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2nd International Conference on Mechanical, System and Control Engineering, ICMSC 2018

作者： Jiao, Sheng-Xi Wang, Hao Xia, Lin-Lin Zhang, Shuai University of Northeast Electric Power in Jilin Advanced Sensor Technology Institute Jilin China University of Northeast Electric Power in Jilin Research Institute of Robot and Image Visual Detection Technology Jilin China

It is important and difficult for the complicated surface processing in mechanical industry. In this paper, an improved algorithm for trajectory planning is proposed in impeller surface processing by using 6-DOF cutting-robot. Taking a single finished path of the impeller blade as an example, the feedrate of the cutter, bow height error, cutter-orientation and position are planned by the B-spline interpolation algorithm, the best cutting trajectory is obtained. On the basis of trajectory planning, the optimal movement scheme of 6-DOF cutting-robot joints is obtained, the 6-DOF cutting-robot feedrate and trajectory smooth transition is achieved and the joints movement adaptive adjustment is completed. Finally, the angles, the angular velocitys of the joints and their interrelated properties are analyzed. The research works indicate that the robot joint angle curves are continuous and stable, which has met the requirements of smooth movement of the robot, and the results show that the trajectory planning is effective and practical. © The Authors, published by EDP Sciences, 2018.

关键词： Interpolation

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Motion generation interface of ROS to PODO software framework for wheeled humanoid robot

arXiv

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arXiv 2020年

作者： Lee, Moonyoung Heo, Yujin Cho, Saihim Park, Hyunsub Oh, Jun-Ho Humanoid Robot Research Center Department of Mechanical Engineering Korea Advanced Institute of Science and Technology 291 Daehak-ro Yuseong-gu Daejeon34141 Korea Republic of

This paper discusses the development of robot motion generation interface between a real-time software architecture and a non-real-time robot operating system. In order for robots to execute intelligent manipulation or navigation, close integration of high-level perception and low-level control is required. However, many available open-source perception modules are developed in ROS, which operates on Linux OS that don't guarantee RT performance. This can lead to non-deterministic responses and stability problems that can adversely affect robot control. As a result, many robotic systems devote RTOS for low-level motion control. Similarly, the humanoid robot platform developed at KAIST, Hubo, utilizes a custom real-time software framework called PODO. Although PODO provides easy interface for motion generation, it lacks interface to high-level frameworks such as ROS. As such, we present a new motion generation interface between ROS and PODO that enables users to generate motion trajectories through standard ROS messages while leveraging a real-time motion controller. With the proposed communication interface, we demonstrate series of manipulator tasks on the actual wheeled humanoid platform, M-Hubo. The overall communication interface responsiveness was at most 27 milliseconds. Copyright © 2020, The Authors. All rights reserved.

关键词： Anthropomorphic robots

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Efforts to unmanned construction for post-disaster restoration and reconstruction 36

Efforts to unmanned construction for post-disaster restorati...

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36th International Symposium on Automation and robotics in Construction, ISARC 2019

作者： Kitahara, S. Nitta, Y. Nishigaki, S. Kumagaigumi Co Ltd Japan Disaster and Accident Sub-committee Construction Robot Committee JSCE Japan Advanced Technology Research Team Public Works Research Institute Japan Disaster and Accident Sub-committee Construction Robot Committee JSCE Japan Kick Japan Disaster and Accident Sub-committee Construction Robot Committee JSCE Japan

This paper presents largely severe natural disasters had happened in Japan, and efforts to unmanned construction until now. First, problems in responses to post-disaster restoration and reconstruction are reported. Secondly, are described demonstration of ultra-long-distance unmanned construction and the requirements for the deployment. Thirdly, this paper presents research and development on autonomous crawler carrier. Finally, concluding remarks and further works are reported. In addition, are proposed levels of promising applicability of robots in responses to post-disaster restoration and reconstruction. © 2019 International Association for Automation and robotics in Construction I.A.A.R.C. All rights reserved.

