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IEEE International Symposium on robot and Human Interactive Communication

作者： Minchul Shin Munsang Kim Dong-Soo Kwon Department of Mechanical Engineering and Human-Robot Interaction Research Center Korea Advanced Institute of Science and Technology (KAIST) Daejeon 305-701 Republic of Korea KIST South Korea Department of Mechanical Engineering and Human-Robot Interaction Research Center KAIST Daejeon 305-701 Republic of Korea

ISBN: (纸本)9781509039302

We present a baseline convolutional neural network (CNN) structure and image preprocessing methodology to improve facial expression recognition algorithm using CNN. To analyze the most efficient network structure, we investigated four network structures that are known to show good performance in facial expression recognition. Moreover, we also investigated the effect of input image preprocessing methods. Five types of data input (raw, histogram equalization, isotropic smoothing, diffusion-based normalization, difference of Gaussian) were tested, and the accuracy was compared. We trained 20 different CNN models (4 networks × 5 data input types) and verified the performance of each network with test images from five different databases. The experiment result showed that a three-layer structure consisting of a simple convolutional and a max pooling layer with histogram equalization image input was the most efficient. We describe the detailed training procedure and analyze the result of the test accuracy based on considerable observation.

关键词： Face Face recognition Training Feature extraction Face detection Image recognition Histograms Facial Recognition histograms Image recognition Feature extraction Face Face Functional training expression recognition data entry structured analysis Training

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Spectral collaborative representation based classification by circulants and its application to hand gesture and posture recognition from electromyography signals

Spectral collaborative representation based classification b...

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2015 International Conference on Image Processing, Computer Vision, and Pattern Recognition, IPCV 2015, at WORLDCOMP 2015

作者： Boyali, Ali Hashimoto, Naohisa Matsumoto, Osamu National Institute of Advanced Industrial Science and Technology Robot Innovation Research Center Smart Mobility Research Team Tsukuba Japan

ISBN: (纸本)1601324049

In this study we introduce and demystify a novel signal pattern recognition method, Spectral Collaborative Representation based Classification (SCRC) and demonstrate its application for recognition of hand gestures and postures using Electromyography sensors. A recently released Thalmic Labs MYO armband is used to gather muscle electromyography signals. Along with the new signal pattern classification algorithm, we also introduce a training approach which implicitly embeds the gesture boundaries in a training dictionary that allows continous gesture and posture recognition. The worst recognition accuracy we obtained for a set of experiments is over 97% which is the highest recognition results in the literature where bio-signals are used. © International Conference on Image Processing, Computer Vision, and Pattern Recognition, IPCV *** right reserved.

关键词： Gesture recognition

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Study on objective platform driven by piezoceramics for cell injection 9

Study on objective platform driven by piezoceramics for cell...

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9th IEEE International Conference on Nano/Molecular Medicine and Engineering, NANOMED 2015

作者： Zhong, Bowen Li, Zongwei Wang, Zhenhua Jin, Ziqi Sun, Lining Chen, Linsen Jiangsu Province Key Laboratory of Advanced Robot Technology Soochow University China SIP Postdoctor Station of SVG Digitoptics China

ISBN: (纸本)9781467396714

In cell injection, biological microscope is essential. It is commonly that intelligent microscope has many striking features, one of which is having a three-dimensional micro objective platform. The platform has the function of high precision positioning and automatic focus. In this paper, a novel single degree of freedom objective platform based on inertial stick-slip has been designed and fabricated, which works in millimeter movement range and nanoscale resolution. The dynamic model has been built to study the process of the inertial stick-slip and be helpful for designing the precision platform. In consideration of the nonlinear features of friction between the friction interfaces, the LuGre friction model has been mentioned in the dynamic model. The LuGre model describes several friction phenomenon, such as Strbeck, Hysteresis and so on. The 1D objective platform has resolution of 4 nm and is stroke of 20mm. The velocity reaches 3mm/s. Generally, the stage is driven by saw-tooth wave, while the self-defined waveform is discussed in this experiment. Finally, the optimized input signal is obtained. © 2015 IEEE.

关键词： Stick-slip

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Motion analysis of wheelchair considering the pectoral girdle mechanism

Motion analysis of wheelchair considering the pectoral girdl...

