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In this paper, we propose a vision-based method to estimate the pose (position and orientation) of the palm. Two sub-problems were solved in this study. One is to obtain the correspondence of the four coplanar mark points on the target object. The other is to estimate the position and orientation of the palm in the camera coordinate system. The position and orientation of the palm in the camera coordinate system can be derived by the geometric relation, which can be transformed the pose estimation problem into a Perspective-n-Point (PnP) problem. Dog-Leg (DL) algorithm is adopted to solve the PnP problem to get a higher processing speed. An experiment is conducted to verify the effectiveness of the proposed methods. The experimental results demonstrate that proposed method can obtain the position and orientation accurately and the DL algorithm can be used to solve the P4P problem faster than an existing algorithm.

Energy harvesting refers to the process of acquiring the surrounding energy and converting it into electrical energy. In this paper, a novel wind energy harvester is designed and developed based on the mechanical mechanism design with piezoelectric materials attached onto cantilever beam. It is designed to harvest wind energy from magnets interaction-induced vibration. The influences of different cantilever beams on the magnetic field performances have been analyzed by finite element analysis simulation. Different flabellum and piezoceramic materials have been compared and selected. Pivot design parameters have been determined. A prototype has been fabricated and the influences of different cantilever beams on the harvester's output have been examined. By making use of piezoelectric materials and harvesting circuits, the performance of the developed harvester device has been tested by conducting experimental testing. Future work on the harvester performance improvement has been discussed.