Fraktal Eğimden Arındırılmış Dalgalanma Analizi ile Yüzey Dokularının Sınıflandırılması

Year 2025, Volume: 10 Issue: 2, 134 - 143, 01.12.2025

Cemil Kılıç , Ömer Faruk Alçin , Muzaffer Aslan

Abstract

Dokunsal algılama, robotlara ve protezlere nesne tanıma, hassas manipülasyon, doğal etkileşim gibi yetenekler kazandırır. Dokunsal geri bildirim, fiziksel temas yoluyla bireylere dış çevreleri hakkında sürekli olarak hayati bilgiler sağlayarak önemli bir rol oynar. Bu nedenle, insan dostu biyomimetik elektronik ve esnek cihazlardaki hızlı gelişmeler, robotların özellikle tekstil gibi malzemeler için yerel geometri ve doku gibi malzeme özelliklerini ayırt etmelerini sağlar. Bu makalede, dokunsal sinyallere dayalı yüzey doku sınıflandırması için yeni bir yöntem önerilmiştir. Önerilen yöntemde, öncelikle 3 eksenli ivmeölçer (X, Y, Z) dokunsal sinyalleri ve mikrofon sinyalleri, örtüşmeyen kayan pencere yaklaşımı ile veri çoğaltma işlemine tabi tutulmuştur. Durağan olmayan zaman serilerinin kuvvet yasasının uzun vadeli korelasyonlarını araştırmak için etkili bir yöntem olan Fraktal Eğimden Arındırılmış Dalgalanma Analizi (F-EADA) ile öznitelik çıkarımı yapılmıştır. Son aşamada, yaygın olarak tercih edilen makine öğrenme algoritması olan Destek Vektör Makinası (DVM) ile ivmeölçer ve mikrofon sinyallerinden elde edilen öznitelikler ayrı ayrı ve birleştirilerek dokuların sınıflandırılması gerçekleştirilmiştir. Deneysel sonuçlar, pencere uzunluğu 1saniye olarak seçildiğinde ivmeölçer verilerinde %82,91, mikrofon verilerinde %98,33 ve her iki sensöre ait verilerin birlikte kullanımında ise %99,16 oranında sınıflandırma doğruluğu elde edilmiştir. Literatürdeki çalışmalar ile kıyaslandığında mikrofon verilerinde %12,08 ve ivmeölçer-mikrofon verilerinin birleştirilmesinde %0,56 daha yüksek sınıflandırma performans elde edilmiştir.

Keywords

Dokunsal sensör , F-EADA , Yüzey dokuları tanıma , DVM.

Surface Textures Classification with Fractal Detrended Fluctuation Analysis

Abstract

Tactile perception provides robots and prosthetics with capabilities such as object recognition, precise manipulation, and natural interaction. Tactile feedback plays an important role by continuously providing individuals with vital information about their external environment through physical contact. Therefore, rapid developments in human-friendly biomimetic electronics and flexible devices enable robots to distinguish material properties such as local geometry and texture, especially for materials such as textiles. In this paper, a new method for surface texture classification based on tactile signals is proposed. In the proposed method, firstly, 3-axis accelerometer (X, Y, Z) tactile signals and microphone signals are subjected to data augmentation with a non-overlapping sliding window approach. Feature extraction is performed with Fractal Detrended Fluctuation Analysis (FDFA), which is an effective method for investigating long-term correlations of power law of non-stationary time series. In the last stage, the textures were classified by using the Support Vector Machine (SVM), a widely preferred machine learning algorithm, using features obtained from accelerometer and microphone signals separately and combined. Experimental results show that when the window length is selected as 1 second, 82.91% classification accuracy is achieved for accelerometer data, 98.33% for microphone data, and 99.16% for the combined use of data from both sensors. Compared to studies in literature, 12.08% higher classification performance is achieved for microphone data and 0.56% higher classification performance is achieved when accelerometer-microphone data are combined.

Keywords

Tactile sensor , FDFA , Surface textures recognition , SVM

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