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IEEE/SICE International Symposium on System Integration

作者： Shingo Hasegawa Nobuto Matsuhira Kunihiro Ogata Eiichi Ono Tsuyoshi Nakayama Graduate school student of Mechanical Engineering Shibaura Institute of Technology Tokyo Department of Engineering Science and Mechanics Shibaura Institute of Technology Tokyo Service Robotics Team Robot Innovation Research Center of National Institute of Advanced Industrial Science and Technology Tsukuba Ibaraki Research Institute National Rehabilitation Center for Persons with Disabilities Tokorozawa Saitama

ISBN: (纸本)9781509033300

The body type of persons using wheelchairs tend to be different from those of persons without disabilities, i.e., the former have limited clothes that suit them. Therefore, we have developed a robot arm simulated human body and motion to evaluate the comfort of clothes for persons using wheelchairs. We will promote the dissemination of fashionable adaptive clothing for wheelchair users, to encourage persons with spinal cord injuries. Having a pectoral girdle mechanism, the robot arm can retarget a motion similar to that of a human. Motion analysis with a near-human model is important for retargeting human motion with the robot arm. We have used attitude sensors to measure the motion of five male participants without disabilities and five participants (three males and two females) with spinal cord injuries. We have analyzed the measured motion using a human model that includes a pectoral girdle mechanism. In this study, we have described the analysis of the human motion of propelling a wheelchair and the usefulness of the pectoral girdle for this motion. We have divided the motion pattern into two groups according to the trunk posture. We confirm that the pectoral girdle is useful for expanding the movable arm region.

关键词： Wheelchairs Propulsion robots Motion measurement Spinal cord injury Atmospheric measurements Particle measurements

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Vibration suppression control using actuation resonance cancellation control for two-inertia system and application to belt drive servo system

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IEEJ Transactions on Industry Applications 2015年第3期135卷 237-245页

作者： Inukai, Kenji Fujimoto, Hiroshi Takahashi, Taro Department of Advanced Energy Graduate School of Frontier Science University of Tokyo 5-1-5 Kashiwanoha Kashiwa Chiba277-8561 Japan Advanced Technology Engineering Department Partner Robot Division Toyota Motor Corporation 1-4-18 Koraku Bunkyo-ku Tokyo112-8701 Japan

Usually, a belt driving system has low resonance because of the elasticity of the timing belts, and the low resonance may degrade the response performance and positioning precision. This paper presents a robot joint that links the motor side to the load side via a timing belt. This can be regarded as a two-inertia system. This paper proposes a novel control method that uses multiple motors on both the motor side and load side of a MISO system. The proposed method achieves vibration suppression and phase stabilization simultaneously. The implementation is relatively simple because the design only requires two parameters. Simulations and experiments were performed to demonstrate the effectiveness of the proposed control system. © 2015 The Institute of Electrical Engineers of Japan.

关键词： Resonance

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Development and experimental study of a novel weak coupling parallel three-dimensional force sensor

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ICIC Express Letters, Part B: Applications 2016年第11期7卷 2435-2442页

作者： Zhao, Yanzhi Jiao, Leihao Weng, Dacheng Li, Yang Liu, Xiaoxiao Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan University No. 438 Hebei Ave. Qinhuangdao066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education of China Yanshan University No. 438 Hebei Ave. Qinhuangdao066004 China

In order to effectively reduce the effect of coupling, a novel mechanical decoupling parallel three-dimensional force sensor with the steel ball structure is designed and developed, and the static calibration of the sensor is carried out. The rolling friction is applied instead of sliding friction to the design of the mechanical decoupling parallel three-dimensional force sensor. The mathematic model of the sensor is established, and the force mapping relationship of the applied external force and the force of measuring branches of the sensor is derived based on the screw theory. The prototype of the mechanical decoupling parallel three-dimensional force sensor is developed, and the load calibration and data acquisition experiment system are developed, and the static calibration is performed. The calibration data are analyzed by using the least-squares method and the experimental result shows that the interference error is less than 0.45% and the measurement error of the sensor prototype is less than 0.6%, which indicate that the developed mechanical decoupling parallel three-dimensional force sensor possesses high measurement accuracy, and the result of the study lays the foundation of the application of the mechanical decoupling parallel three-dimensional force sensor. © 2016 ICIC International.

关键词： Least squares approximations

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Seizing failure-tolerant differential redundant drive mechanism and control technique for two-wheeled, self-balancing vehicle

Seizing failure-tolerant differential redundant drive mechan...

