Abstract-In this paper, we propose an approach to track and estimate user pointing direction in 3D Space. In the area of human-robot interaction, user communicates with service robot in their daily life activities to give commands and execute the given task accordingly. Therefore, the ability of user to gives command to service robot naturally can provide an interactive user interface system for real 3D space environment. For this purpose, we aim to perform pointing gesture tracking and after that estimate the user's pointing direction. Our method of pointing direction estimation is based on 3D orientation of hand and shoulder center of user. We make comparison with our previous method to find the best hypothesis. Experimental results show the angular error for the estimation of pointing direction is successfully improved from our previous method. As a result, our natural user interface system can manipulate 3D objects in living room environment thus providing intuitive robotic service for human robot interaction.Index Terms-Human-robot interaction, pointing gesture, user tracking.
This article introduces the application of the Cuckoo Search (CS) Algorithm to tune Proportional-Integral-Derivative (PID) and Skyhook controller for the semi-active (SA) suspension system further to improve the vehicle’s ride comfort and stability. Meanwhile, the PID-CSA and Skyhook-CSA intelligent approaches have been compared to the passive suspension system. The performances of the PID controller and Skyhook controller are optimised by Cuckoo Search (CS) Algorithm, respectively. The system’s mean square error (MSE) is defined as an objective function for optimising the proposed controllers. The performance of the proposed PID-CSA and Skyhook-CSA controllers are evaluated with the passive suspension system in the form of body acceleration, body displacement, and tire acceleration. The sinusoidal road profile is set as the disturbance of this system. The percentage improvement for body acceleration and body displacement achieved about 25% for the PID-CSA controller and 1-4% for Skyhook-CSA. These simulated results reflect that the proposed controllers outperformed in comparison with other considered methods to obtain the most effective vehicle stability and ride comfort.
Magneto-rheological (MR) fluid technology has significantly developed during the past decades. The application of MR fluids has proliferated in various engineering fields with the development of MR fluid-based devices, especially MR fluid dampers. MR dampers are semi-active devices used for vibration reduction in many engineering applications. The MR dampers could offer an outstanding capability in semi-active vibration control due to excellent dynamical features such as fast response, low power consumption, and simple interfaces between electronic input and mechanical output. Modelling of MR damper is crucial in describing MR damper’s behaviour. It is critical to comprehend the dynamic behaviour of these devices, as nonlinear hysteresis is a rather complex phenomenon. The Modified Bouc-Wen model represents the MR damper mathematically since this model is capable of performing as precisely as the non-parametric model. The Modified Bouc-Wen model parameters are damper dependent and must be defined for further simulation studies before utilising the damper. Validation of MR damper experimentally is one of the tasks required to confirm the parametric model performance. The specified parameters are believed to be worthwhile for this MR damper’s use in further studies of real-time semi-active (SA) suspension systems. The small values of percentage difference for force (0.5-3.5%) indicate that the parameters implemented in the Modified Bouc-Wen model accurately portray the characteristics and behaviour of the MR damper.
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