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摘要:
Many animals possess actively movable tactile sensors in their heads,to explore the near-range space.During locomotion,an antenna is used in near range orientation,for example,in detecting,localizing,probing,and negotiating obstacles.A bionic tactile sensor used in the present work was inspired by the antenna of the stick insects.The sensor is able to detect an obstacle and its location in 3 D(Three dimensional) space.The vibration signals are analyzed in the frequency domain using Fast Fourier Transform(FFT) to estimate the distances.Signal processing algorithms,Artificial Neural Network(ANN) and Support Vector Machine(SVM) are used for the analysis and prediction processes.These three prediction techniques are compared for both distance estimation and material classification processes.When estimating the distances,the accuracy of estimation is deteriorated towards the tip of the probe due to the change in the vibration modes.Since the vibration data within that region have high a variance,the accuracy in distance estimation and material classification are lower towards the tip.The change in vibration mode is mathematically analyzed and a solution is proposed to estimate the distance along the full range of the probe.
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篇名 Distance Estimation and Material Classification of a Compliant Tactile Sensor Using Vibration Modes and Support Vector Machine
来源期刊 仪器仪表学报:英文版 学科 工学
关键词 VIBRATION based active TACTILE sensor Artificial Neural Network Support vector machines DISTANCE estimation VIBRATION MODES Euler-Bernoulli beam element
年,卷(期) 2019,(1) 所属期刊栏目
研究方向 页码范围 34-47
页数 14页 分类号 TP212
字数 语种
DOI
五维指标
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研究主题发展历程
节点文献
VIBRATION
based
active
TACTILE
sensor
Artificial
Neural
Network
Support
vector
machines
DISTANCE
estimation
VIBRATION
MODES
Euler-Bernoulli
beam
element
研究起点
研究来源
研究分支
研究去脉
引文网络交叉学科
相关学者/机构
期刊影响力
仪器仪表学报:英文版
季刊
2095-7521
10-1206/TH
北京市
出版文献量(篇)
134
总下载数(次)
0
总被引数(次)
0
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