检索结果-内蒙古大学图书馆

Cross-sensitivity of metal oxide gas sensor to ambient temperature and humidity: Effects on gas distribution mapping

引用

AIP Conference Proceedings 2017年第1期1808卷

作者： K. Kamarudin V. H. Bennetts S. M. Mamduh R. Visvanathan A. S. A. Yeon A. Y. M. Shakaff A. Zakaria A. H. Abdullah L. M. Kamarudin 1Centre of Excellence for Advanced Sensor Technology Universiti Malaysia Perlis Pusat Pengajian Jejawi II Arau Perlis 02600 Malaysia 3School of Mechatronic Engineering Universiti Malaysia Perlis (UniMAP) Pauh Putra Campus 02600 Arau Perlis Malaysia 2Applied Autonomous Sensor Systems Örebro University Fakultetsgatan 1 70182 Örebro Sweden

Metal oxide gas sensors have been widely used in robotics application to perform remote and mobile gas sensing. However, previous researches have indicated that this type of sensor technology is cross-sensitive to environmental temperature and humidity. This paper therefore investigates the effects of these two factors towards gas distribution mapping and gas source localization domains. A mobile robot equipped with TGS2600 gas sensor was deployed to build gas distribution maps of indoor environment, where the temperature and humidity varies. The results from the trials in environment with and without gas source indicated that there is a strong relation between the fluctuation of the mean and variance map with respect to the variations in the temperature and humidity maps.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Evaluation of using semi-autonomy features in mobile robotic telepresence systems

Evaluation of using semi-autonomy features in mobile robotic...

引用

IEEE Conference on Cybernetics and Intelligent systems

作者： Andrey Kiselev Annica Kristoffersson Francisco Melendez Cipriano Galindo Amy Loutfi Javier Gonzalez-Jimenez Silvia Coradeschi Centre for Applied Autonomous Sensor Systems Orebro University Orebro Sweden System Engineering and Automation Department University of Malaga Malaga Spain

Mobile robotic telepresence systems used for social interaction scenarios require that users steer robots in a remote environment. As a consequence, a heavy workload can be put on users if they are unfamiliar with using robotic telepresence units. One way to lessen this workload is to automate certain operations performed during a telepresence session in order to assist remote drivers in navigating the robot in new environments. Such operations include autonomous robot localization and navigation to certain points in the home and automatic docking of the robot to the charging station. In this paper we describe the implementation of such autonomous features along with user evaluation study. The evaluation scenario is focused on the first experience on using the system by novice users. Importantly, that the scenario taken in this study assumed that participants have as little as possible prior information about the system. Four different use-cases were identified from the user behaviour analysis.

关键词： Navigation Robot sensing systems Manuals Materials requirements planning Three-dimensional displays Collision avoidance

来源：评论

学校读者我要写书评

暂无评论

Self-serve ICT-based health monitoring to support active ageing 8

Self-serve ICT-based health monitoring to support active age...

引用

8th International Conference on Health Informatics, HEALTHINF 2015

作者： Ahmed, Mobyen Uddin Espinosa, Jesica Rivero Reissner, Alenka Domingo, Àlex Banaee, Hadi Loutfi, Amy Rafael-Palou, Xavier Center for Applied Autonomous Sensor Systems Örebro University Fakultetsg. 1 Örebro701 82 Sweden Barcelona Digital Technology Centre MediaTIC Building C/RocBoronat 11 Barcelona08018 Spain Technosite Fundosa Group R and D Madrid Spain Zveza Društev Upokojencev Slovenije Ljubljana Slovenia Institut de l'Envelliment Universitat Autònoma de Barcelona Sant Antoni Maria Claret 171 BarcelonaE 08041 Spain

ISBN: (纸本)9789897580680

Today, the healthcare monitoring is not limited to take place in primary care facilities simply due to deployment of ICT. However, to support an ICT-based health monitoring, proper health parameters, sensor devices, data communications, approaches, methods and their combination are still open challenges. This paper presents a self-serve ICT-based health monitoring system to support active ageing by assisting seniors to participate in regular monitoring of elderly's health condition. Here, the main objective is to facilitate a number of healthcare services to enable good health outcomes of healthy active living. Therefore, the proposed approach is identified and constructed three different kinds of healthcare services: 1) real time feedback generation service, 2) historical summary calculation service and 3) recommendation generation service. These services are implemented considering a number of health parameters, such as, 1) blood pressure, 2) blood glucose, 3) medication compliance, 4) weight monitoring, 5) physical activity, 6) pulse monitoring etc. The services are evaluated in Spain and Slovenia through 2 prototypical systems, i.e. year2prototype (Y2P) and year3prototype (Y3P) by 46 subjects (40 for Y2P and 6 for Y3P). The evaluation results show the necessity and competence of the proposed healthcare services. In addition, the prototypical system (i.e. Y3P) is found very much accepted and useful by most of the users.

