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检索条件"机构=Advanced Robot Technology"

共 541 条记录，以下是361-370 订阅

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Feedback-based reasoning process for behavior selection during long-term interaction

Feedback-based reasoning process for behavior selection duri...

引用

International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Jeong-Yean Yang Dong-Soo Kwon Human-Robot Interaction Research Center Korea Advanced Institute of Science and Technology Daejeon Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Daejeon Korea

This paper focused on the effectiveness of the feedback-based reasoning process for managing long-term interaction. We propose the interaction process based on self-reference that a robotic system iteratively evaluates the status and the feedback during turn-based interaction. The result of reasoning process in the previous step is added to input queues, which also generates queries to reasoning to next behaviors. Assuming that reasoning process determines appropriate behaviors, we testified the effects of feedback-based reasoning in two different examples.

关键词： Cognition robot sensing systems Safety Cleaning Accidents Fatigue

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Research on Kinematic Modeling of Octopus-Like Arm Manipulator Composed with Mixed Joints

Research on Kinematic Modeling of Octopus-Like Arm Manipulat...

引用

第四届国际仿生工程学术会议

作者： Jiang-hai Zhao Xiaodong Ye Wenhuan Qian Institute of Advanced Manufacturing Technology Hefei institutes of Physical Science Chinese Academy of Sciences Hefei Laboratory of Robot System Institute of Advanced Manufacturing Technology Changzhou School of Information Science and Technology University of Science and Technology of China Hefei

Due to the space constraints and obstacles, the traditional industrial manipulator is too difficult to achieve some tasks, such as the gluing for the wing bulkhead of the aircraft and the maintenance for cooling pipes of the nuclear power plant, *** manipulator, inspired by the trunk and the tentacle, proves to be very effective for above-mentioned tasks.A novel octopus-like biomimetic robots, is proposed in this paper, which is consisting of continuum joints and discrete joints,

关键词： continuum robot, octopus-like arm manipulator, continuum robot, continuum joints, discrete joints.

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Application of Wireless Inertial Measurement Units and EMG Sensors for studying Deglutition - Preliminary Results

Application of Wireless Inertial Measurement Units and EMG S...

引用

Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： U. Imtiaz K. Yamamura W. Kong S. Sessa Z. Lin L. Bartolomeo H. Ishii M. Zecca Y. Yamada A. Takanishi Graduate School of Advanced Science and Engineering Waseda University Division of Oral Physiology Department of Oral Biological Sciences Niigata University Graduate School of Medical and Dental Sciences Graduate School of Creative Science and Engineering Waseda University School of Mechanical and Automotive Engineering South China University of Technology Global Robot Academia Waseda University Waseda Research Institute for Science and Engineering Waseda University School of Electronic Electrical and Systems Engineering Loughborough University Oral Health Science Center Tokyo Dental College Department of Modern Mechanical Engineering Waseda University

ISBN: (纸本)9781424479276

Different types of sensors are being used to study deglutition and mastication. These often suffer from problems related to portability, cost, reliability, comfort etc. that make it difficult to use for long term studies. An inertial measurement based sensor seems a good fit in this application;however its use has not been explored much for the specific application of deglutition research. In this paper, we present a system comprised of an IMU and EMG sensor that are integrated together as a single system. With a preliminary experiment, we determine that the system can be used for measuring the head-neck posture during swallowing in addition to other parameters during the swallowing phase. The EMG sensor may not always be a reliable source of physiological data especially for small clustered muscles like the ones responsible for swallowing. In this case, we explore the possibility of using gyroscopic data for the recognition of deglutition events.

关键词： Electromyography Educational institutions Magnetic heads Muscles Head Sensor systems

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Dynamic stability in vertically flying insect-mimicking flapping wing system

Dynamic stability in vertically flying insect-mimicking flap...

