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Recognition of articulated robots in the RoboCup domain

Cinque L., Sangineto E., Tanimoto S.

Machine Graphics and Vision

2006

Vol. 15, No. 3/4

311-320

This paper presents a system for articulated object recognition. The system has been tested in the RoboCup domain [four-legged league], an international competition among autonomous dog-like robots playing soccer. Nevertheless, the proposed method does not depend on any specific domain, but is thought to be applicable to generic objects composed of rigid subparts linked by rotational and/or translational joints.

Adapted Morlet wavelet analysis for the rotation speed determination by series-wound motors

Wostenkuhler G.W., Liu S., Tingying L.

Systems Science

2002

Vol. 28, nr 3

85-93

Series-wound motors are widely used and they are produced in large quantities. To guarantee the quality of the motors, each motor has to be tested. The test of such a motor needs information of the rotational speed of its rotor during the test sequence. An external rotational speed sensor increases the handling time and cannot be applied to all types of motors. The rotational speed can be determined with a frequency estimation method based on the easy to measure electrical current signal at the connector. This contribution describes the adapted Morlet wavelet analysis and its application for frequency estimation. In contrast to the Fourier transform, possible frequency values of this method are not dependent on the length of the time window.