Title :
SWU-OFDB: A database for occluded face detection research
Author :
Mitsantisuk, Chowarit ; Ohishi, Kiyoshi
Author_Institution :
Dept. of Electr. Eng., Kasetsart Univ., Bangkok, Thailand
Abstract :
This research focuses on the high bandwidth force sensation for haptic transmission with low noise disturbance. A Kalman-filter-based state observer (KFSO) has been designed to estimate action/reaction force of the master and slave robots. The stable control loop can be obtained when a KFSO is implemented as the feedforward control for a disturbance torque compensation loop. Moreover, this paper also deals with the construction of multilateral control with the use of modal space design provided by the calculation of Hadamard matrix. With such a robust force control scheme, significant high bandwidth haptic sensing in a multilateral control can be achieved. It is possible to provide high transparency and good perception of the environmental stiffness with multi-robot system. Under noisy conditions, a high performance of the position control and force control can be achieved by applying the Kalman filtering. The simulation results are provided to illustrate the performance of the proposed algorithms.
Keywords :
Hadamard matrices; Kalman filters; feedforward; observers; position control; telerobotics; Hadamard matrix; KFSO; Kalman-filter-based state observer; disturbance torque compensation loop; feedforward control; haptic transmission; high bandwidth force sensation; master robots; modal space design; multilateral control; multirobot system; position control; reaction force estimation; robust force control scheme; slave robots; stable control loop; teleoperated robot; Acceleration; Cameras; Force; Iron; Microphones; Multi-views Occluded Face; Occluded Face Database; Occluded Face Detection;
Conference_Titel :
Electrical Engineering Congress (iEECON), 2014 International
Conference_Location :
Chonburi
DOI :
10.1109/iEECON.2014.6925960