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IEEE SENSORS

作者： Keigo Watanabe Chandimal Jayawardena Kiyotaka Izumi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Japan

Natural language usage for robot control is essential for developing successful human-friendly robotic systems. In spite of the fact that the realization of robots with high cognitive capabilities that understand natural instructions as humans is quite difficult, there is a high potential for introducing voice interfaces for most of the existing robotic systems. Although there have been some interesting work in this domain, usually the scope and the efficiency of natural language controlled robots are limited due to constraints in the number of built in commands, the amount of information contained in a command, the reuse of excessive commands, etc. We present a multimodal interface for a robotic manipulator, which can learn both from human user voice instructions and vision input to overcome some of these drawbacks. Results of three experiments, i.e., learning situations, learning actions, and learning objects are presented.

关键词： Intelligent robots Robot vision systems Natural languages Robot control Humans Cognitive robotics control systems Humanoid robots Intelligent sensors Manipulators

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A Novel Multifunctional Distributed Optical Fiber Sensor Based on Attenuation

A Novel Multifunctional Distributed Optical Fiber Sensor Bas...

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IEEE Instrumentation and Measurement Technology Conference

作者： Chuantong Wang Katsunori Shida Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

A novel multifunctional distributed optical fiber sensor basing on fiber attenuation is proposed to measure ambient temperature and distributed pressure. The sensor is composed of two fibers, the first fiber is used to sense pressure and temperature value while the second fiber is for position information and pressure indication. Distributed sensing is realized based on the attenuation of the second fiber. Pressure position is determined by the outputs of the second fiber. The sensor works at the time-sharing model to realize the multifunctional sensing purpose with the second fiber working as indication. The prototype model of the sensor is developed and tested. The effectiveness of sensor is conformed by experimental results. The proposed sensor presents a novel method for distributed optical fiber sensor

关键词： Optical fiber sensors Optical attenuators Temperature sensors Optical fiber testing Temperature measurement Attenuation measurement Pressure measurement Time sharing computer systems Prototypes Optical sensors

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A Full-Range Space Angular Position Sensor Based on Multifunctional Method

A Full-Range Space Angular Position Sensor Based on Multifun...

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IEEE SENSORS

作者： Wei Quan Katsunori Shida Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

A sphere-type angular position sensor for testing inclination angle and inclined direction based on multifunctional sensing technique is proposed. The choice of sphere shape permits a full range and continuous measurement of two angular parameters. The iron ball as the movement part of sensor gives the robust character comparing to the common liquid works. Several coils are wound on the surface of hollow ball and compose three inductances as outputs to obtain the relative position of two parts. We herein discuss the sensor structure and estimate the required parameters of the prototype sensor using the output characteristic and the equations obtained by geometrical analysis.

关键词： Shape measurement Sensor phenomena and characterization Testing Iron Robustness Coils Wounds Parameter estimation Prototypes Equations

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Neuro-fuzzy based motion control of a robotic exoskeleton: considering end-effector force vectors

Neuro-fuzzy based motion control of a robotic exoskeleton: c...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： K. Kiguchi M.H. Rahman M. Sasaki Graduate School of Science and Engineering Department of Advanced Systems Control Engineering Saga University Saga Japan

To assist physically disabled, injured, and/or elderly persons, we have been developing a 3DOF exoskeleton robot for assisting upper-limb motion, since upper-limb motion is involved in a lot of activities of everyday life. The exoskeleton robot is mainly is controlled by the skin surface electromyogram (EMG) signals, since EMG signals of muscles directly reflect how the user intends to move. This paper introduces the mechanism of the exoskeleton robot and also proposes a control method of the exoskeleton robot considering the generated end-effector force vectors

关键词： Motion control Exoskeletons Rehabilitation robotics Electromyography Force control Mobile robots Muscles Wrist Robot sensing systems Signal generators

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The edge-detecting sensor systems which prevents falls or accidents for the visually impaired for the SICE-ICASE International Joint Conference 2006 (SICE-ICCAS 2006)

The edge-detecting sensor systems which prevents falls or ac...

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SICE Annual Conference

作者： Yoshiaki Hatamochi Katsunori Shida Faculty of Science and Engineering Department of Advanced Systems Control Engineering Graduate School of Saga University Japan

We studied the sensor system which helps visually impaired walk safely and prevents serious accidents on train station platforms. We studied the conventional white stick walk method that requires no special training, is lightweight, and intuitive to use. Furthermore, we recorded how the visually impaired performed during a practical test

关键词： Sensor systems Accidents Testing Sensor phenomena and characterization Infrared sensors Educational institutions Foot Wrist Optical reflection control engineering

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Fuzzy Switching control of Underactuated Manipulators with Approximated Switching Regions

Fuzzy Switching Control of Underactuated Manipulators with A...

