The aim of this study was to investigate the effect of tactile feedback on multi-finger coordination, quantified by a synergy index using the uncontrolled manifold analysis. Twenty healthy, young volunteers were asked...
详细信息
ISBN:
(纸本)9780945289395
The aim of this study was to investigate the effect of tactile feedback on multi-finger coordination, quantified by a synergy index using the uncontrolled manifold analysis. Twenty healthy, young volunteers were asked to press with all the four fingers on four, one dimensional sensors at 20% of their maximum voluntary force. A visual feedback of total force output was shown on a computer monitor. Tactile feedback was removed by administering ring block anesthesia. Results from this study suggest that the multi-finger synergies, the task errors as well as the flexibility of the motor system to produce the forces decrease significantly with the administration of anesthesia.
We propose an algorithm for the visual detection and localisation of the hand of a humanoid robot. This algorithm imposes low requirements on the type of supervision required to achieve good performance. In particular...
详细信息
We propose an algorithm for the visual detection and localisation of the hand of a humanoid robot. This algorithm imposes low requirements on the type of supervision required to achieve good performance. In particular the system performs feature selection and adaptation using images that are only labelled as containing the hand or not, without any explicit segmentation. Our algorithm is an online variant of Multiple Instance Learning based on boosting. Experiments in real-world conditions on the iCub humanoid robot confirm that the algorithm can learn the visual appearance of the hand, reaching an accuracy comparable with its off-line version. This remains true when supervision is generated by the robot itself in a completely autonomous fashion. Algorithms with weak supervision requirements like the one we describe are useful for autonomous robots that learn and adapt online to a changing environment. The algorithm is not hand-specific and could be easily applied to wide range of problems involving visual recognition of generic objects.
The effect of surface passivation and crystallite size on the photoluminescence of porous silicon is reported. Oxygen-free porous silicon samples with medium to ultra high porosities have been prepared by using electr...
The effect of surface passivation and crystallite size on the photoluminescence of porous silicon is reported. Oxygen-free porous silicon samples with medium to ultra high porosities have been prepared by using electrochemical etching followed by photoassisted stain etching. As long as the samples were hydrogen-passivated the PL could be tuned from the red (750nm) to the blue (400nm) by increasing the porosity. We show that when surface oxidation occurred, the photoluminescence was red-shifted. For sizes smaller than 2.8nm, the red shift can be as large as 1eV but for larger sizes no shift has been observed. Comparing the experimental results with theoretical calculations, we suggest that the decrease in PL energy upon exposure to oxygen is related to recombination involving an electron or an exciton trapped in Si=O double bonds. This result clarifies the recombination mechanisms in porous silicon.
In addition to the need for satisfying several competing objectives, many real-world optimization problems involve objectives, constraints, and parameters which constantly change with time. Therefore, the optimization...
详细信息
In this paper, we propose a method that enables a robot to learn not only the existence of affordances provided by objects, but also the behavioral parameters required to actualize them, and the prediction of effects ...
详细信息
Abstract This paper presents a complete set of methods for the performance analysis and design of closed loop systems with nonlinear actuators and sensors (so-called Linear Plant/Nonlinear Instrumentation, or LPNI, sy...
详细信息
Abstract This paper presents a complete set of methods for the performance analysis and design of closed loop systems with nonlinear actuators and sensors (so-called Linear Plant/Nonlinear Instrumentation, or LPNI, systems). As it turns out, these methods are quite similar to those in the linear case. Accordingly, the resulting methods are referred to as Quasilinear Control (QLC) Theory. Since the main analysis and design techniques of QLC are not too different from the well known linear control-theoretic methods, QLC can be viewed as a simple addition to the standard toolbox of control engineering practitioners and students alike.
Chronic diseases, such as heart disease, diabetes, and obesity, have been linked with diet. Nutrient intake is also associated with diet. However, much of the research completed to elucidate these associations has not...
详细信息
It has been a challenge to achieve high efficiency organic photovoltaics (OPV) that absorb long wavelength solar radiation without incurring unacceptable reductions in open circuit voltage (Voc) or charge separation e...
详细信息
Since the heading direction of a robotic fish continuously changed when it is swimming, its surrounding information may not be easily obtained from a front camera equipped on the robotic fish's head. Also, it is d...
详细信息
ISBN:
(纸本)9781457721366
Since the heading direction of a robotic fish continuously changed when it is swimming, its surrounding information may not be easily obtained from a front camera equipped on the robotic fish's head. Also, it is difficult to know both the heading direction, which is direction of robotic fish's head and the swimming direction, which robotic fish are moving toward. Therefore, this paper proposes the gyro sensor-based vision sway compensation module to obtain surrounding information from a camera equipped on a swaying robotic fish's head using a gyro sensor. Firstly, the time when heading direction and swimming direction coincide is detected. The swimming direction image is priodically captured and updated at this time using a gyro sensor and a front camera. Then, the input images are continuously transformed to the relative location. This transformation is performed by image stitching which consists of speeded up robust features (SURF) and random sample consensus (RANSAC), comparing with the captured swimming direction image. By this developed module, it is possible to get the surrounding information from the transformed input images and also to get the relative location of target object. The effectiveness of the proposed gyro sensor-based vision sway compensation module is demonstrated through real target following experiment using the robotic fish “Fibo II,” developed in the RIT Lab, KAIST.
暂无评论