Innchyn Her

National Sun Yat-sen University | NSYSU · Department of Mechanical and Electro-Mechanical Engineering

This paper presents a morphological image processing operation for hexagonally sampled images and proposes a new edge detection method for these images by using a grayscale morphology. This is achieved by applying morphological gradient operators and multiscale top-hat transformations (white and black top-hat transformations) to hexagonal images. T...

The offset between the center lines of the polished end-face and the fiber core has a significant effect on coupling efficiency. The initial contact point and the contact force are two of the most important parameters that induce the offset. This study proposes an image assistant method to find the initial contact point and a mathematical model to...

An intelligent walking strategy is vital for multilegged robots possessing no a priori information of an environment when traversing across discontinuous terrain. Six-legged robots outperform other multilegged robots in static and dynamic stability. However, hexapods require careful planning to traverse across discontinuous terrain. A hexapod walki...

This paper proposes a new edge-detection and noise-removal method for hexagonally sampled images by using binary morphology edge detection on hexagonally sampled images. This is achieved by applying binary morphological operators on hexagonal images. This approach presents a framework for conversion of hexagonally sampled images and processing to d...

This study evaluates a biomechanical design concept of the tibiofemoral (TF) joint by using a four-bar linkage (FBL) mechanism on a sagittal plane in order to accurately simulate the motion of the human knee. Also included are the design objectives and parameters of both the endo- and exo-prostheses of the knee, both of which derive from TF charact...

Traditionally images are digitized, processed and displayed in a rectangular grid. But rectangular grid has many inherent ambiguities such as continuity, inter-pixel distance, etc. These ambiguities restrict rectangular grid to obtain optimal results in image processing. This study considers a particular topic of grayscale morphology image processi...

Tooth implants have been developed for a long-term, a valid non-ionized technique for access jaw bone before implant surgery is still lacking. In this research a fresh porcine jaw bones have been used to simulate jaw bone and uses the speed of the ultrasound for quantitative measurement. The conventional buccal-lingual direction is different our me...

The quantitative use of UTV (Ultrasound Transmission Velocity) on the calcaneus (i.e., the heel bone) to assess osteoporosis has been widely used in clinical practice and investigation. However, most existing commercial instruments are bulky and the measurement is largely under the assumption that the thickness of the heel bone is fixed. Moreover,...

This research investigates analytical analysis and synthesis problems of force-input and coupler-driven four-bar linkages. Very little bibliography can be found of this type of mechanism in contrast to the conventional torque-input crank-driven four-bars. Traditional four-bar mechanisms use the adjacent links jointed to the ground as input/output l...

This paper presents a modularized anthropomorphic robotic hand that requires fewer actuators to control its total degrees of freedom. Two types of fingers were derived from a single kinematic inversion of the Watt six-bar chain, each then transformed into a seven-bar mechanism by adding a pivoting ground link. Both finger mechanisms are operated wi...

Natural multiped gaits are believed to evolve from countless generations of natural selection. However, do they also prove to be better choices for walking machines? This paper compares two surefooted gaits, one natural and the other artificial, for six-legged animals or robots. In these gaits four legs are used to support the body, enabling greate...

Multiped robots have become the focus of heated discussion lately, especially in applications involving rescue or military missions and underwater or extra-terrestrial explorations. The surroundings concerned are harsh and hazardous terrains, and predictably the malfunction rate is high. What if a leg is irreparably damaged? The original gait can n...

The adaptive gait planning is an important aspect for walking robot traversing on rough terrain. Hexapod robot is robust among all legged robots walking over rough terrain. For rough terrain, many studies have been performed on robot vision system to recognize the surrounding terrain. But those studies are based on simple rule of forbidden walking...

While there have been ample amount of publication on traditional four-bar transmission characteristics, little is found in the field relating to the transmission of a singular type of four-bar, namely, the force-input, coupler-driven variety. In contrast to the conventional torque-input, crank-driven four-bars, the use of this new category of linka...

Generally, it is claimed that hexapod walking robots are superior to others. However, in some conditions hexapod suffers from stability problems. To solve the problem of stability, this paper proposes a new gait model of hexapod robot named offset model and also investigates the effects of morphological factor of hexapod robots on their locomotion....