关键词： Blood pressure

来源：评论

学校读者我要写书评

暂无评论

CASTAway: An asteroid main belt tour and survey

arXiv

引用

arXiv 2017年

作者： Bowles, N.E. Snodgrass, C. Gibbings, A. Sanchez, J.P. Arnold, J.A. Eccleston, P. Andert, T. Probst, A. Naletto, G. Vandaele, A.C. de Leon, J. Nathues, A. Thomas, I.R. Thomas, N. Jorda, L. da Deppo, V. Haack, H. Green, S.F. Carry, B. Donaldson Hanna, K.L. Leif Jorgensen, J. Kereszturi, A. DeMeo, F.E. Patel, M.R. Davies, J.K. Clarke, F. Kinch, K. Guilbert-Lepoutre, A. Agarwal, J. Rivkin, A.S. Pravec, P. Fornasier, S. Granvik, M. Jones, R.H. Murdoch, N. Joy, K.H. Pascale, E. Tecza, M. Barnes, J.M. Licandro, J. Greenhagen, B.T. Calcutt, S.B. Marriner, C.M. Warren, T. Tosh, I. Department of Physics Clarendon Laboratory Parks Road OxfordOX1 3PU United Kingdom School of Physical Sciences Open University Milton KeynesMK7 6AA United Kingdom OHB System AG Universitätsallee 27-29 BremenD-28359 Germany Space Research Group Centre of Autonomous and Cyber-Physical Systems Cranfield University MK43 0AL United Kingdom STFC RAL Space Rutherford Appleton Laboratory Harwell Campus DidcotOX11 0QX United Kingdom Bundeswehr University Munich Neubiberg Germany Department of Physics and Astronomy University of Padova Via F. Marzolo 8 Padova35131 Italy CNR-IFN UOS Padova LUXOR Via Trasea 7 Padova35131 Italy Planetary Aeronomy Royal Belgian Institute for Space Aeronomy Av. Circulaire 3 BrusselsB-1180 Belgium E38205 Spain Max Planck Institute for Solar System Research Justus-von-Liebig-Weg 3 Goettingen37077 Germany Physikalisches Institut University of Bern Switzerland Laboratoire d'Astrophysique de Marseille 38 rue Frédéric Joliot-Curie Marseille Cedex13388 France CNR-IFN Padova Via Trasea 7 Padova35131 Italy Mineral and Lapidary Museum of Henderson County Inc. 400 N. Main Street HendersonvilleNC28792 United States Université Côte d'Azur Observatoire de la Côte d'Azur CNRS Laboratoire Lagrange France Technical University of Denmark Elektrovej Building 327 room 122 Kgs. Lyngby2800 Denmark Research Centre for Astronomy and Earth Sciences Hungary Department of Earth Atmospheric and Planetary Sciences Massachusetts Institute of Technology CambridgeMA United States UK Astronomy Technology Centre Royal Observatory Blackford Hill EdinburghEH9 3HJ United Kingdom Niels Bohr Institute University of Copenhagen Øster Voldgade 5-7 Copenhagen1350 Denmark CNRS UTINAM - Université Bourgogne Franche Comté UMR 6213 Besancon25000 France Johns Hopkins Applied Physics Laboratory 11100 Johns Hopkins Rd LaurelMD20723 United States Academy of Sciences of Czech Republic Astronomical Inst Fricova 298 Ondrejov251 65 Czech Republi

CASTAway is a mission concept to explore our Solar System's main asteroid belt. Asteroids and comets provide a window into the formation and evolution of our Solar System and the composition of these objects can be inferred from space-based remote sensing using spectroscopic techniques. Variations in composition across the asteroid populations provide a tracer for the dynamical evolution of the Solar System. The mission combines a long-range (point source) telescopic survey of over 10,000 objects, targeted close encounters with 10 - 20 asteroids and serendipitous searches to constrain the distribution of smaller (e.g. 10 m) size objects into a single concept. With a carefully targeted trajectory that loops through the asteroid belt, CASTAway would provide a comprehensive survey of the main belt at multiple scales. The scientific payload comprises a 50 cm diameter telescope that includes an integrated low-resolution (R = 30 - 100) spectrometer and visible context imager, a thermal (e.g. 6 - 16 µm) imager for use during the flybys, and modified star tracker cameras to detect small (~10 m) asteroids. The CASTAway spacecraft and payload have high levels of technology readiness and are designed to fit within the programmatic and cost caps for a European Space Agency medium class mission, whilst delivering a significant increase in knowledge of our Solar System. Copyright © 2017, The Authors. All rights reserved.

