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Autonomous control of a robot arm based on contact with an object

Autonomous control of a robot arm based on contact with an o...

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作者： Shimono, Motoki Hayashi, Eiji Graduate School of Computer Science and System Engineering Kyushu Institute of Technology 680-4 Iizuka City Fukuoka 820-8502 Japan Department of Mechanical Information Science and Technology Kyushu Institute of Technology 680-4 Iizuka City Fukuoka 820-8502 Japan

ISBN: (纸本)9784990288013

In this paper, I focused on developing a robot arm with three degrees of freedom and an autonomous function. I modeled my research on the actions of animals, which adjust well to environmental change, and aimed for control of an autonomous robot that would imitate the action of an animal. Our laboratory developed a software architecture to control the action of the robot by introducing an evaluation function for action choice into the hierarchically structured model. This is the element that specifically connects the consciousness of the robot with its action, and I named it Consciousness-based Architecture (CBA). In this research, I ran an experiment on a search action for a robot arm executing a detour around obstacles and arriving at a target position. An experiment was performed to evaluate the effectiveness of CBA, and its results are discussed. I let the robot arm imitate the groping movement of a human being and allowed a search action to proceed. In the case of an outward trip, the robot arm recognized the positions of obstacles by touching them, and it avoided these obstacles by executing detours. As a result, the robot arm arrived at the target position while memorizing the course of detours around the obstacles that it recognized. ©ISAROB 2007.

关键词： Animals

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Navigation system for a mobile robot using an omni-directional camera

Navigation system for a mobile robot using an omni-direction...

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作者： Mochizuki, Tatsuya Hayashi, Eiji Graduate School of Computer Science and System Engineering Kyushu Institute of Technology 680-4 Iizuka City Fukuoka 820-8502 Japan Department of Mechanical Information Science and Technology Kyushu Institute of Technology 680-4 Iizuka City Fukuoka 820-8502 Japan

ISBN: (纸本)9784990288013

This study developed a self-localization system that uses landmarks and movement to pursue a moving object. Specifically, an omni-directional camera was adopted as a visual sensor and was installed on a robot. The image from the omni-directional camera was processed to detect a landmark (an object), and the robot's distance from that landmark was then measured. These functions allowed the mobile robot to pursue a moving object. The measurement of distance based on the omni-directional image depends on the precise inclination of the camera. Consideration of this factor enabled the measurement of distance of relatively close objects with a high degree of precision. In this study, the effectiveness of this system was investigated by various experiments evaluating the measurement of distance, the movement to pursuit a moving object, and self-localization. The robot demonstrated its ability to recognize a moving object and to measure its distance and its angle in relation to the object. Based on these abilities, the robot could successfully follow a moving object. The robot's ability to recognize its location was seen to be based on its ability to recognize certain landmarks, the functions of which are mentioned above.

关键词： Mobile robots

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Development of an autonomous mobile robot: Self-localization and mapping using odometry and a laser range sensor

Development of an autonomous mobile robot: Self-localization...

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作者： Niimoto, Keisuke Hayashi, Eiji Graduate School of Computer Science and System Engineering Kyushu Institute of Technology 680-4 Iizuka City Fukuoka 820-8502 Japan Department of Mechanical Information Science and Technology Kyushu Institute of Technology 680-4 Iizuka City Fukuoka 820-8502 Japan

ISBN: (纸本)9784990288013

We are attempting to develop an autonomous mobile robot that has the ability to perform practical tasks in a human living environment by using information derived from sensors and a knowledge database. When a robot is made to adjust to a human environment, robots require systems that can recognize the external world and perform correct driving control. We have developed a self-localization method for an autonomous robot. Odometori offers a self-localization method that is of the greatest use, providing a method of calculating and determining the tracks of a robot. However, there is a limit to the accuracy of this self-localization because a cumulative error occurs regarding the self-position determined by Odometori. To solve this problem, this paper describes the development of a self-localization method based on a fusion of Odometori and LRS (Laser Range Sensor) data. ©ISAROB 2007.

关键词： Mapping

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User-recognition system for an autonomous robot in human living environments

User-recognition system for an autonomous robot in human liv...

