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Human-Centered Design and Development of an Elderly Care Robot

Human-Centered Design and Development of an Elderly Care Rob...

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international conference on robotics and Artificial Intelligence (ICRAI)

作者： Ali Sajid Muhammad Noor Sultan Muhammad Muaviz Ishfaq Ali Raza Department of Mechatronics and Control Engineering Human Centered Robotics Lab of NCRA University of Engineering and Technology Lahore Lahore Pakistan

ISBN: (数字)9798350355703

ISBN: (纸本)9798350355710

Constituting to the demographic age shift in many regions of the world, technological advancement in the care sector, to deliver quality services to the elders, is now in more demand than ever. One such advancement is the evolution of socially assistive and care robots that promise sustainable, reliable, and safe human-robot interaction to meet geriatric needs. This paper presents the design and development of Silver Companion: a geriatric care robot for the elderly. The target audience chosen for the research phase is the socially isolated elderly community of East asia and Central Europe which make up about 45% of their total elderly population. Considering the human-centered design paradigm, the technical and psychological aspects of the robot have been devised. The form and functions of the robot have been based on the product design principles. The whole development journey has been subjected to the identified elderly needs and the robot has been tested under multiple use-case scenarios, ideated for possibly fulfilling those needs. The robot has been equipped with assistive and interactive features like voice interaction, complementing micro-gestures and robot expressions, seamless navigation, and robot perception enhanced by a tilt-pan mechanism, all contributing towards making the robot capable of uplifting the well-being and quality of life of seniors.

关键词： Industries Silver Service robots Navigation Psychology Human-robot interaction Product design Reliability Older adults Geriatrics

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Form feature based generation of robot assembly paths for product variants

Form feature based generation of robot assembly paths for pr...

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IEEE international conference on Industrial Technology (ICIT)

作者： L. Horvath I.J. Rudas J.F. Bito Budapest Polytechnic John von Neumann Faculty of Informatics Budapest Hungary

Describes a model-based approach and method for robot assembly of mechanical products. The proposed method is intended to replace the conventional geometry based assembly path definition by form feature driven definition of paths. An integrated model of the considered system consists of part and assembly models of assembled product and assembly robot as well as robot process model. The authors analyzed associativities between model entities for the purpose of integrated application of the above listed partial models. A description of part geometry is defined and accessed indirectly, as a representation of form features. The feature principle has been extended to task oriented robot process model and model of robot. The proposed modeling offers an appropriate solution especially for control of robot assembly of custom demanded product variants. The paper is organized as follows. After a brief discussion of the situation of robot modeling, the present and the proposed approaches to robot assembly process planning are outlined. Following this, a computer model for planning and control of robot assembly is explained. An integrated model is proposed with extended application of the feature principle. Finally, feature driven modeling and definition of model entities as features are detailed.

关键词： Robotic assembly Assembly systems robotics and automation Shape Robot control Robot programming Mechanical products Computational geometry Process planning Application software

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Incrementally assisted kinesthetic teaching for programming by demonstration 16

Incrementally assisted kinesthetic teaching for programming ...

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ACM/IEEE international conference on Human-Robot Interaction (HRI)

作者： Martin Tykal Alberto Montebelli Ville Kyrki Aalto University Finland School of Informatics University of Skövde Sweden Department of Electrical Engineering and Automation Aalto University Finland

ISBN: (纸本)9781467383707

Kinesthetic teaching is an established method of teaching robots new skills without requiring robotics or programming knowledge. However, the inertia and uncoordinated motions of individual joints decrease the intuitiveness and naturalness of interaction and impair the quality of the learned skill. This paper proposes a method to ease kinesthetic teaching by combining the idea of incremental learning through warping several demonstrations into a common frame with virtual tool dynamics to assist the user during teaching. In fact, during a sequence of demonstrations the stiffness of the robot under Cartesian impedance control is gradually increased, to provide stronger assistance to the user based on the demonstrations accumulated up to that moment. Therefore, the operator has the opportunity to progressively refine the task's model while the robot more docilely follows the learned action. Robot experiments and a user study performed on 25 novice users show that the proposed approach improves both usability as well as resulting skill quality.

关键词： Robot kinematics Education Dynamics Trajectory Force Robot sensing systems

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A Robust Road Segmentation Method Based on Graph Cut with Learnable Neighboring Link Weights

A Robust Road Segmentation Method Based on Graph Cut with Le...

