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27th Computers and Information in engineering Conference, presented at - 2007 ASME International design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC/CIE2007

作者： Rusák, Zoltán Antonya, Csaba Der Vegte, Wilfred Van Horváth, Imre Varga, Edit Faculty of Industrial Design Engineering Delft University of Technology Landbergstraat 15 2628CE Delft Netherlands Product Design and Robotics Department Transilvania University of Brasov Bdul Eroilor 29 500036 Brasov Romania

ISBN: (纸本)0791848035

Customer evaluation of concepts plays an important role in the design of handheld devices, such as bottles of douche gels and shampoos, where the phenomenon of grasping needs to be evaluated. In these applications important information on the aspects of ergonomics and user behaviors could be gathered from computer simulation. It is our ultimate goal to develop an environment in which users and designers can freely interact with product concepts. In our approach to grasping simulation there is no tactile feedback and we do not measure the exerted grasping forces. There is no wiring of the human hand, and the users are not limited in their movements. We measure the motion of the human hand, compute the grasping forces based on anthropometric data, and simulate the reaction of product concepts in a physically based virtual reality environment. Our contribution consists of: (i) a method, which takes into account the anatomy of the human hand in order to determine the maximum grasping forces, and (ii) an approach which enables to control the grasping forces based on (a) the penetration of the virtual human hand into the virtual model of product concept (b) the posture of the grasping, and (c) the angles of the joints. The paper reports on the framework of our approach and presents an application. Copyright © 2007 by ASME.

关键词： Ergonomics

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ESTP: An Experimental Software Testing Platform

ESTP: An Experimental Software Testing Platform

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Testing: Academic and Industrial Conference - Practice And Research Techniques (TAICPART)

作者： Xin Feng Simon Marr Tony O'Callaghan Faculty of Science and Engineering University of Limerick Limerick Ireland Mobile and Marine Robotics Research Centre University of Limerick Limerick Ireland Interaction Design Centre University of Limerick

Most commercial software testing tools used in industry do not automatically generate test data even though many testing strategies have been proposed in academia. In this paper, we introduce a prototype software testing platform that we developed to automatically generate test data from tabular specifications. This method of documenting software specifications has been used successfully in industry to help produce reliable software. This platform can also be used to measure the effectiveness of new testing strategies.

关键词： Software testing Automatic testing Computer industry Software quality Laboratories Software prototyping Documentation Data engineering design engineering Genetic mutations

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Macro-micro tele-operation system based on body image embedding for bio-manipulation under microscope

Macro-micro tele-operation system based on body image embedd...

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2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008, with Symposium on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "System Cell engineering by Multi-scale Manipulation"

作者： Mochiyama, Hiromi Kobayashi, Hisato Tatsuno, Junya Kawai, Hiroyuki Department of Intelligent Interaction Technologies University of Tsukuba Tennoudai 1-1-1 Tsukuba Ibaraki 305-8573 Japan Faculty of Engineering and Design Hosei University Fujimi 2-17-1 Chiyoda-ku Tokyo 102-8160 Japan Department of Mechanical Engineering Kinki University 1 Takeya Umenobe Higashihiroshima City Hiroshima 739-2116 Japan Department of Robotics Kanazawa Institute of Technology 7-1 Ohgigaoka Nonoichi Ishikawa 921-8501 Japan

ISBN: (纸本)9781424429196

In this paper, in order to provide with an inex- pensive solution to efficient bio-manipulation under microscope, we propose a macro-micro tele-operation system based on body image embedding. It is known in neuroscience that we could feel our body image for the object which is not our own body in certain conditions. Our idea is to utilize the body image illusion for generating high immersive feelings in bio-manipulation under microscope, instead of aiming at the perfect transparency, the conventional target of tele-manipulation system, which is difficult to attain. Our proposed system has two additional components as well as the conventional system where micro manipulators hydraulically connected to joysticks or dials handled by an operator are used for fine bio-manipulation under a microscope. The one component is for the body posi- tion/orientation consistency between proprioception and vision. In this component, due to appropriate use of a camera for a microscope, a visual display, mirrors and tiny dummy hands, an operator can see the magnified visual image of the tiny dummy hands similar to his/her own hands in shape at the position and orientation where he/she feel them proprioceptively. The other component is for the contact consistency between touch and vision. In this component, the contact between a tool grasped by an operator's hands and a manipulated object observed by eyes should coincide to the contact felt by his/her hand skin. To do this, haptic stimulators such as piezo actuators are activated at the timing of contact which is detected, for example, by the vision processing from the microscopic images. © 2008 IEEE.