关键词： Disasters

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A 50 Μm Acoustically Actuated Microchannel Enables Focusing of 50 Nm Particles and Extracellular Vesicles by a 14.9 Mhz Two-Dimensional Ultrasound Standing Wave

SSRN

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SSRN 2022年

作者： Lee, SangWook Tsuyama, Yoshiyuki Xu, Bin Hattori, Kazuki Baek, Seugho Yoshioka, Yusuke Kojima, Ryosuke Cho, Younghak Laurell, Thomas Kim, Soyoun Ota, Sadao Department of Molecular and Cellular Medicine Institute of Medical Science Tokyo Medical University Tokyo160-0023 Japan Research Center for Advanced Science and Technology The University of Tokyo Tokyo153-8904 Japan PCL Inc. Seoul05854 Korea Republic of Graduate School of Medicine The University of Tokyo Tokyo113-0033 Japan Saitama332-0012 Japan Department of Mechanical Design and Robot Engineering Seoul National University of Science & Technology Seoul01811 Korea Republic of Department of Biomedical Engineering Lund University Lund22363 Sweden Convergence Research Institute Korea University Seoul02841 Korea Republic of

The manipulation and focusing of submicron/nanometre-scale objects are becoming increasingly important in the fields of biology, chemistry, and materials science. Acoustofluidics provides for the high throughput and precise manipulation of cells and particles with simple equipment. However, application to submicron/nanoparticles is challenging due to the particle volume dependence of the acoustic radiation force and relatively larger effect of the viscous drag force on small objects. Here, we present an acoustofluidic device that can focus submicron/nanoparticles, bacterial cells, and extracellular vesicles (EVs) using a high-frequency two-dimensional acoustic standing wave. We fabricate 50 µm × 50 µm square cross-section channels as acoustic resonators and generate a 2-dimensional acoustic standing wave at an actuation frequency of 14.9 MHz. This configuration enables a strong acoustic radiation force towards the centre of the microchannel and a cross-section centred single-vortex stream that does not counteract the acoustic radiation force. Using this device, polystyrene beads ranging in diameter from 50 to 500 nm were focused toward the channel centre, where a focused bead stream width of less than 5 μm was achieved at a flow rate of 3 μL min −1 for 100 nm beads and 9 µL min -1 for 200 nm beads. Furthermore, bacterial cells were successfully focused at a flow rate of 40 µL min -1 , and the focusing of EVs was also demonstrated. Our acoustofluidic device can become a promising tool for a wide range of biological analyses targeting submicron cells, viruses, and Evs. © 2022, The Authors. All rights reserved.

关键词： Acoustic radiators

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Using Point Clouds for Automated Condition Verification in Physical Integration Testing

Using Point Clouds for Automated Condition Verification in P...

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IEEE/SICE International Symposium on System Integration

作者： Floris Erich Geoffrey Biggs Noriaki Ando Floris Erich and Noriaki Ando are with the Robot Innovation Research Center National Institute of Advanced Industrial Science and Technology (AIST) Japan Geoffrey Biggs is with Tier IV Inc. Japan

ISBN: (数字)9781728166674

ISBN: (纸本)9781728166681

In this paper we present a method for performing automated verification of test case conditions using point clouds. This paper mainly addresses two concerns, the specification of test scenarios and a similarity metric between point clouds. Point clouds are obtained from a depth sensor observing a physical environment and from a simulated depth sensor observing a simulated environment. The point clouds are compared by calculating the distance of each point in each respective point cloud to their nearest neighbour in the other point cloud. We then show how the method can be used to test a pick and place application. This method can be used as part of the automated testing phase within a continuous integration system, which allows organizations to test industrial robot applications.