引用

International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Loan Thi Kim Au Vu Hoang Phan Agus Budiyono Hoon Cheol Park Department of Advanced Technology Fusion Konkuk University Seoul Korea Department of Aerospace Information Engineering(Smart Robot Center) Konkuk University Seoul Korea

This paper provides a quantitative analysis for the longitudinal dynamic stability of a vertically flying insect-mimicking flapping wing system (FWS. In order to define the parameters in the equation of motion, the computational fluid dynamics (CFD) by ANSYS-Fluent was used. The aerodynamic forces and moment when the FWS was installed vertically and then inclined -15 and +15 degree for flight speeds of 0, 0.2 and 0.4 rn/s were computed. Through the eigenvalue and eigenvector analysis of the system matrix, we could make the formal description of the dynamic stability of the FWS. Three modes of motion were identified: one stable oscillatory mode, one unstable divergence mode, and one stable subsidence mode. Due to the divergence mode, the FWS eventually becomes unstable. However, the FWS could stay stable in the vertical flight during the first 0.5 second.

关键词： Stability analysis Aerodynamics Equations Computational fluid dynamics Insects Eigenvalues and eigenfunctions

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Foreground Extraction Algorithm Using Depth Information for Image Segmentation

Foreground Extraction Algorithm Using Depth Information for ...

引用

International Conference on Broadband, Wireless Computing, Communication and Applications (BWCCA)

作者： Sang-Wook Lee Hyun S. Yang Yong-Ho Seo Robotics Program Korea Advanced Institute of Science and Technology Daejeon Republic of Korea Dept. Intelligent Robot Engineering Mokwon University Daejeon Republic of Korea

Image segmentation is one of the most important topics in the field of computer vision. So lots of approaches for image segmentation have been proposed, and interactive methods based on energy minimization such as Grab Cut, etc have shown successful results. It, however, is not easy to automate the full process for segmentation because almost all of interactive methods require considerable user interaction. So if additional information is provided to users in order to guide them effectively, we can reduce interaction with them. In this paper we propose an efficient foreground extraction algorithm, which makes use of depth information from RGB-D sensors like Microsoft Kinect and offers users guidance for foreground extraction. Our approach can be applied as a pre-processing for interactive and energy-minimization-based segmentation approaches. Our proposed method is able to segment the foreground from images and give hints to reduce interaction with users. In our method, we make use of the characteristics of depth information captured by RGB-D sensors and describe them using information from structure tensor. And in our experiments we show that for real world images the proposed method separates foreground from background sufficiently well.

关键词： Broadband communication Wireless communication

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Real Time Eye Blinking Detection Using Local Ternary Pattern and SVM

Real Time Eye Blinking Detection Using Local Ternary Pattern...

引用

International Conference on Broadband, Wireless Computing, Communication and Applications (BWCCA)

作者： Jong Bin Ryu Hyun S. Yang Yong-Ho Seo AI and Media Lab. Dept. Computer Science Korea Advanced Institute of Science and Technology Daejon Korea Dept. Intelligent Robot Engineering Mokwon University Daejeon Republic of Korea

As smart devices become popular among people, there are many demands for handling these devices. Smart devices are different from desktop and laptop in that the smart devices cannot be used with user interface peripherals such as mouse and keyboard due to the nature of itself, portability. So here is our proposal, eye blinking detection algorithm for interacting with smart devices. This algorithm that we are going to suggest can replace the most important functions of mouse, "clicking". This is possible because "Mouse Clicking" can be easily replaced by "Eye Blinking". We focus on the fast detection algorithm for the real time performance. Current existing studies of eye blinking detection have not concerned about the detection speed while they have quite clear detection accuracy. In this paper, our algorithm is designed to achieve not only the detection accuracy but the rapid speed as well.

关键词： Broadband communication Wireless communication

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Active landmark configuration for accurate nano-positioning

Active landmark configuration for accurate nano-positioning

引用

6th IFAC Symposium on Mechatronic Systems, MECH 2013

作者： Yuan, Shuai Liu, Lianqing Wang, Zhidong Xi, Ning Wang, Yuechao Dong, Zaili State Key Lab. Robot. SIA. Chinese Academy of Sciences Shenyang 110016 China Shenyang Jianzhu University Shenyang 110168 China Graduate University of the Chinese Academy of Sciences Beijing 100039 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba 275-0016 Japan Dept. of Electrical and Computer Engineering Michigan State University United States

ISBN: (纸本)9783902823311

The spatial uncertainties of atom force microscopy (AFM) tip position hinder the AFM based nano-manipulation. Although the landmark based tip localization can be applied to improve the tip position accuracy in the task space, the PZT nonlinearity and system drift are still a challenge to compensation performance when the tip is positioned far from the landmark. Therefore this paper proposes an active landmark configuration. This method first estimates the nearby area called as the landmark domain around the target position, and then actively manipulates the landmark into the landmark domain by using virtual hand to improve the positioning accuracy. Simulation and experiment illustrate the validity of the proposed method. © 2013 IFAC.

