Improved Object Detection Using a Robotic Sensing Antenna with Vibration Damping Control

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dc.authoridYaşar, Claudia Fernanda/0000-0002-8760-2359
dc.authoridFeliu-Talegon, Daniel/0000-0003-1206-0644
dc.authoridFeliu-Batlle, Vicente/0000-0002-3578-7910
dc.contributor.authorFeliu-Batlle, Vicente
dc.contributor.authorFeliu-Talegon, Daniel
dc.contributor.authorFernanda Castillo-Berrio, Claudia
dc.date.accessioned2024-09-11T19:53:10Z
dc.date.available2024-09-11T19:53:10Z
dc.date.issued2017
dc.departmentİstanbul Gelişim Üniversitesien_US
dc.description.abstractSome insects or mammals use antennae or whiskers to detect by the sense of touch obstacles or recognize objects in environments in which other senses like vision cannot work. Artificial flexible antennae can be used in robotics to mimic this sense of touch in these recognition tasks. We have designed and built a two-degree of freedom (2DOF) flexible antenna sensor device to perform robot navigation tasks. This device is composed of a flexible beam, two servomotors that drive the beam and a load cell sensor that detects the contact of the beam with an object. It is found that the efficiency of such a device strongly depends on the speed and accuracy achieved by the antenna positioning system. These issues are severely impaired by the vibrations that appear in the antenna during its movement. However, these antennae are usually moved without taking care of these undesired vibrations. This article proposes a new closed-loop control schema that cancels vibrations and improves the free movements of the antenna. Moreover, algorithms to estimate the 3D beam position and the instant and point of contact with an object are proposed. Experiments are reported that illustrate the efficiency of these proposed algorithms and the improvements achieved in object detection tasks using a control system that cancels beam vibrations.en_US
dc.description.sponsorshipSpanish Agencia Estatal de Investigacion (AEI) [DPI2016-80547-R]; European Social Fund (FEDER, EU); Ministerio de Educacion, Cultura y Deporte [FPU14/02256]en_US
dc.description.sponsorshipThis work has been supported in part by the Spanish Agencia Estatal de Investigacion (AEI) under Project DPI2016-80547-R (Ministerio de Economia y Competitividad), in part by the European Social Fund (FEDER, EU) and in part by the Spanish scholarship FPU14/02256 of the FPUProgram of the Ministerio de Educacion, Cultura y Deporte.en_US
dc.identifier.doi10.3390/s17040852
dc.identifier.issn1424-8220
dc.identifier.issue4en_US
dc.identifier.pmid28406449en_US
dc.identifier.scopus2-s2.0-85018480398en_US
dc.identifier.urihttps://doi.org/10.3390/s17040852
dc.identifier.urihttps://hdl.handle.net/11363/8086
dc.identifier.volume17en_US
dc.identifier.wosWOS:000400822900193en_US
dc.identifier.wosqualityQ2en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.language.isoenen_US
dc.publisherMdpien_US
dc.relation.ispartofSensorsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.snmz20240903_Gen_US
dc.subjectrobotic sensoren_US
dc.subjectobstacle recognitionen_US
dc.subjectsensing antennaen_US
dc.subjectflexible roboten_US
dc.subjectmotion controlen_US
dc.subjectactive vibration dampingen_US
dc.subjectimpact detectionen_US
dc.titleImproved Object Detection Using a Robotic Sensing Antenna with Vibration Damping Controlen_US
dc.typeArticleen_US

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