/torque sensor are introduced, which is composed of single-dimensional force sensors with central symmetry. Secondly, the test prototype was developed and a test platform was built to perform online static loading test on the sensor, and the test results were analyzed. Finally, the ICA-based dynamic decoupling study of the sensor is carried out, the effectiveness and rationality of the proposed algorithm are proved. The research results of this paper have certain reference values for the further study of the decoupling of parallel six-axis force/torque sensors.

Skin Chromophore Estimation from Mobile Selfie Images using Constrained Independent Component Analysis

2020 ◽  
Vol 2020 (14) ◽  
pp. 357-1-357-6
Author(s):  
Luisa F. Polanía ◽  
Raja Bala ◽  
Ankur Purwar ◽  
Paul Matts ◽  
Martin Maltz
Keyword(s):  
Independent Component Analysis ◽  
Spectral Reflectance ◽  
Source Separation ◽  
Principal Component ◽  
Component Analysis ◽  
Previous Method ◽  
Independent Component ◽  
Light Transport ◽  
Camera Model ◽  
Constrained Independent Component Analysis

Human skin is made up of two primary chromophores: melanin, the pigment in the epidermis giving skin its color; and hemoglobin, the pigment in the red blood cells of the vascular network within the dermis. The relative concentrations of these chromophores provide a vital indicator for skin health and appearance. We present a technique to automatically estimate chromophore maps from RGB images of human faces captured with mobile devices such as smartphones. The ultimate goal is to provide a diagnostic aid for individuals to monitor and improve the quality of their facial skin. A previous method approaches the problem as one of blind source separation, and applies Independent Component Analysis (ICA) in camera RGB space to estimate the chromophores. We extend this technique in two important ways. First we observe that models for light transport in skin call for source separation to be performed in log spectral reflectance coordinates rather than in RGB. Thus we transform camera RGB to a spectral reflectance space prior to applying ICA. This process involves the use of a linear camera model and Principal Component Analysis to represent skin spectral reflectance as a lowdimensional manifold. The camera model requires knowledge of the incident illuminant, which we obtain via a novel technique that uses the human lip as a calibration object. Second, we address an inherent limitation with ICA that the ordering of the separated signals is random and ambiguous. We incorporate a domain-specific prior model for human chromophore spectra as a constraint in solving ICA. Results on a dataset of mobile camera images show high quality and unambiguous recovery of chromophores.

Exploring Independent Component Analysis for GPR Signal Processing

PIERS Online ◽  
2005 ◽  
Vol 1 (6) ◽  
pp. 750-753 ◽  
Author(s):  
Anxing Zhao ◽  
Yansheng Jiang ◽  
Wenbing Wang
Keyword(s):  
Signal Processing ◽  
Independent Component Analysis ◽  
Component Analysis ◽  
Independent Component
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