Browsing by Author "Ou, Song-Qing"

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A Client-Server Architecture for Object Volume Measurement on a Conveyor Belt
(2019-01-01)
Song, Kai-Tai
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Ou, Song-Qing
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Yung-Ping-Tien
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電控工程研究所
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Institute of Electrical and Control Engineering
This paper presents an object volume measurement system on a conveyor belt. A client-server architecture is proposed to obtain a flexible and efficient measurement system for object size on the conveyor belt. The client works to integrate the sensor data and convert them into three dimensional point cloud. The server is responsible for calculating the object size. A laser scanner scans the object on the conveyor belt that moves with a constant speed. We applied the trigonometric function method to integrate two-dimensional distance data form the laser scanner and encoder data of the conveyor belt to obtain three-dimensional point cloud data. A progressive morphological filter was adopted to segment the background point cloud and the object point cloud. Then a convex hull algorithm was applied to find the set of the smallest convex polygon that contains all the object point cloud. Further, we can find a rectangle which has the smallest area to determine the object size. The experimental results show that the shape of object can be square, cylindrical or irregular. When the conveyor belt speed is set at 20 cm/s, the percentage error of the object size measurement is around 5% with the laser scanner installed at 50 cm above the conveyor belt and that within 7% with the laser scanner installed at 100cm.
Navigation Control Design of a Mobile Robot by Integrating Obstacle Avoidance and LiDAR SLAM
(2018-01-01)
Song, Kai-Tai
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Chiu, Yu-Heng
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Kang, Li-Ren
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Song, Shao-Huan
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Yang, Cheng-An
This paper presents a mobile robot navigation control system based on integration of laser SLAM localization and real-time obstacle avoidance control to provide personnel guidance for daily-life services. The LiDAR SLAM localization system is implemented in a ROS software architecture, in which Cartographer SLAM is adopted and the adaptive Monte Carlo localization is employed onboard the robot. An integrated guidance system is proposed in this paper to combine obstacle avoidance and SLAM so that the robot can move to the desired location without colliding with any unexpected obstacles. A safety-weight parameter is used to integrate goal seeking controller with the obstacle avoidance controller. The experimental results show that the robot can localize itself and navigate to the target location while avoiding obstacles on the path.
Scheduling and Control of a Wafer Transfer Robot for Foundry Equipment Innovation Competition
(2019-01-01)
Song, Kai-Tai
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Ou, Song-Qing
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Yang, Cheng-An
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Sun, Yu-Xuan
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Kang, Li-Ren
This paper presents a design and implementation of a wafer transfer robotic system for a Foundry Equipment Innovation Competition. In this system, a 4-DOF robotic arm was designed and constructed for wafer transfer between a cassette and processing chambers. The purpose of this competition was to promote intelligent automation for wafer fabrication, in which multiple wafers and chambers need to be handled simultaneously. A scheduling algorithm is proposed for efficient task execution of wafer to process recipes assigned during the competition. The task also features to integrate defect detection and endpoint determination of wafer processing. The robot was required to receive the processing data from the mission platform to determine the endpoint of wafer processing in a chamber and complete the recipe automatically. The online inspection algorithm detects wafer defects during the task execution and report to the task planner. The state of each wafer and chamber are taken into consideration for scheduling in order to complete the wafer fabrication in an efficient and flexible manner. The developed robotic system spent 9 minutes to complete the assigned mission of transferring 6 wafers among multiple chambers and 2 cassettes and achieved 93.4% defect-detection rate in the competition. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.