关键词： Microscopes

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Macro-micro Tele-operation System based on Body Image Embedding for Bio-manipulation under Microscope

Macro-micro Tele-operation System based on Body Image Embedd...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Hiromi Mochiyama Hisato Kobayashi Junya Tatsuno Hiroyuki Kawai Department of Intelligent Interaction Technologies University of Tsukuba Tsukuba Ibaraki Japan Faculty of Engineering and Design Hosei University Chiyoda Tokyo Japan Department of Mechanical Engineering Kinki University Higashihiroshima Hiroshima Japan Department of Robotics Kanazawa Institute of Technology Nonoichi Ishikawa Japan

In this paper, in order to provide with an inexpensive solution to efficient bio-manipulation under microscope, we propose a macro-micro tele-operation system based on body image embedding. It is known in neuroscience that we could feel our body image for the object which is not our own body in certain conditions. Our idea is to utilize the body image illusion for generating high immersive feelings in bio-manipulation under microscope, instead of aiming at the perfect transparency, the conventional target of tele-manipulation system, which is difficult to attain. Our proposed system has two additional components as well as the conventional system where micro manipulators hydraulically connected to joysticks or dials handled by an operator are used for fine bio-manipulation under a microscope. The one component is for the body position/orientation consistency between proprioception and vision. In this component, due to appropriate use of a camera for a microscope, a visual display, mirrors and tiny dummy hands, an operator can see the magnified visual image of the tiny dummy hands similar to his/her own hands in shape at the position and orientation where he/she feel them proprioceptively. The other component is for the contact consistency between touch and vision. In this component, the contact between a tool grasped by an operator's hands and a manipulated object observed by eyes should coincide to the contact felt by his/her hand skin. To do this, haptic stimulators such as piezo actuators are activated at the timing of contact which is detected, for example, by the vision processing from the microscopic images.

关键词： Microscopy Neuroscience Image generation Cameras Displays Mirrors Shape Eyes Skin Haptic interfaces

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Dynamical stress distribution analysis of a non-uniform cross-section beam under moving mass

Dynamical stress distribution analysis of a non-uniform cros...

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2006 ASME International Mechanical engineering Congress and Exposition, IMECE2006

作者： Ahmadian, M.T. Esmailzadeh, E. Asgari, M. Center of Excellence in Design Robotics and Automation Sharif University of Technology P.O. Box 11365-8639 Tehran Iran Faculty of Engineering and Applied Science University of Ontario Institute of Technology Oshawa Ont. Canada School of Mechanical Engineering Sharif University of Technology P.O. Box 11365-8639 Tehran Iran

ISBN: (纸本)0791837904

One of the engineers concern in designing bridges and structures under moving load is the uniformity of stress distribution. In this paper the analysis of a variable cross-section beam subjected to a moving concentrated force and mass is investigated. Finite element method with cubic Hermitian interpolation functions is used to model the structure based on Euler-Bernoulli beam and Wilson- direct integration method is implemented to solve time dependent equations. Effects of cross-section area variation, boundary conditions, and moving mass inertia on the deflection, natural frequencies and longitudinal stresses of beam are investigated. Results indicates using a beam of parabolically varying thickness with constant mass can decrease maximum deflection and stresses along the beam while increasing natural frequencies of the beam. The effect of moving mass inertia of moving load is found to be significant at high velocity. Copyright © 2006 by ASME.