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作者： Hane, Yoshitaka Hayashi, Eiji Graduate School of Computer Science and System Engineering Kyushu Institute of Technology 680-4 Iizuka City Fukuoka 820-8502 Japan Department of Mechanical Information Science and Technology Kyushu Institute of Technology 680-4 Iizuka City Fukuoka 820-8502 Japan

ISBN: (纸本)9784990288013

In this report, we describe a user-recognition system for an autonomous robot. The proposed method enables the robot to recognize the person who instructs it without placing any markers in human living environments. The system is based on differences information between some camera's images, matches the template, and recognizes color based on HSV information. The threshold can be lowered by combining features of these in formations. This system enables recognition under various environments. A moving object is initially extracted by using the difference between frames. Next, to reduce the load, the image is narrowed to the area on which the difference is concentrated. The system matches the template and forecasts the user's position. In addition, it determines a flesh-colored area by using HSV information. When two or more people are present in the field of view, the system determines that the person with the largest-width silhouette is closest to the robot. After confirming that the person is standing still in its presence, the robot waits for the potential user to identify his or her intention to use the robot;this is signaled by the user raising his or her right hand. This process is repeated every 100 milliseconds. ©ISAROB 2007.

关键词： Robots

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Development of a self-care robot - Study of automatic holding of object using robotic arm

Development of a self-care robot - Study of automatic holdin...

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作者： Henta, Hisatoshi Hayashi, Eiji Graduate School of Computer Science and System Engineering Kyushu Institute of Technology 680-4 Kawazu Iizuka City Fukuoka 820-8502 Japan Department of Mechanical Information Science and Technology Kyushu Institute of Technology 680-4 Kawazu Iizuka City Fukuoka 820-8502 Japan

ISBN: (纸本)9784990288013

This paper describes the development of a self-care support robot, developed to support elderly people with mobility problems. The Kitasap2 consists of a host computer and the physical body of a robot equipped with a robotic arm. The two are connected by a wireless LAN. The robotic arm has six degrees of freedom and is equipped with a robotic hand having three fingers. This paper describes the development of the ability of the robotic arm to hold and transport an object so as to reduce the user's operational load. It is necessary that such an operation be based on easily given instructions from the user. Therefore, we have developed systems in which selection and the recognition of the object are carried out using images provided by an omni-directional camera and a CCD camera. ©ISAROB 2007.

关键词： Robotic arms

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Integrated Environment of Simulation and Real-Time Control Experiment for Control system

Integrated Environment of Simulation and Real-Time Control E...

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International Conference on Mechatronics (ICM)

作者： Kentaro Yano Masanobu Koga Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan

This paper presents the methods which make a design process of control system efficient. The real-time control framework makes writing real-time control programs easy. Real-time control programs are generated from simulation program automatically. The idea of an object model and the factory method pattern are used for automatic generation of real-time control program. Separation of platform dependent parts makes non real-time parts can be independent from platform. We develop a platform integrated environment of the simulation and the real-time control for control system using above methods.

关键词： Real time systems Control system synthesis Automatic control Automatic generation control Computational modeling Process control Process design HTML Mechatronics computer simulation

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Model following control with a sliding mode adjustment for a positioning system

Model following control with a sliding mode adjustment for a...

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SICE Annual Conference

作者： Miki Shichijo Ryuichi Oguro Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan

In this paper, we propose an efficient control method with a sliding mode technique to realize a high-precision and a high-speed positioning control. This method makes a response of a real system follows the reference precisely even under the condition that the modeling errors exist between the numerical feed forward model and the real system. A model following control is used to generally recognize as a high performance positioning. But, ordinary there are several modeling errors existing between the numerical model and the real system. We pick up a mass error and a dynamical friction error. In this proposal method, we assign two places non-linear gains. One non-linear gain is the gain of the velocity reference from the feed forward part and the other is the gain of the force reference. As we use this method, a feed forward loop and a feed back loop are not changed. So, this method has no influence on the stability. In this proposal method, the gains are decided with a phase plane of a sliding mode control.

