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undergraduate thesis
Percepcija objekta pomoću senzora sile dodira
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. urn:nbn:hr:168:079678
Krajačić, Ivona
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Krajačić, I. (2018). Percepcija objekta pomoću senzora sile dodira (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:079678

Krajačić, Ivona. "Percepcija objekta pomoću senzora sile dodira." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:079678

Krajačić, Ivona. "Percepcija objekta pomoću senzora sile dodira." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:079678

Krajačić, I. (2018). 'Percepcija objekta pomoću senzora sile dodira', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 28 August 2024, https://urn.nsk.hr/urn:nbn:hr:168:079678

Krajačić I. Percepcija objekta pomoću senzora sile dodira [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2018 [cited 2024 August 28] Available at: https://urn.nsk.hr/urn:nbn:hr:168:079678

I. Krajačić, "Percepcija objekta pomoću senzora sile dodira", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:168:079678

Metadata
TitlePercepcija objekta pomoću senzora sile dodira
Title (english)Tactile perception using soft force sensor
AuthorIvona Krajačić
MentorMatko Orsag (mentor)
Committee memberMatko Orsag (predsjednik povjerenstva)
Committee memberMarsela Polić (član povjerenstva)
Committee memberAntun Ivanović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2018-07-13, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Glavna komponenta ovog rada je prikaz algoritma detekcije ruba objekta temeljenog na Bayesovoj analizi kao jedan od ključnih načela prepoznavanja objekta. Osnovno sredstvo s kojim se postiže realizacija ovog algoritma je senzor dodira TacTip, čije su osnovne komponente i način rada također objašnjeni. TacTip omogućuje dobivanje reprezentne slika, za svaki kut i radijalan pomak r, koji opisuju odnos senzora i ruba objekta, a čija kombinacija definira modele za razvoj i testiranje algoritma detekcije ruba. Slike modela dobivene TacTip-om, neuronskom mrežom su pretvorene u jedinstvene numeričke vrijednosti,koje su pogodne za rad sa razvijenim Python skriptama. Ovakvim nalčinom rada, nepoznat ulaz seta podataka klasificira se u jedan od poznatih modela, tj. kombinacija kuta fi i pomaka r.
Abstract (english)
As a key principle in object detection, a Bayesian analysis based edge detection algorithm is in the focus of this thesis. The edge detection algorithm relies on the data provided by a tactile sensor TacTip, whose basic components and functionality are described in the thesis. TacTip provides sensory data for each combination of an angle theta and radial displacement r, which describe spatial relation of the sensor and object edge. Each combination of the angle and the displacement is considered a distinct class in edge detection classification problem. The sensory data acquired in the form of an image is encoded using a neural network into a feature array of lower dimensionality. Using the developed method, an unknown sensory reading can be classified into one of the models described by angle theta and displacement r.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:079678
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2019-03-13 21:53:59