关键词： Three-dimensional displays robot sensing systems Testing Vegetation Service robots Software

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Dynamic humanoid locomotion over uneven terrain with streamlined perception-control pipeline

arXiv

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arXiv 2020年

作者： Lee, Moonyoung Kwon, Youngsun Lee, Sebin Choe, JongHun Park, Junyong Jeong, Hyobin Heo, Yujin Kim, Min-Su Sungho, Jo Yoon, Sung-Eui Oh, Jun-Ho Humanoid Robot Research Center Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Scalable Graphics Vision and Robotics Lab School of Computing Korea Advanced Institute of Science and Technology Korea Republic of Neuro-Machine Augmented Intelligence Laboratory School of Computing Korea Advanced Institute of Science and Technology Korea Republic of Korea Republic of

Although bipedal locomotion provides the ability to traverse unstructured environments, it requires careful planning and control to safely walk across without falling. This poses an integrated challenge for the robot to perceive, plan, and control its movements, especially with dynamic motions where the robot may have to adapt its swing-leg trajectory on-the-fly in order to safely place its foot on the uneven terrain. In this paper we present an efficient geometric footstep planner and the corresponding walking controller that enables a humanoid robot to dynamically walk across uneven terrain at speeds up to 0.3 m/s. As dynamic locomotion, we refer first to the continuous walking motion without stopping, and second to the on-the-fly replanning of the landing footstep position in middle of the swing phase during the robot gait cycle. This is mainly achieved through the streamlined integration between an efficient sampling-based planner and robust walking controller. The footstep planner is able to generate feasible footsteps within 5 milliseconds, and the controller is able to generate a new corresponding swing leg trajectory as well as the whole-body motion to dynamically balance the robot to the newly updated footsteps. The proposed perception-control pipeline is evaluated and demonstrated with real experiments using a full-scale humanoid to traverse across uneven terrains featured by static stepping stones, dynamically movable stepping stone, or narrow path. © 2020, CC BY.

关键词： Controllers

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Accuracy improvement of facial expression recognition in speech acts: Confirmation of effectiveness of information around a mouth and GAN-based data augmentation

Accuracy improvement of facial expression recognition in spe...

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IEEE International Workshop on robot and Human Communication (ROMAN)

作者： Kyu-Seob Song Dong-Soo Kwon Human-Robot Interaction Research Center Korea Advanced Institute of Science and Technology The Republic of Korea

With the growth of the social robot market, much research has been undertaken on facial expression recognition, which is an important function of a social robot. Facial expression recognition models have shown good performance in a facial expression image dataset that expresses emotion without considering speaking effect. However, in reality, humans often express emotions by speaking and moving the muscles around the mouth. Therefore, the lack of consideration of speech leads to unsatisfactory emotion recognition results. In this paper, we investigated two points to be considered in learning a facial expression recognition model. First, we confirmed whether the information around a mouth induces the recognition model in speech act to misrecognition like the case of a facial expression recognition in non-speech acts or it has valid information for facial expression recognition. Second, Generative Adversarial Network (GAN)-based data augmentation has been performed to cover the problem in which the accuracy of the recognition model in speech acts is low because of the relatively small variance about the subject in RML dataset. The results showed that the information around the mouth made facial expression recognition in speech acts exhibit higher performance, unlike the case of facial expression recognition in non-speech acts. In addition, the GAN-based data augmentation alleviated the accuracy degradation in facial expression recognition because of the low variance of the dataset.

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Spurious reconstruction from brain activity

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Neural Networks 2025年 190卷

作者： Ken Shirakawa Yoshihiro Nagano Misato Tanaka Shuntaro C. Aoki Yusuke Muraki Kei Majima Yukiyasu Kamitani Graduate School of Informatics Kyoto University Sakyo-ku Kyoto 606-8501 Japan Computational Neuroscience Laboratories Advanced Telecommunications Research Institute International Seika Soraku Kyoto 619-0288 Japan Institute for Quantum Life Science National Institutes for Quantum Science and Technology Anagawa Chiba 263-8555 Japan Guardian Robot Project RIKEN Seika Soraku Kyoto 619-0288 Japan