关键词： Remote sensing

来源：评论

学校读者我要写书评

暂无评论

Normal Distributions Transform Occupancy Maps: Application to large-scale online 3D mapping

Normal Distributions Transform Occupancy Maps: Application t...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Jari Saarinen Henrik Andreasson Todor Stoyanov Juha Ala-Luhtala Achim J. Lilienthal Center of Applied Autonomous Sensor Systems (AASS) Örebro University Sweden Department of Mathematics Tampere University of Technology Finland

ISBN: (纸本)9781467356404

autonomous vehicles operating in real-world industrial environments have to overcome numerous challenges, chief among which is the creation and maintenance of consistent 3D world models. This paper proposes to address the challenges of online real-world mapping by building upon previous work on compact spatial representation and formulating a novel 3D mapping approach - the Normal Distributions Transform Occupancy Map (NDT-OM). The presented algorithm enables accurate real-time 3D mapping in large-scale dynamic environments employing a recursive update strategy. In addition, the proposed approach can seamlessly provide maps at multiple resolutions allowing for fast utilization in high-level functions such as localization or path planning. Compared to previous approaches that use the NDT representation, the proposed NDT-OM formulates an exact and efficient recursive update formulation and models the full occupancy of the map.

关键词： Three-dimensional displays Gaussian distribution sensors Erbium Real-time systems Accuracy Transforms

来源：评论

学校读者我要写书评

暂无评论

Independent Markov Chain Occupancy Grid Maps for Representation of Dynamic Environments

Independent Markov Chain Occupancy Grid Maps for Representat...

引用

IEEE/RSJ International Conference on Intelligent Robotics and systems

作者： Jari Saarinen Henrik Andreasson Achim J. Lilienthal Aalto University Department of Automation and Systems Technology PO.Box 15500 FI-00076 Aalto. Center of Applied Autonomous Sensor Systems (AASS) ?rebro University Sweden

ISBN: (纸本)9781467317375

In this paper we propose a new grid based approach to model a dynamic environment. Each grid cell is assumed to be an independent Markov chain (iMac) with two states. The state transition parameters are learned online and modeled as two Poisson processes. As a result, our representation not only encodes the expected occupancy of the cell, but also models the expected dynamics within the cell. The paper also presents a strategy based on recency weighting to learn the model parameters from observations that is able to deal with non-stationary cell dynamics. Moreover, an interpretation of the model parameters with discussion about the convergence rates of the cells is presented. The proposed model is experimentally validated using offline data recorded with a Laser Guided Vehicle (LGV) system running in production use.

关键词： modeled validated using LGV model parameters Poisson process Markov chain Vehicle Occupancy Cells LASER-GUIDED Environments

来源：评论

学校读者我要写书评

暂无评论

Static and dynamic collision safety for human robot interaction using magneto-rheological fluid based compliant robot manipulator

Static and dynamic collision safety for human robot interact...

引用

IEEE International Conference on Robotics and Biomimetics

作者： Muhammad Rehan Ahmed Ivan Kalaykov Intelligent Control Laboratory Centre of Applied Autonomous Sensor Systems AASS School of Science and Technology Örebro University Orebro Sweden Intelligent Control Laboratory AASS Department of Science and Technology Örebro University Orebro Sweden

The success of human robot interaction (HRI) tasks is characterized by evaluating robot performance in terms of collision safety and position accuracy. Hence, both position accuracy and collision safety are equally indispensable. HRI refers to cognitive as well as physical interaction. Cognitive human robot interaction based on perception and awareness where as physical human robot interaction demands direct contact with the humans exhibiting adaptable compliant behavior. Therefore, development of ideal safe robot manipulator having adaptable compliant actuation is inevitable. Adaptable compliance can be achieved by using active compliant actuation requiring various sensor data or by using passive compliant devices with high mechanical complexity. We present magneto rheological fluid based compliant actuation mechanism introducing adaptable compliance directly into robotic joint with much simpler interaction control and higher intrinsic safety originating from fluid mechanics. In this study, we have discussed adaptable compliance in terms of essential modes of motion for safe physical HRI and evaluated the safety performance of our robot for static collision testing and dynamic collision testing based on impact force and head injury criterion. Finally, the experimental results validate the significance of our proposed method for both human robot collision safety and high position accuracy.