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17th international IEEE conference on Intelligent Transportation Systems & The asia-Pacific Council on Systems Engineering conference 2014

作者： Jun Yuan Shuming Tang Fei Wang Hong Zhang State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences High-Tech Innovation Engineering Center Institute of AutomationChinese Academy of Sciences Institute of Artificial Intelligence and Robotics of Xi'an Jiaotong University School of Information Engineering Minzu University of China

Road region detection is a crucial functionality for road following in advanced driver assistance systems(ADAS).To address the problem of environment interference in road segmentation through a monocular vision approach,a novel graph-cut based method is proposed in this *** novelty of this proposal is that weights of neighboring links(n-links) in a s-t graph are estimated by Multilayer Perceptrons(MLPs) rather than calculating by the neighboring contrast simply in previous graph-cut based *** n-link weights by MLPs reinforces the ability of graph-cut based road segmentation algorithms to tolerate the complex and changeable appearance of road ***,the Gentle Ada Boost algorithm is integrated into the graph-cut framework to estimate the terminal link(t-link) weights in the s-t *** are conducted to show the robustness and efficiency of the proposed method.

关键词： image A Robust Road Segmentation Method Based on Graph Cut with Learnable Neighboring Link Weights Graph

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Design of a Soft Gripper Mold for an End Effector in the automation of Sugarcane Packaging

Design of a Soft Gripper Mold for an End Effector in the Aut...

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international conference on Humanoid, Nanotechnology, Information Technology, Communication and control, Environment and Management (HNICEM)

作者： Danielle Grace D. Evangelista Rhen Anjerome R. Bedruz Ryan Rhay P. Vicerra Argel A. Bandala De La Salle University Manila Philippines

ISBN: (纸本)9781665429979

Sugarcane is one of the top three most produced agrarian crops in the Philippines. In addition to that, the country belongs to the top 10 countries in the world that is well-known for sugarcane production and reported to be the fifth producer of sugarcane in the asia Pacific Region as of 2017. In the export and distribution of the crop to both local and foreign consumers, packaging is an important part of the manufacturing process with which its efficiency and speed can be improved by using pick-and-place robots. Additionally, careful grasping must be observed in handling the crops to avoid bruising or damaging and that it must be kept at standard and optimum conditions in its travel to the consumers. Considering the ability of soft robots, the dimensions of sugarcane crops, and end effector attributes suitable for the packaging of sugarcane crops, this study aims to design a soft gripper mold for an end effector to be used in the sugarcane packaging process. The design is a rib-segmented, three-fingered gripper with pneumatic and textile layers. It is 135 mm in length, 45 mm in width, and 10 mm in height. Based on these, the researchers aim to use this design for fabrication.

关键词： Packaging Soft robotics Agriculture End effectors Grippers Standards Textiles

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An Extended Probabilistic Self-Localization Algorithm Using Hybrid Maps

An Extended Probabilistic Self-Localization Algorithm Using ...

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17th international IEEE conference on Intelligent Transportation Systems & The asia-Pacific Council on Systems Engineering conference 2014

作者： Tianyi Li Ming Yang Liuyuan Deng Yong He Chunxiang Wang Department of Automation Shanghai Jiao Tong UniversityKey Laboratory of System Control and Information ProcessingMinistry of Education of China Research Institute of Robotics Shanghai Jiao Tong University

Map-matching algorithms integrated with GPS/DR are widely used for high precise self-localization in everyday ***,GPS signal is not available in many places,*** or jammed signals.A state-of-theart solution is a GPS-free map-matching algorithm with a probabilistic model as well as an efficient approximate inference *** that algorithm is computationally efficient,it still puts high demands on the computation and driving *** paper adopts the model and presents an extended probabilistic self-localization algorithm using hybrid maps which include terrain maps and road network *** show that the extended probabilistic algorithm enhances the real-time performance and relaxes the requirement of the shape of the *** proposed vehicle self-localization algorithm meets positioning requirements of ITS and it can provide references for actual use of map-matching algorithm in ITS.

关键词： GPS Map An Extended Probabilistic Self-Localization Algorithm Using Hybrid Maps Hybrid

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Development of an imitation behavior in humanoid Kenta with reinforcement learning algorithm based on the attention during imitation

Development of an imitation behavior in humanoid Kenta with ...

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IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： T. Yoshikai N. Otake I. Mizuuchi M. Inaba H. Inoue dept. Mechano-Informatics University of Tokyo Tokyo Japan

Since an environment or body states of robots are very changeable, robotic imitation systems should have ability to develop their behaviors by themselves. For the development of the imitation behaviors, we assume that attention during imitation is the key information. In order to realize such imitation systems with evolving ability, the idea of reinforcement learning system based on the attention structure during imitation has been presented in this paper. First, for describing the attention during imitation behaviors, we define the term 'sensor-action attention pair' as the pair of the most important sensor information and the focused body parts during that behavior. Second, we introduce R-learning, the reinforcement learning method for continual tasks such as imitation behaviors. Third, the method to design the state-action space and the reward function based on the sensor-action attention pair is proposed. At last, for the confirmation of the function of the proposed imitation behavior system, we have done some experiments using actual humanoid Kenta. In those experiments, Kenta can develop imitation behavior that imitates the hand position of the human.