关键词： Nanotechnology

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An Assistive Wheelchair based on a Concept of a Passive robotics

An Assistive Wheelchair based on a Concept of a Passive Robo...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Daisuke Chugo Tatsuya Higuchi Sho Yokota Yuki Sakaida Hiroshi Hashimoto School of Science and Technology Kwansei Gakuin University Faculty of Science and Engineering Setsunan University RIKEN-TRI Collaboration Center for Human-Interactive Robot Research (RTC) RIKEN (The Institute of Physical and Chemical Research) Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology

ISBN: (纸本)9781479902255

We propose a novel assistive wheelchair based on a concept of a passive robotics. Our proposed wheelchair consists of a frame, casters, wheels and servo brakes. Our wheelchair system estimates the trajectory its user wants to go using the characteristic of the rowing motion and realizes the estimated tracks by controlling a torque of the servo brake. Our system requires no actuators, and its mechanism is simple and low cost. There is no risk by malfunction of servomotors and patients can use it intuitively because they use our wheelchair passively with their own intentional force. Our key ideas are two topics. One is the development of novel passive-type assistive wheelchair which is suitable for a practical use. The other key topic is a novel driving assistance algorithm with estimation of the user's intention. For realizing this estimation, we use the minimum jerk trajectory model, which expresses a typical human movement. Our proposed system compares a beginning part of rowing motion by the user and this trajectory model, and estimates the whole rowing motion which will be performed. Using our proposed system, the user can drive our wheelchair with natural feeling. We test our proposed assistance system by the experiments with our prototype and verify its effectiveness.

关键词： Assistive Wheelchair Passive robotics Servo Brakes Minimum Jerk Trajectory Model Wheelchair Servo Device Component trajectory Rowing Human locomotion robotics malfunctions Wheels Torque control

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Laser scanner based foot motion detection for intuitive robot user interface system

Laser scanner based foot motion detection for intuitive robo...

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2012 21st IEEE International Symposium on robot and Human Interactive Communication, RO-MAN 2012

作者： Seo, Ju-Hwan Yang, Jeong-Yean Kwon, Dong-Soo Department of Mechanical Engineering and Human-Robot Interaction Research Center KAIST Korea Advanced Institute of Science and Technology Daejeon 305-701 Korea Republic of

ISBN: (纸本)9781467346054

In order to achieve effective interaction between humans and robots, user interface system is one of important factors. To achieve a valid and appropriate user interface system, we have introduced a new system that consists of a beam projector that can display images for interacting with users and a laser scanner that can detect user's foot motion so that the system recognizes user's input and intention. In this paper, we have focused on how to cause projected images to be rectangular so that users can interact with ordinary rectangular images instead of trapezoidal images that will be produced if the beam projector attached on the robot projects images sideling and how to distinguish user's foot motions according to two classifications, drag motion and click motion. Finally, we have executed a test for checking the validity of the proposed system and have examined limitations and proposed further work for this system. © 2012 IEEE.

关键词： User interfaces

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Known-Key Attack-Resilient Cluster Key Management

Known-Key Attack-Resilient Cluster Key Management

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International Conference on Broadband, Wireless Computing, Communication and Applications (BWCCA)

作者： Gowun Jeong Hyun S. Yang Sang-Soo Yeo Yong-Ho Seo Dept. of Computer Science Korea Advanced Institute of Science and Technology Daejeon Republic of Korea Division of Computer Engineering Mokwon University Daejeon Republic of Korea Dept. Intelligent Robot Engineering Mokwon University Daejeon Republic of Korea

To improve the security of unicasting or multicasting within a cluster, a novel key reference scheme of a cluster-shared key chain for all the cluster members is proposed. Even though a cluster shares all the keys of a key chain, every member uniquely makes use of a different key out of the key chain as a one-time encrypting key and such a key is privately known by only its desirable receiver(s). We discuss its resource overheads in memory, communication and computation as well as resiliency against known-key attacks.

关键词： Broadband communication Wireless communication

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