关键词： Sliding mode control Feeds Numerical models Proposals Friction Error correction Control systems Force feedback computer science systems engineering and theory

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A Simple Flip-Flop Circuit for Typical-Case Designs for DFM

A Simple Flip-Flop Circuit for Typical-Case Designs for DFM

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8th International Symposium on Quality Electronic Design (ISQED 2007)

作者： Toshinori Sato Yuji Kunitake System LSI Research Center Kyushu University Japan Graduate School of Computer Science and System Engineering Kyushu Institute of Technology Japan

The deep submicron (DSM) semiconductor technologies will make the worst-case design impossible, since they can not provide design margins that it requires. Research directions should go to typical-case design methodologies, where designers are focusing on typical cases rather than worrying about very rare worst cases. In this paper, canary logic is proposed as a promising technique that enables the typical-case design. It is easier to design than the previously proposed Razor logic by eliminating delayed clock. Estimates based on gate-level simulations show that the canary logic achieves average power reduction of 30% by exploiting dynamic variations in circuit delay.

关键词： Flip-flops Circuits Design for manufacture Design methodology Logic design Voltage Clocks Large scale integration Delay estimation Design optimization

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Protecting the exchange of medical images in healthcare process integration with Web services

Protecting the exchange of medical images in healthcare proc...

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40th Annual Hawaii International Conference on system sciences 2007, HICSS'07

作者： Chiu, Dickson K.W. Hung, Patrick C.K. Cheng, Vivying S.Y. Kafeza, Eleanna IEEE Dickson Computer System 7A Victory Avenue Kowloon Hong Kong Faculty of Business and Information Technology University of Ontario Institute of Technology Canada Department of Computer Science and Engineering Hong Kong University of Science and Technology Department of Marketing and Communications Athens University of Economics and Business

ISBN: (纸本)0769527558

There is now an increasing demand for sharing images and image data for process integration among healthcare institutions. Web services technology has recently been widely proposed and gradually adopted as a platform for supporting integrations. The Health Insurance Portability and Accountability Act (HIPAA) imposes rules as national standards to protect individuals' health information in the U.S., highlighting security and privacy protection requirements. There are so far no holistic solutions to tackle the various protection issues in this area, especially in inter-institutional healthcare progress integration. We propose the exchange of medical images through a Medical Image Exchange Platform (MIEP), especially replacing ad-hoc and manual exchange practices. We show how contemporary technologies of Web services and watermarking can help archive images with layered implementation architecture. Through dedicated Web services technologies with watermarking mechanism, not only can the development, deployment, and maintenance of software be streamlined, the privacy protection in medical image exchanges as required by disparate processes can also be much facilitated. © 2007 IEEE.

关键词： Medical imaging

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Local cause of coherence in Boolean networks

Local cause of coherence in Boolean networks

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作者： Oosawa, Chikoo Takemoto, Kazuhiro Matsumoto, Shogo Savageau, Michael A. Department of Bioscience and Bioinformatics Kyushu Institute of Technology Iizuka Fukuoka 820-8502 Japan Bioinformatics Center Institute for Chemical Research Kyoto University Gokasho Uji Kyoto 611-0011 Japan Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka Fukuoka 820-8502 Japan Department of Biomedical Engineering College of Engineering University of California Davis CA 95616 United States Bioalgorithm Project Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Japan

ISBN: (纸本)9784990288013

We have performed numerical study on random Boolean networks with power-law rank outdegree distributions to find local structural cause for emergence of high or low degree of coherence in binary state variables of the entire networks. The degree of randomness and coherence of the binary sequence, are measured by entropy and mutual information, depend on local structure that consists of a node with highly connected, called hub, and its upstream nodes, and types of Boolean functions for the nodes. With the larger number of output connections from a hub, the effects of Boolean function on the hub are more prominent. The local structures that give larger entropy tends to give rise to larger mutual information. On the basis of both numerical results and structural condition we derived time-independnt transmission characteristic function of state variables for local structures. We show good relations between the numerical and the analytical results, reveals that dynamical properties from the whole networks can be inferred from the differences in the local structures. ©ISAROB 2007.

关键词： Entropy

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