关键词： Learning Humans robotics and automation Intelligent robots Sensor phenomena and characterization Design methodology Robust control Automatic control control systems Uncertainty

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A novel modular climbing caterpillar using low-frequency vibrating passive suckers

A novel modular climbing caterpillar using low-frequency vib...

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IEEE/ASME (AIM) international conference on Advanced Intelligent Mechatronics

作者： H. X. Zhang J. Gonzalez-Gomez S.Y. Chen W. Wang R. Liu D. Li J. W. Zhang Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany School of Engineering Universidad Autonoma de Madrid Spain Department of Informatics University of Hamburg Germany College of Information Engineering Zhejiang University of Technology Hangzhou China Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China

This paper presents a novel modular climbing caterpillar named ZC-I. After a related survey on the topic, a systematical summarizing on basic functions provided by this system is given. ZC-I features fast-building mechanical structure and low-frequency vibrating passive attachment principle. Active joints actuated by RC servos endow the connecting modules with the ability of changing shapes in two dimensions. After that the discussion focuses on the various locomotion capabilities. Linear movement, turning movement, lateral movement, rotating and rolling movement are achieved based on an inspired control model to produce rhythmic motion. In the end a conclusion and future work are given.

关键词： Climbing robots Prototypes Kinematics Servomechanisms Joining processes Shape Adhesives Electromagnetic forces Electromagnets Mobile robots

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Auto-generated control Program in Mobile Robot using Grammatical Evolution 22

Auto-generated Control Program in Mobile Robot using Grammat...

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Proceedings of the 8th international conference on robotics and Artificial Intelligence

作者： Firdaus Sukarman Eisuke Kita Graduate School of Informatics Nagoya University Japan

ISBN: (纸本)9781450397544

Complexity of robot control program is become a problem as variety of robot used today is dramatically increased due to demand of automation. Several studies has been made using GE to solve robot tasks but application in actual environment is still lack of proof. In this research, auto-generated control program using Grammatical Evolution (GE) is proposed to resolve the burden of constructing manually adjusted control program that consider both physical condition of robot and input from sensors. Grammatical Evolution (GE) is a genetic programming that map genotype to phenotype using predetermined grammar. As GE is subset to Genetic Programming which produce heuristics solution, the grammar-based algorithm enable the search range evolve in a set of rules. This search strategy can be applied to build the structure of control program which consists of multiple sets of program blocks with adjustable parameter. This system is evaluated using Santa Fe Trail problem with open world configuration. The results show the usability of the algorithm by manipulating crossover and mutation rates. Another important factors that effect the performance of the algorithm is the grammar that can govern the evolution of the control program. The proposed method able to generate control automatically with sets of rules determined using grammar.

关键词： Grammatical Evolution (GE) Context-based Knowledge BNF Grammar

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Design Documentation Agreement Automated System with Approving Person Intelligent Support

Design Documentation Agreement Automated System with Approvi...

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international Russian Smart Industry conference (SmartIndustryCon)

作者： Viktoriya Latypova The Faculty of Informatics and Robotics Ufa University of Science and Technology Ufa Russia

The design documentation agreement procedure is one of the production process stages. The procedure is usually rather long because it demands the participation of a large group of staff, conducting the complex documentation control execution. During the agreement process errors in design documentation are identified and a review with relevant remarks to finalize it is formed, typically in manual mode. This operation is repeated until all remarks are finally eliminated. In the latter case, the design documentation agreement procedure ends. In existing research attention has been paid to automation and information support in different stages of the agreement procedure. But the issue of automatization of approving person review formation has not been given enough attention. A method of automated review formation, when agreeing on the design documentation, using text mining of approving person remarks and an automated system, implementing this method, is proposed to solve the problem. Approbation of the automated system was carried out in the agreement of design documentation on the example of design models of printed circuit boards of electronic devices for CNC machines for plasma metal cutting. The results of approbation show that the usage of an automated system allows to reduce the time of review preparation by approving persons. This in turn allows to decrease the time of the design documentation agreement process execution and the time of the manufacturing process in general.

关键词： Text mining Industries Manufacturing processes Printed circuits Metals Documentation Production

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