Compound eyes found in insects provide intriguing sources of biological inspiration for miniaturised imaging systems. Here, we report an ultrathin arrayed camera inspired by insect eye structures high-contrast and super-resolution imaging. The features micro-optical elements (MOEs), i.e., inverted microlenses, multilayered pinhole arrays, gap spacers on image sensor. MOE was fabricated using repeated photolithography thermal reflow. fully packaged shows a total track length 740 μm...

An algorithm has been developed for fusing 3D LIDAR (Light Detection and Ranging) systems that receive objects detected in deep learning-based image sensors object data the form of point clouds. represents a planar rectangular coordinate system with 360° representation surface, including front face. However, only direction distance can be obtained, cloud cannot used to create specific definition object. Therefore, movement tracked using probability classification algorithms based on...

Recently, unmanned surface vehicles (USV) are being actively developed. For USVs to be put practical use, it is necessary secure safety by preventing collisions with general ships. To this end, must avoid opposing vessels based on international regulations for at sea (COLREGs, 1972). This paper proposes an algorithm COLREG rules. The proposed predicts dangerous situations distance closest point of approach (DCPA) and time (TCPA). It allows opponent ships the dynamic window (DWA). DWA has...

Measuring the foot plantar pressure has potential to be an important tool in many areas such as enhancing sports performance, diagnosing diseases, and rehabilitation. In general, sensor should have robustness, durability, high repeatability, it measure due body weight. Here, we present a novel insole using highly sensitive crack-based strain sensor. The is made of elastomer, stainless steel, sensor, 3D-printed frame. Insoles are elastomer with Shore A 40, which used part distribute load...

We report an ultrathin arrayed camera (UAC) for high-contrast near infrared (NIR) imaging by using microlens arrays with a multilayered light absorber. The UAC consists of composite absorber, inverted microlenses, gap-alumina spacers and planar CMOS image sensor. absorber was fabricated through lift-off repeated photolithography processes. experimental results demonstrate that the contrast is increased 4.48 times MTF 50 2.03 eliminating optical noise between microlenses NIR successfully...

Abstract Individuals with below-knee amputation (BKA) experience increased physical effort when walking, and the use of a robotic ankle-foot prosthesis (AFP) can reduce such effort. The walking could be further reduced if robot is personalized to wearer using human-in-the-loop (HIL) optimization wearable parameters. conventional physiological measurement, however, requires long estimation time, hampering real-time due limited experimental time budget. This study hypothesized that function...

Demand for small biomimetic robots that can carry out reconnaissance missions without being exposed to the enemy in underground spaces and narrow passages is increasing order increase fighting power survivability of soldiers wartime situations. A compound eye image sensor environmental recognition has advantages such as size, low aberration, wide angle view, depth estimation, HDR be used various ways field vision. However, due lens resolution low, problem fused obtained from actual occurs....

This paper proposes a dynamic obstacle detection system for USV based on marine radar and Electronic Navigational chart (ENC), the most common navigation sensors ships. has advantage of enabling simple recognition without need to additionally mount expensive equipment. In this system, we generated two types grid maps: one is plan position indicator (PPI) images from radar, other hull information-based map extracted ENC. By accumulating images, obstacles that appear repeatedly are classified...

A variety of mission equipment is mounted and utilized on UUVs (unmanned underwater vehicles) for the development marine resources searching military purposes. For exploration a wide area, it advantageous to use towed platform, precision specific location, an active mobile ROV (remotely operated vehicles). Since TUV (towed vehicle) moves according speed towing vessel, cannot be if vessel stationary or low. Therefore, TUVs do not have that useful at low speeds, such as optical cameras forward...

This paper proposes an adaptive CPG based controller for a lower limb prosthesis consisting of online trajectory generation and interlimb coordination. The can produce multidimensional rhythmic patterns modulate their frequency by tuning relevant parameters in autonomously way adapting to changing periodicity external signals. Also, increase the stability prosthesis, spring-damper component is attached between hip ankle joints, allowing absorption impulsive ground reaction forces at landing....

Unmanned Surface Vehicle(USV) is a promising solution for missions that happened on the ocean such as patrolling, rescuing. It necessary to detect obstacles autonomous navigation. However, marine radar has some limitations, which normally used USV. Low update rates and dead band local area concerning sensors are weak points, so USV can hardly cope with close high speed. Compares radar, FMCW opposite features. Hight available obstacle detection. This paper proposes an algorithm detecting...

The present paper discusses the basic theory of an environment recognition algorithm used in unmanned surface vessels for autonomous navigation. It aims to acquire data as (x, y, z) with three-dimensional LIDAR independently and remove noise occurring during acquisition. In particular, a large number sources are generated sensors, which operated based on optics, due refraction light bubbles. Accordingly, paper, research was conducted algorithms velocity heading angle delete water waves at...

This paper presents a position control strategy for pump-controlled electro-hydrostatic actuator (EHA) using feedforward with disturbance compensation. As the observer is used to estimate nonlinear dynamics of EHA, which has valve-opening conditionals, as well external disturbances, an additional adopted achieve rapid response. The effectiveness proposed verified through experiment EHA test bench. controller shows better tracking performance compared conventional PID controller.

This paper studies the high performance robust motion control of a pump-controlled electro-hydrostatic actuation (EHA) with single-rod hydraulic actuator. Started from observation that EHA system has almost linear dynamics in small operating range, technique is taken into account. To nominalize nonlinear system, disturbance observer implemented to existing closed-loop system. Thanks that, feedforward for linearized provides rapid response. The proposed method validated via experiments.

According to the recent development of robot technology, quite big interest arises in research actuating device for a joint manipulator. In this study, compact magneto-rheological (MR) fluid brake with multi-layered disks is designed that can be used such purpose. Viscosity variation MR formulated, and torque calculated by counting both magnetic effect viscosity. The rotor multi-disks increase surface area get more torque. gap between stator properly obtained considering reluctance fluid....

Owing to environmental constraints, it is challenging stably conduct various missions or surveys of the seabed for a prolonged period in marine environment. To address this challenge, several devices and technologies are being developed. In study, we aimed develop an unmanned underwater vehicle (UUV)—specifically, towed platform—that can be loaded unloaded via joint operation with surface vehicle, which connected wired cable obtain stable power supply high-speed communication. addition,...

With the development of robot technology, expectation autonomous mission operations has increased, and research on control architectures planners continued. A scalable robust architecture is required for unmanned surface vehicles (USVs) to perform a variety tasks, such as surveillance, reconnaissance, search rescue operations, in unstructured time-varying maritime environments. In this paper, we propose along with new utility function that can be extended various applications USVs. Also, an...

Recently, autonomous navigation technology is actively being developed due to the increasing demand of an unmanned surface vehicle(USV). Local planning essential for USV safely reach its destination along paths. dynamic window approach(DWA) algorithm a well-known scheme as local path planning. However, existing DWA does not consider line tracking, and fixed weight coefficient evaluation function, which core part, cannot provide flexible all situations. Therefore, in this paper, we propose...

A submerged body with varied control inputs can execute large drift angles and of attack, as well basic such straight movement turning. The objective this study is to analyze the dynamic characteristics a comprising six thrusters planes, which capable angle attack motion. Virtual captive model tests via were analyzed computational fluid dynamics (CFD) determine body. test matrix virtual specialized for large-angle motion was established. Based on matrix, performed approximately 30° 90°,...