Ultrasonic detection in robotic environments

Author

Sobral, Luis ; Johansson, R. ; Lindstedt, Gunnar ; Olsson, Gustaf

Author_Institution

Dept. of Autom. Control, Lund Inst. of Technol., Sweden

Volume

1

fYear

1996

fDate

22-28 Apr 1996

Firstpage

347

Abstract

Based on information produced by a 200 kHz ultrasonic echo device developed for robotics and other industrial purposes, a method for object identification was developed and is presented in this paper. Interpretation of the echos from the reflecting objects, complexity analysis and information extraction were made by system identification methods such as impulse response analysis and state-space realization. A clustering-type discrimination of different objects based on the echo identification result was made in a subsequent step using the least-squares method. Experimental evaluation showed that the method is effective for object recognition

Keywords

least squares approximations; object recognition; pattern classification; robots; state-space methods; transient response; ultrasonic transducers; 200 kHz ultrasonic echo device; clustering-type discrimination; complexity analysis; impulse response analysis; information extraction; least-squares method; object identification; object recognition; robotic environments; state-space realization; ultrasonic detection; Information analysis; Object recognition; Pattern analysis; Robot sensing systems; Robotics and automation; Sensor systems; Service robots; Shape; System identification; Temperature;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.503801

Filename

503801