In-vitro optically aided robotics manipulation

Ching Seong Tan; Chia Loon Cheng; Kok Siang Chia

doi:10.1109/RAMECH.2011.6070505

In-vitro optically aided robotics manipulation

Ching Seong Tan^*
, Chia Loon Cheng
, Kok Siang Chia

^*Corresponding author for this work

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

Abstract

This paper demonstrates the embedded application of a novel manipulator design for field robotics applications, specifically for underwater robotics applications. The In-Vitro Optically Aided Robotic Manipulation (IVOARM) constitutes a blind grasping concept using two anthropomorphic fingers with the aid of the directional force sensors and infra-red sensors mounted on it. This design is potentially useful in underwater marine sample manipulation tasks as it includes non-contact and contact based sensing at the finger tips. This manipulator is controlled by an embedded system with high DSP compatibility. The infra-red sensors are mounted on the surface of the finger gripper to detect the presence of the object in the area of the grasping. Our finding shows that the infra-red sensor is capable of differentiating the water condition due to temperature effect. The size and centroid of the object is determined with the aid of the in-vitro embedded infra-red sensors. We proposes a centroid estimation algorithm to determine the size and initiate the grasping configuration of the object. The results of the object size determination using the IVOARM is presented.

Original language	English
Title of host publication	Proceedings of the 2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011
Pages	326-331
Number of pages	6
DOIs	https://doi.org/10.1109/RAMECH.2011.6070505
Publication status	Published - 2011
Externally published	Yes
Event	2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011 - Qingdao, China Duration: 17 Sept 2011 → 19 Sept 2011

Publication series

Name	IEEE Conference on Robotics, Automation and Mechatronics, RAM - Proceedings
ISSN (Print)	2158-219X

Conference

Conference	2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011
Country/Territory	China
City	Qingdao
Period	17/09/11 → 19/09/11

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 14 Life Below Water

ASJC Scopus subject areas

Artificial Intelligence
Control and Systems Engineering
Electrical and Electronic Engineering
Mechanical Engineering

Access to Document

10.1109/RAMECH.2011.6070505

Cite this

@inproceedings{7487e28c15204a418c8d239c52bbb00d,

title = "In-vitro optically aided robotics manipulation",

abstract = "This paper demonstrates the embedded application of a novel manipulator design for field robotics applications, specifically for underwater robotics applications. The In-Vitro Optically Aided Robotic Manipulation (IVOARM) constitutes a blind grasping concept using two anthropomorphic fingers with the aid of the directional force sensors and infra-red sensors mounted on it. This design is potentially useful in underwater marine sample manipulation tasks as it includes non-contact and contact based sensing at the finger tips. This manipulator is controlled by an embedded system with high DSP compatibility. The infra-red sensors are mounted on the surface of the finger gripper to detect the presence of the object in the area of the grasping. Our finding shows that the infra-red sensor is capable of differentiating the water condition due to temperature effect. The size and centroid of the object is determined with the aid of the in-vitro embedded infra-red sensors. We proposes a centroid estimation algorithm to determine the size and initiate the grasping configuration of the object. The results of the object size determination using the IVOARM is presented.",

author = "Tan, \{Ching Seong\} and Cheng, \{Chia Loon\} and Chia, \{Kok Siang\}",

year = "2011",

doi = "10.1109/RAMECH.2011.6070505",

language = "English",

isbn = "9781612842509",

series = "IEEE Conference on Robotics, Automation and Mechatronics, RAM - Proceedings",

pages = "326--331",

booktitle = "Proceedings of the 2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011",

note = "2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011 ; Conference date: 17-09-2011 Through 19-09-2011",

}

Tan, CS, Cheng, CL & Chia, KS 2011, In-vitro optically aided robotics manipulation. in Proceedings of the 2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011., 6070505, IEEE Conference on Robotics, Automation and Mechatronics, RAM - Proceedings, pp. 326-331, 2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011, Qingdao, China, 17/09/11. https://doi.org/10.1109/RAMECH.2011.6070505

In-vitro optically aided robotics manipulation. / Tan, Ching Seong; Cheng, Chia Loon; Chia, Kok Siang.
Proceedings of the 2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011. 2011. p. 326-331 6070505 (IEEE Conference on Robotics, Automation and Mechatronics, RAM - Proceedings).

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

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AB - This paper demonstrates the embedded application of a novel manipulator design for field robotics applications, specifically for underwater robotics applications. The In-Vitro Optically Aided Robotic Manipulation (IVOARM) constitutes a blind grasping concept using two anthropomorphic fingers with the aid of the directional force sensors and infra-red sensors mounted on it. This design is potentially useful in underwater marine sample manipulation tasks as it includes non-contact and contact based sensing at the finger tips. This manipulator is controlled by an embedded system with high DSP compatibility. The infra-red sensors are mounted on the surface of the finger gripper to detect the presence of the object in the area of the grasping. Our finding shows that the infra-red sensor is capable of differentiating the water condition due to temperature effect. The size and centroid of the object is determined with the aid of the in-vitro embedded infra-red sensors. We proposes a centroid estimation algorithm to determine the size and initiate the grasping configuration of the object. The results of the object size determination using the IVOARM is presented.

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In-vitro optically aided robotics manipulation

Abstract

Publication series

Conference

UN SDGs

ASJC Scopus subject areas

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