In robotic surgery, a surgeon checks only a surgical site of patient in the progress of surgery by vision and sound information. In order to solve this limited information, the haptic function is necessary. For haptic...
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ISBN:
(纸本)9781479914951
In robotic surgery, a surgeon checks only a surgical site of patient in the progress of surgery by vision and sound information. In order to solve this limited information, the haptic function is necessary. For haptic realization, it requires much more information through various sensors. However, because of the special environment inside human body, it is not easy to apply sensors such as a force sensor. The low inertia master device for laparoscope operation with cable-conduit was developed in previous research to give haptic function. This suggested a possibility of developing a master device by using the cable-conduit. However, since each axis of rotations does not match with human wrist joint, it is very inconvenient to use. This paper suggests a new mechanism design structure to solve these problems of previous work by new form of master device. And it is experimented and analyzed that a cable conduit connected control box can follow well according to a trajectory of one axis's angle.
In this paper, the mobile robot equipped with a single ultrasonic sensor to measure the value of the distance between the mobile robot and the obstacle will be manipulated by a haptic joystick through the value of For...
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ISBN:
(纸本)9781467322478
In this paper, the mobile robot equipped with a single ultrasonic sensor to measure the value of the distance between the mobile robot and the obstacle will be manipulated by a haptic joystick through the value of Force Feedback. Accordingly, the mobile robot will move based on the information of the ultrasonic sensor without colliding the obstacle to precise velocity control. Vibration part which is designed and installed at the bottom of the joystick implements Haptic features using the distance data from the ultrasonic sensor. Using the Bluetooth communication, the haptic joystick and the mobile robot give and receive the data mutually to control the mobile robot's velocity. In order to realize the precise velocity control, PD controller with the advantage of stabilization system is designed and the performances of two cases before or after PD control are evaluated and compared.
In this paper, PDR system's Improved performance and height estimation are introduced using a low-cost IMU. The personal navigation systems typically have used GPS. But the area where GPS signals are blocked shoul...
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ISBN:
(纸本)9781467322478
In this paper, PDR system's Improved performance and height estimation are introduced using a low-cost IMU. The personal navigation systems typically have used GPS. But the area where GPS signals are blocked should not be used such as indoor environments. To compensate for this, one of a technique is used PDR system. The location of a pedestrian estimates using only PDR system of the IMU. First of all, in order to estimate the location, a low-cost sensor corrected and manufactured the module. The step is detected using acceleration information by moving of the pedestrian through the module. A step length can be estimated using the detected step. The position estimation and heading will be estimated by the acceleration sensor and gyro sensor. Finally, information of the acceleration sensor and barometer applied to the KF (Kalman Filter) to estimate the height. This paper was tested in a real-environment based on the proposed algorithm. As the result, excellent performance was confirmed within the average distance error within 1% and the position error within 4% in the location estimate. And the results of height estimate, average standard error is confirmed improved performance as max 0.15m in case of using Kalman Filter.
The renewable energy has been attracting attention as a new alternative energy due to the problem of environmental pollution and resource depletion. In particular, daylighting and PV system are regarded as the solutio...
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The renewable energy has been attracting attention as a new alternative energy due to the problem of environmental pollution and resource depletion. In particular, daylighting and PV system are regarded as the solutions. In this paper, the hybrid dimming control system supplied by solar cell and daylighting system was designed. Daylighting system is main source and PV system is spare source. PV system operates the LED lamp which supports daylighting system because daylighting system is unstable due to the variation of irradiance. In addition, PV system has a role charging batteries. Battery charging has a benefit that PV system operate LED lamp in the bad weather. However, LED lamp always can't turn on that's why dimming control system was designed. In particular, the solar charging robot was designed to check the interior irradiance intensity. These systems and the application of the solar charging robot are expected to contribute developing alternative energy in the near future.
A wireless power transfer system can attribute to the fields in robot, aviation and space in which lightening the weight of device and improving the movement play an important role. A wireless power transfer system wa...
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A wireless power transfer system can attribute to the fields in robot, aviation and space in which lightening the weight of device and improving the movement play an important role. A wireless power transfer system was investigated to overcome the inconvenience of using power cable. Especially a wireless power transfer technology is important element for mobile robots. We proposed the wireless power transfer system of the half-bridge resonant converter with the frequency tracking and optimized power transfer control unit. And the possibility of the application and development system was verified through the experiment with LED loads.
No single innovation is likely to precipitate the sudden emergence of a truly general and robust artificial intelligence. Instead, a careful study of the history of efforts to build AI systems and consideration of fac...
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ISBN:
(纸本)9781615676552
No single innovation is likely to precipitate the sudden emergence of a truly general and robust artificial intelligence. Instead, a careful study of the history of efforts to build AI systems and consideration of factors responsible for evolved general intelligence suggest point toward several promising lines of research. In the research reported here we explore the hypothesis that the ability to learn autonomously from patterns of success and failure at making predictions about what will happen next in a perception-action loop may be a necessary condition for robust AI, even if it is not sufficient. We present a novel learning architecture, the Self-Organizing Autonomous Prediction System, which learns to predict the consequences of actions within a perception-action loop. Two simulation studies demonstrate the success of the approach and the value of prediction-based learning as an important feature of highly adaptive intelligence. Future elaborations of this approach are also discussed.
To test adaptation hypotheses about the evolution of animals, we need information about the behavior of phenotypically-variable individuals in a specific environment. To model behavior of ancient fish-like vertebrates...
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To test adaptation hypotheses about the evolution of animals, we need information about the behavior of phenotypically-variable individuals in a specific environment. To model behavior of ancient fish-like vertebrates, we previously combined evolutionary robotics and software simulations to create autonomous biomimetic swimmers in a simple aquatic environment competing and foraging for a single source of food. This system allowed us to test the hypothesis that selection for improved forage navigation drove the evolution of stiffer tails. In this paper, we extend our framework to evaluate more complex environments and hypotheses. Specifically, we test the hypothesis that predator-prey dynamics and the need for effective foraging strategies, operating simultaneously, were key selection pressures driving the evolution of morphological and sensory traits in early, fish-like vertebrates. Three evolvable traits were chosen because of their importance in propulsion and predator avoidance: (1) the number of vertebrae in the axial skeleton, (2) the trailing edge span of the caudal fin, and (3) the sensitivity of the sensory lateral line. To produce variable offspring, we used a genetic algorithm that rewarded parents with high fitness, allowing them to mate randomly and combine their mutated gametes. Offspring were then instantiated as autonomous embodied robots, the prey. These prey were chased by a non-evolving autonomous predator. Both kinds of robots were surface swimmers. The prey used a control architecture based on that of living fish: a two-layer subsumption architecture with predator escape over-riding steady swimming during foraging. The performance of six different prey robots in each generation was judged with a relative fitness function that rewarded a combination of high speed, rapid escape acceleration, escape responses, and the ability to stay away from the predator while at the same time staying close to the food source. This approach, which we call biomimet
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