Advances in brain decoding, particularly in visual image reconstruction, have sparked discussions about the societal implications and ethical considerations of neurotechnology. As reconstruction methods aim to recover visual experiences from brain activity and achieve prediction beyond training samples (zero-shot prediction), it is crucial to assess their capabilities and limitations to inform public expectations and regulations. Our case study of recent text-guided reconstruction methods, which leverage a large-scale dataset (Natural Scenes Dataset, NSD) and text-to-image diffusion models, reveals critical limitations in their generalizability, demonstrated by poor reconstructions on a different dataset. UMAP visualization of the text features from NSD images shows limited diversity with overlapping semantic and visual clusters between training and test sets. We identify that clustered training samples can lead to “output dimension collapse,” restricting predictable output feature dimensions. While diverse training data improves generalization over the entire feature space without requiring exponential scaling, text features alone prove insufficient for mapping to the visual space. Our findings suggest that the apparent realism in current text-guided reconstructions stems from a combination of classification into trained categories and inauthentic image generation (hallucination) through diffusion models, rather than genuine visual reconstruction. We argue that careful selection of datasets and target features, coupled with rigorous evaluation methods, is essential for achieving authentic visual image reconstruction. These insights underscore the importance of grounding interdisciplinary discussions in a thorough understanding of the technology’s current capabilities and limitations to ensure responsible development.

关键词： Brain decoding Visual image reconstruction Naturalistic approach NeuroAI

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Fast perception, planning, and execution for a robotic butler: Wheeled humanoid m-hubo

arXiv

引用

arXiv 2020年

作者： Lee, Moonyoung Heo, Yujin Park, Jinyong Yang, Hyun-Dae Jang, Ho-Deok Benz, Philipp Park, Hyunsub Kweon, In So Oh, Jun-Ho Humanoid Robot Research Center Department of Mechanical Engineering Korea Advanced Institute of Science and Technology 291 Daehak-ro Yuseong-gu Daejeon34141 Korea Republic of Robotics and Computer Vision Laboratory Department of Electrical Engineering Korea Advanced Institute of Science and Technology 291 Daehak-ro Yuseong-gu Daejeon34141 Korea Republic of

As the aging population grows at a rapid rate, there is an ever growing need for service robot platforms that can provide daily assistance at practical speed with reliable performance. In order to assist with daily tasks such as fetching a beverage, a service robot must be able to perceive its environment and generate corresponding motion trajectories. This becomes a challenging and computationally complex problem when the environment is unknown and thus the path planner must sample numerous trajectories that often are sub-optimal, extending the execution time. To address this issue, we propose a unique strategy of integrating a 3D object detection pipeline with a kinematically optimal manipulation planner to significantly increase speed performance at runtime. In addition, we develop a new robotic butler system for a wheeled humanoid that is capable of fetching requested objects at 24% of the speed a human needs to fulfill the same task. The proposed system was evaluated and demonstrated in a real-world environment setup as well as in public exhibition. Copyright © 2020, The Authors. All rights reserved.

关键词： Mobile robots

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VITAMIN-E: VIsual Tracking and MappINg With Extremely Dense Feature Points

VITAMIN-E: VIsual Tracking and MappINg With Extremely Dense ...

引用

Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Masashi Yokozuka Shuji Oishi Simon Thompson Atsuhiko Banno Robot Innovation Research Center National Institute of Advanced Industrial Science and Technology (AIST) Japan National Institute of Advanced Industrial Science and Technology Tsukuba Japan

In this paper, we propose a novel indirect monocular simultaneous localization and mapping (SLAM) algorithm called "VITAMIN-E," which is highly accurate and robust as a result of tracking extremely dense feature points. Typical indirect methods have difficulty in reconstructing dense geometry because of their careful feature point selection for accurate matching. Unlike conventional methods, the proposed method processes an enormous number of feature points using the tracking local extrema of curvature based on dominant flow estimation. Because this may lead to high computational cost during bundle adjustment, we propose a novel optimization technique called the "subspace Newton's method" that significantly improves the computational efficiency of bundle adjustment by partially updating the variables. We concurrently generate meshes from the reconstructed points and merge them for an entire three-dimensional(3D) model. Experimental results on the SLAM benchmark EuRoC demonstrated that the proposed method outperformed state-of-the-art SLAM methods such as DSO, ORB-SLAM, and LSD-SLAM, both in terms of accuracy and robustness in trajectory estimation. The proposed method simultaneously generated significantly detailed 3D geometry as a result of the dense feature points in real time using only a CPU.

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