Please use this identifier to cite or link to this item: https://hdl.handle.net/1822/4392

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dc.contributor.authorFonseca, Jaime C.-
dc.contributor.authorMartins, Júlio S.-
dc.contributor.authorCouto, Carlos-
dc.date.accessioned2006-02-08T17:49:40Z-
dc.date.available2006-02-08T17:49:40Z-
dc.date.issued2005-11-06-
dc.identifier.citationANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 31, Raleight, North Carolina, 2005 – “IECON 2005 : proceedings”. [S.l.]: Garard Enterprises, Inc., [2005]. ISBN 0-7803-9253-1. p. 2005-2010.eng
dc.identifier.isbn0-7803-9253-1-
dc.identifier.issn1553-572Xpor
dc.identifier.urihttps://hdl.handle.net/1822/4392-
dc.description.abstractThis paper presents multisensor fusion techniques for the acquisition of the profile of surfaces with minimum error using low cost ultrasonic sensors. These surfaces are composed by areas with different depths, corners and specular surfaces. To minimize the constraints of sonar sensors, it was developed dedicated software and hardware, as well as an empirical model was obtained from real data. This model is based in two proposed concepts: Points of Constant Depth (PCD) and Areas of Constant Depth (ACD). Having this sonar model in mind, four sensor fusion techniques are used separately to validate the PCDs and decide the ACDs: average and variance, a simplified kalman filter and heuristic method based in rules. In this work a PUMA 560 manipulator was equipped with a CCD video camera and four ultrasonic sensors on the wrist, to acquire data for internally representation of the geometry of the part’s surface, exploiting the mobility of the robot. The CCD camera defines the working area while the ultrasonic sensors enable the acquisition of the surface profile.eng
dc.language.isoengeng
dc.publisherIEEEpor
dc.rightsopenAccesseng
dc.subjectKalman filtereng
dc.subjectProfile surfaceeng
dc.subjectUltrassonic sensorseng
dc.titleA kalman filter for validate points and areas of constant depth in the acquisition of the profiles surfaceseng
dc.typeconferencePapereng
dc.peerreviewedyeseng
oaire.citationStartPage2005por
oaire.citationEndPage2010por
oaire.citationVolume2005por
dc.identifier.doi10.1109/IECON.2005.1569212por
dc.subject.wosScience & Technologypor
sdum.journalIEEE Open Journal of the Industrial Electronics Societypor
sdum.conferencePublicationIECON 2005: THIRTY-FIRST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3por
Appears in Collections:CAlg - Artigos em livros de atas/Papers in proceedings
DEI - Artigos em atas de congressos internacionais

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