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IEEE/RSJ International Conference on Intelligent robots and Systems

作者： K. Fujiwara T. Ogure G. Biggs Robot Innovation Research Center National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba Ibaraki Japan

In order to maintain balance, the motors of an inverted pendulum-style, two-wheeled self-balancing vehicle need to continuously control its wheels. The vehicle is at risk of falling over if any of its motors does not function properly. Some research in this regard has been devoted to gaining redundancy by using more motors geared to a common shaft, but such technique is not effective for a seizing failure. In this paper, we propose a differential redundant mechanism to prevent a seizing failure in such vehicles. This mechanism unifies plural motors using a differential mechanism, and allows redundant motors to operate at different speeds. Therefore, the vehicle can maintain balance even if a motor fails. Furthermore, our mechanism can form a redundant system of two outputs using only three motors. We also propose a controller for this redundant mechanism that does not require changing the control mode when seizing failures occur.

关键词： Gears Actuators Wheels Vehicles Redundancy Torque Shafts

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A Motion Tracker Using High-Accuracy AR Markers for On-site Motion Analysis

A Motion Tracker Using High-Accuracy AR Markers for On-site ...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Hideyuki Tanaka Isamu Kajitani Keiko Homma Yujin Wakita Yoshio Matsumoto Robot Innovation Research Center National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba Ibaraki Japan

ISBN: (纸本)9781479986989

Motion analysis of human body is indispensable for design and evaluation of assistive technologies. Especially, on-site analyses, which are conducted not in experimental environments but in life circumstances, are important to develop truly beneficial assistive technologies. We developed a portable motion tracking system using high-accuracy AR markers. It enables easy measurement of 6-DOF (six degrees of freedom) motion of multiple tracking points by a single camera. The pose estimation errors are about 5 [mm] in location (depth) and about 2 [deg] in orientation. We applied the prototype of the motion tracker to the on-site motion analysis tasks, and demonstrated its availability in the evaluation of assistive technologies.

关键词： Tracking Cameras Assistive technology Optical variables measurement Face Receivers

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Driving situation-based real-time interaction with intelligent driving assistance agent

Driving situation-based real-time interaction with intellige...

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IEEE International Workshop on robot and Human Communication (ROMAN)

作者： Young-Hoon Nho Ju-Hwan Seo Jeong-Yean Yang Dong-Soo Kwon Division of Future Vehicle and Human-Robot Interaction research center KAIST (Korea Advanced Institute of Science and Technology) Daejeon Republic of Korea Department of Mechanical Engineering and Human-Robot Interaction research center KAIST (Korea Advanced Institute of Science and Technology) Daejeon Republic of Korea

Driving assistance systems (DASs) can be useful to inexperienced drivers. Current DASs are composed of front rear monitoring systems (FRMSs), lane departure warning systems (LDWSs), side obstacle warning systems (SOWSs), etc. Sometimes, DASs provide unnecessary information when using unprocessed low-level data. Therefore, to provide high-level necessary information to the driver, DASs need to be improved. In this paper, we present an intelligent driving assistance robotic agent for safe driving. We recognize seven driving situations, namely, speed bump, corner, crowded area, uphill, downhill, straight, and parking space, using hidden Markov models (HMMs) based on velocity, accelerator pedal, and steering wheel. The seven situations and global positioning system information are used to generate a situation information map. The developers of a navigation system have to tag driving events by themselves. In contrast, our driving assistance agent tags situation information automatically as the vehicle is driven. The robotic agent uses the driving situation and status information to assist safe driving with motions and facial and verbal expressions.

关键词： Vehicles Hidden Markov models robot sensing systems Wheels Global Positioning System Data acquisition

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Indoor snowfall simulation chamber for realizing uniform snowfall

Indoor snowfall simulation chamber for realizing uniform sno...

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IEEE/ASME (AIM) International Conference on advanced Intelligent Mechatronics

作者： Bong Keun Kim Yasushi Sumi Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology Ibaraki Japan Robot Innovation Research Center National Institute of Advanced Industrial Science and Technology Ibaraki Japan

In this paper, the snowfall simulation system with the expanded polystyrene beads (EPB) blow-off nozzle is described, which is for evaluating visibility performance of vision based sensors affected by environmental conditions. The EPB blow-off nozzle generates vortex flow when it feeds EPB snowflakes with compressed air, then the EPB snowflakes are equally distributed to multiple ejection ports and blow away in the specific space, in which the width of the space is controlled by the direction of each ejection port. Since the proposed system is designed based on the recycle process, the EPB snowflakes inhaled by the suction pipe are blow away and piled up on the bottom of the simulation system, and then they are recycled. The snowfall simulation system with the proposed EPB blow-off nozzle is verified by comparative experiments. Experimental results show the effectiveness of the proposed system.

关键词： Atmospheric modeling Safety IEC Standards Sensor systems robots

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