关键词： Robots Collision avoidance Safety Force Humans Dynamics Joints

来源：评论

学校读者我要写书评

暂无评论

Evaluation of 3D registration reliability and speed - A comparison of ICP and NDT

Evaluation of 3D registration reliability and speed - A comp...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Martin Magnusson Andreas Nuchter Christopher Lorken Achim J. Lilienthal Joachim Hertzberg Centre of Applied Autonomous Sensor Systems School of Science and Technology University of Örebro Orebro Sweden Jacobs University Bremen Bremen Germany Knowledge Systems Research Group of the Institute of Computer Science University of Osnabrück Germany

To advance robotic science it is important to perform experiments that can be replicated by other researchers to compare different methods. However, these comparisons tend to be biased, since re-implementations of reference methods often lack thoroughness and do not include the hands-on experience obtained during the original development process. This paper presents a thorough comparison of 3D scan registration algorithms based on a 3D mapping field experiment, carried out by two research groups that are leading in the field of 3D robotic mapping. The iterative closest points algorithm (ICP) is compared to the normal distributions transform (NDT). We also present an improved version of NDT with a substantially larger valley of convergence than previously published versions.

关键词： Iterative closest point algorithm Robotics and automation Iterative algorithms Robot sensing systems Performance evaluation Gaussian distribution Convergence Guidelines Algorithm design and analysis Vehicles

来源：评论

学校读者我要写书评

暂无评论

Has somethong changed here? autonomous difference detection for security patrol robots

Has somethong changed here? Autonomous difference detection ...

引用

2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Henrik Andreasson Martin Magnusson Achim Lilienthal Centre of Applied Autonomous Sensor Systems Department of Technology Örebro University Sweden

This paper presents a system for autonomous change detection with a security patrol robot. In an initial step a reference model of the environment is created and changes are then detected with respect to the reference model as differences in coloured 3D point clouds, which are obtained from a 3D laser range scanner and a CCD camera. The suggested approach introduces several novel aspects, including a registration method that utilizes local visual features to determine point correspondences (thus essentially working without an initial pose estimate) and the 3D-NDT representation with adaptive cell size to efficiently represent both the spatial and colour aspects of the reference model. Apart from a detailed description of the individual parts of the difference detection system, a qualitative experimental evaluation in an indoor lab environment is presented, which demonstrates that the suggested system is able register and detect changes in spatial 3D data and also to detect changes that occur in colour space and are not observable using range values only.

关键词： Humans Robot sensing systems Cameras Data security Mobile robots Cognitive robotics Intelligent robots USA Councils sensor systems

来源：评论

学校读者我要写书评

暂无评论

Zero-pole analysis of a tensioned string with periodic stiffeners

Zero-pole analysis of a tensioned string with periodic stiff...

引用

14th International Congress on Sound and Vibration 2007, ICSV 2007

作者： Cray, Benjamin A. Hull, Andrew J. Nuttall, Albert H. Autonomous Systems and Technology Department Naval Undersea Warfare Centre Division Newport RI 02841 United States Sensor and Sonar Systems Department Naval Undersea Warfare Centre Division Newport RI 02841 United States

ISBN: (纸本)9781627480000

This paper analyzes the zero-pole locations of an infinite length, tensioned string that has attached periodic stiffeners. The dynamic response of the system is derived for distributed wavenumber forcing and discrete point forcing acting on the string. These wavenumber-frequency transfer functions are then written in zero-pole format by a mathematical transformation of their infinite series. Once this is accomplished, the location of the system poles and zeros becomes apparent and they can be plotted in the wavenumber-frequency plane. It is shown that there are specific regions where an infinite number of poles can exist and specific regions where poles cannot exist. For the system with wavenumber forcing, the system zeros correspond very closely to the system poles except in the area of the fundamental string resonance. For the system with point forcing, the zeros can exist in the entire wavenumber-frequency plane except at the fundamental resonance.

关键词： Poles

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：