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2006 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Keisuke Ichida Keigo Watanabe Kiyotaka Izumi Nobuhiro Uchida Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

A switching control method based on fuzzy energy regions is proposed for controlling underactuated manipulators. We also consider the application of a logic-based approach, which was originally developed for a nonholonomic system without drift terms, to the underactuated manipulators with drift terms as considered in this research. Then we compare a switching control method based on a logic method with that based on the present fuzzy energy regions. The effectiveness of both methods is demonstrated with some simulations

关键词： Fuzzy control Torque control control systems Actuators Manipulator dynamics Weight control Fuzzy systems Fuzzy logic Intelligent robots control engineering

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Intelligent Sensor System for Real Time Tracking and Monitoring

Intelligent Sensor System for Real Time Tracking and Monitor...

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IEEE SENSORS

作者： Maki K. Habib Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

A smart sensor system for tracking and monitoring has been developed. This system uses fiber grating based 3D vision sensor. The sensor system encodes the space coarsely by using limited number of geometrically interrelated 2D laser spots generated through two perpendicularly overlaid layers of fiber gratings. The reflected spots and specially the disturbed one play an essential role in detecting targets. The author has developed zone-based strategy to enable the detection of a person within any of the zones, track the possible transitional movement between zones, and use the inter-zones relation to conclude human behavioral status. This approach has the advantage of reducing significantly the computation time of 3D information that is required for efficient real-time tracking and monitoring. The system has been implemented and the developed tracking strategy is illustrated through an application to monitor the behavioral status of a patient in a room within a hospital.

关键词： Intelligent sensors Real time systems Optical fiber sensors Fiber gratings Sensor systems Patient monitoring Fiber lasers Laser transitions Target tracking Humans

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Development of Meal Assistance Orthosis for Disabled Persons with Human Intention Extraction through EOG Signals

Development of Meal Assistance Orthosis for Disabled Persons...

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SICE Annual Conference

作者： Satoru Goto Takenao Sugi Masatoshi Nakamura Department of Advanced Systems Control Engineering Saga University Japan Department of Electrical and Electronic Engineering Saga University Japan

A meal assistance orthosis is developed for elderly and/or disable persons who have partly or completely lost the ability of moving their upper limbs by themselves independently. The meal assistance orthosis supports the disabled persons and brings foods from dishes to their mouth by their own forearms. Human intention, i.e., which foods they want to eat, can be extracted from electrooculogram (EOG) signals which are measured by electrodes on the face. Position control is adopted for control strategy of the meal assistance orthosis, and forcefree control which can realize flexible motion of the meal assistance orthosis is adopted in order to avoid the meal assistance orthosis injure the subject. The effectiveness of the developed meal assistance orthosis is assured by experimental works on normal persons

关键词： Humans Electrooculography Mouth Force control Robots Senior citizens Electrodes Motion control Manipulators Switches

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A new multifunctional space angle sensor using capacitance method

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IEEJ Transactions on Sensors and Micromachines 2006年第1期126卷 1-6页

作者： Wang, Chuantong Shida, Katsunori Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga Univeristy 1 Honjo-machi Saga 840-8502 Saga University

In this study, we propose a novel ball form multifunctional sensor which can measure azimuth and elevation angle at the same time, and rotating speed is also sensed. We use 4 electrodes arranged on the surface of a ball which is half filled with water. Since water will keep aclinic when the ball leans to any direction, the capacitance between electrodes will change correspondingly. Steady rotating speeds lead to different curves on the surface of water which changes the dielectric distribution of capacitances between electrodes. We use 3 capacitances to determine the space angle and rotating speed. The output functions of sensor and corresponding input value reconstructing method are furthermore proposed. Experiment and analysis results show that it is effective to sense 3 inputs by this multifunctional sensor.

关键词： Sensors

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Estimation of angle parameters based on multifunctional approach

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IEEJ Transactions on Fundamentals and Materials 2006年第6期126卷 490-495页

作者： Quan, Wei Shida, Katsunori Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1 Honjo-machi Saga 840-8502 Saga University Saga University Japan Saga University Saga Japan

Multifunctional approach gives the properties of sensor not only multifunctional, but also a compact structure and sometimes can increase discriminative property of sensing objects. In this study, because of the advantages of multifunctional approach, based on it, a sensor for estimating direction, obliquity and torsion angle parameters which are always used to describe the movement of a widely existing structure with a conjunction between two parts, likes robot arm, human extremity and so on is proposed. In order to obtain the reconstructions of three angle parameters in a simple and precise way, a symmetrical structure with three alike sensing elements are designed. The angle parameters are converted to the length change of three iron lines move on the surface of a flexible tube. This length change is detected based on inductance principle. Measuring several measured points as a database, the reconstructions of direction, obliquity and torsion angle can be obtained. The results calculated by these reconstructions prove the feasibility of the sensor.

关键词： Sensors

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