关键词： Stress concentration

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On dynamic generation of business protocol in autonomous Web services

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Systems and Computers in Japan 2006年第2期37卷 37-45页

作者： Oya, Makoto Kinoshita, Masahiro Kakazu, Yukinori Graduate School of Information Science and Technology Hokkaido University Sapporo 060-0814 Japan Department of Information Design Faculty of Engineering Hokkaido Institute of Technology Sapporo 006-8585 Japan Department of Information Science Shonan Institute of Technology Fujisawa 251-8511 Japan Open System Engineering Laboratory Division of Synergetic Information Science Graduate School of Information Science and Technology Information Processing Society of Japan IEICE Japan Society of Precision Engineering ACM Department of Information Design Hokkaido Institute of Technology Japan Society of Mechanical Engineers Complex System Engineering Laboratory Division of Synergetic Information Science Graduate School of Information Science and Technology Robotics Society of Japan

One of the issues of autonomous Web services is that precise business protocols across systems are not always predefined. A likely solution to this problem is to dynamically generate business protocols by matching external interface definitions and relating information exposed by each system. The current Web services have a feature called a portType that describes an external interface of a system. This paper proposes to add a new concept called "behavior pattern" to the portType, then provides an algorithm to dynamically generate business protocols. The algorithm compares the portTypes of the concerned system and the opposite system, verifies the possibility of their interaction, and automatically reduces the behavior patterns within executable range. The paper also evaluates this algorithm by applying it to some use cases and shows that the method provides useful early results for realization of autonomous Web services. © 2006 Wiley Periodicals, Inc.

关键词： World Wide Web

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Robust bilateral control with Internet communication

Robust bilateral control with Internet communication

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Annual Conference of Industrial Electronics Society

作者： K. Natori T. Tsuji K. Ohnishi A. Hace K. Jezernik Department of System Design Engineering Keio University Yokohama Kanagawa Japan Faculty of electrical Engineering and Computer Science Institute of Robotics University of Maribor Maribor Slovenia

Smith predictor is a well-known method for compensating time delay in control systems. Therefore, it has been applied to many systems with time delay so far. However, delay time should be estimated precisely in this method. So, if time delay is fluctuant and unpredictable, like the communication delay over the Internet, performance of Smith predictor deteriorates. This paper proposes "Communication Disturbance Observer". It regards the error caused by time delay as disturbance torque (or acceleration), then it can observe and compensate the error. Furthermore, it doesn't need to estimate the value of delay time; therefore it can be applied to control systems with fluctuant and unpredictable time delay. It can be said that control system with "Communication Disturbance Observer" is robust to time delay and fluctuation of that. Effectiveness and robustness of proposed method is shown by result of simulation and experiment. In experiment, master-slave manipulator was used over the Internet. We were able to get the sense of touch from the environment of remote site.

关键词： Robust control Communication system control Internet Delay effects Delay estimation Control systems Torque Acceleration Fluctuations Robustness

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Social robotics 1

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丛书名： Lecture Notes in Computer Science

1000年

作者： Miguel A. Salichs Shuzhi Sam Ge Emilia Ivanova Barakova John-John Cabibihan Alan R. Wagner Álvaro Castro-González Hongsheng He

ISBN: (数字)9783030358884

ISBN: (纸本)9783030358877

This book constitutes the refereed proceedings of the 11th International Conference on Social robotics, ICSR 2019, held in Madrid, Spain, in November 2019.;The 69 full papers presented were carefully reviewed and selected from 92 submissions. The theme of the 2018 conference is: Friendly robotics.;The papers focus on the following topics: perceptions and expectations of social robots; cognition and social values for social robots; verbal interaction with social robots; social cues and design of social robots; emotional and expressive interaction with social robots; collaborative SR and SR at the workplace; game approaches and applications to HRI; applications in health domain; robots at home and at public spaces; robots in education; technical innovations in social robotics; and privacy and safety of the social robots.

关键词： Artificial Intelligence Special Purpose and Application-Based Systems Computer Communication Networks User Interfaces and Human Computer Interaction Image Processing and Computer Vision Computer Applications

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