As information technologies have advanced greatly in the recent years, the security problem of information networks becomes all the more important. As a result, biometric identification techniques have been given considerable attention. Fingerprint-related techniques, due to their desirable properties, e.g., universality, perpetuity, collectability...

Background: Natural multiped gaits are believed to evolve from countless generations of natural selection. However, do they also prove to be better choices for walking machines? This paper compares two surefooted gaits, one natural and the other artificial, for six-legged animals or robots. Method of approach: In these gaits four legs are used to...

There are just too many trademarks out there so that a good automated retrieval system is required to help to protect them from possible infringements. However, it is from people, i.e., the general consumers\' viewpoint how similar or confusing two trademarks can be. Thus, in this paper we propose a hybrid system where we patently incorporate human...

This paper describes an approach to lowresolution image processing, in particular, contour recognition. The concept of hexagonal grid for low resolution image processing has already been investigated, and found several advantages. One of them is biologically inspired hexagonal mosaic of insect’s low resolution vision system, which renewed interest...

In modern day, from planetary exploration, disaster response to antiterrorism mission multiped robot has become the major tool. Smart robot with effective gait plan may play a significant role in such missions. But if a leg is injured, it is not possible to repair in this kind of mission. Then robot needs some alternative strategies to complete its...

This paper demonstrates the use of stabilization wedges as a tool of engineering optimization for stabilizing the Carbon dioxide via optimum strategies to reduce Carbon emission. Stabilization wedges is an approach which can find out the optimum solution of carbon emission problem. Moreover, uses of wedges tool also promoted in this paper. A partic...

In order to study the stroke rehabilitation by acupuncture stimulation at motor zone of scalp acupuncture, a tele-monitoring system for performance evaluation of motor task in functional magnetic resonance imaging (fMRI) environment is developed is this paper. Because the monitoring system needs to be magnetic-field compatible, an optical-fiber-bas...

Kinematically indeterminate linkages are those whose complete set of instant centers cannot be obtained by Kennedy's theorem. A linkage of this kind is often characterized as having no four-bar loop, or even if one exists, it does not lead to the finding of all other instant centers in the multiple-loop chain. This paper presents a simple graphical...

In the last few years, several attempts have been made to the study of object recognition under affine transformation, but all these studies have concentrated on graph isomorphism. There has not been any discussion of solving the graph homomorphism problem under affine transformation to date. Therefore, in this paper, an integrated approach, which...

Both the Hopfield network and the genetic algorithm are powerful tools for object recognition tasks, e.g., subgraph matching problems. Unfortunately, they both have serious drawbacks. The Hopfield network is very sensitive to us initial state, and it stops at a local minimum if the initial state is not properly given. The genetic algorithm, on the...

Many applications of digital image processing require the evaluation of fast Fourier transforms. Therefore, for the more conventional rectangular grid image systems, FFT algorithms have been largely developed so far. For users of hexagonal grid image systems, unfortunately, life is less easier since they generally have to write the hexagonal FFT co...

The hexagonal grid has long been known to be superior to the more traditional rectangular grid system in many aspects in image processing and machine vision related fields. However, systematic developments of the mathematical backgrounds for the hexagonal grid are conspicuously lacking. The purpose of this paper is to study geometric transformation...

In an n-dimensional space, generally, n coordinates are used in a coordinate system. Using more than n coordinates, however, is sometimes more efficient in representing discrete spaces. This paper illustrates the application of using four coordinates to describe a three-dimensional face-centered cubic (f.c.c.) lattice. By the proposed method of des...

This paper investigates resampling techniques on a pseudohexagonal grid. Hexagonal grids are known to be advantageous in many respects for sampling and representing digital images in various computer vision and graphics applications. Currently, a real hexagonal grid device is still difficult to find. A good alternative for obtaining the advantages...

This paper investigates the hexagonal tessellation of picture elements used in computer graphics and computer vision systems. Its purpose is to propose a symmetrical hexagonal coordinate frame to replace the existing oblique coordinate system. In the proposed symmetrical coordinate frame, spatial properties of the hexagonal grid such as distance fu...

Pavement texture is the controlling factor in the skid-resistance level of roadway surfaces. A noncontact high-speed method was developed to permit the collection of pavement data from a vehicle moving at highway speeds. This method combines existing designs with new processing concepts and hardware improvements. The system uses a light-sectioning...