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Dynamic contextualization and comparison as the basis of biologically inspired action understanding

Paladyn 2018年第1期9卷 19-59页

作者： Alkurdi, Laith Busch, Christian Peer, Angelika Department of Electrical Electronic and Computer Engineering Technische Universität München München Germany Department of Electrical Electronic and Computer Engineering Technische Universität München München Germany Bristol Robotics Laboratory Faculty of Environment and Technology Department of Engineering Design and Mathematics University of the West of England Bristol United Kingdom

People exhibit a robust ability to understand the actions of others around them. In this work, we identify two biologically inspired mechanisms that we hypothesize to be central in the function of action understanding. The first module is a contextual predictor of the observed action, given the goal-directed movement towards objects, and the actions that are allowed to be performed on the object. The second module is a kinematic trajectory parser that validates the previous prediction against a set of learned templates. We model both mechanisms and link them to the environment using the cognitive framework of Dynamic Field Theory and present our first steps into integrating the aforementioned modules into a consistent framework for the purpose of action understanding. The two modules and the combined architecture as a whole are experimentally validated using a recording of an actor performing a series of intentional actions testing the ability of the architecture to understand context and parse actions dynamically. Our initial qualitative results show that action understanding benefits from the combination of the two modules, while any module alone would be insufficient to resolve ambiguity in the perceived actions. © 2018 De Gruyter Open Ltd. All rights reserved.

关键词： Ability testing

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Heat distribution in the deep drawing device components working by high temperatures 10

Heat distribution in the deep drawing device components work...

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10th International Conference Machine and Industrial design in Mechanical engineering, KOD 2018

作者： Tropp, M. Brumerčík, F. Šteininger, J. Weis, P. Glowacz, A. Univerzity of Žilina Faculty of Mechanical Engineering Department of Design and Mechanical Elements Univerzitná 1 Žilina010 26 Slovakia AGHUniversity of Science and Technology Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics Al. A. Mickiewicza 30 Kraków30-059 Poland

The subject of the article is a simulation of heat affected components of a device for deep drawing by extreme conditions in vacuum by high temperatures required for forming of crystallization containers made from thin molybdenum sheets. The simulation is focused on the distribution of heat in particular components in relation with their shape. There are presented the design of working components and the boundary conditions of transient thermal simulations with the results. © 2018 Institute of Physics Publishing. All rights reserved.

关键词： Deep drawing

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Finite element analysis of automotive arm brake pedal for rapid manufacturing

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IOP Conference Series: Materials Science and engineering 2020年第1期715卷

作者： MIM Sargini SH Masood Suresh Palanisamy Elammaran Jayamani Ajay Kapoor Faculty of Engineering Computing and Science Swinburne University of Technology (Sarawak) Malaysia Malaysia Automotive Robotics and IoT Institute Cyberjaya Malaysia Dept. of Mechanical and Product Design Engineering Swinburne University of Technology Hawthorn VIC Australia

Current automotive arm brake pedal uses conventional manufacturing method such as metal press and CO2 welding processes, which are known to be heavy, costly and demand higher quality control. This paper will discuss how finite element analysis can be applied to optimise the design of a brake pedal for Rapid Manufacturing application based on current additive manufacturing process to produce automotive brake pedals with reduced material weight. The performance of the new design is compared with the current design of arm brake pedal to realise the potential of rapid manufacturing to save time and cost in automotive parts.

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Automatic Classification System by Color of Plastic Bottle Caps (SISAC)

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IOP Conference Series: Materials Science and engineering 2020年第1期844卷

作者： H. A. Rodriguez-Arias A. Mendoza-González Research Group in Robotics Automation Telecommunications Electricity Electronics and Computation. (GIRATEC) Faculty of Engineering Sciences Antonio de Arevalo University Foundation Cartagena Colombia Research Group in Architecture Design and Engineering (GIADI) Faculty of Engineering and Architecture Colegio Mayor de Bolivar Technological Institution Cartagena Colombia.

The following project presents an autonomous system of classification of objects by colors which it is applied to the caps of plastic bottles, emulating an automated work cell, which serves to students to know the operation of industrial processes, from construction, programming and even maintenance point of view. The entire project consists of the design of a conveyor system which has a sensor to identify colors, and actuators which allow the caps are correctly classified in the containers according to its color. The work cell was built in a modular way in such a way that in the future it can be adapted to other work cells and simulate flexible manufacturing cells, since it can be reprogrammed not only to identify by colors but also by sizes. Besides, the pieces were built using the 3D printer and the laser cutter in order to use the tools of the laboratories of our institution in the construction of elements for future laboratory equipment which will strengthen the electromechanical program.

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Aerial Robot Model based design and verification of the single and multi-agent inspection application development

arXiv

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arXiv 2018年

作者： Yamaguchi, Seiko P. Sakuma, Masaru Ueno, Takaki Karolonek, Filip Uhl, Tadeusz Ravankar, Ankit A. Emaru, Takanori Kobayashi, Yukinori Laboratory of Robotics & Dynamics Div. of Human Mechanical Systems and Design Graduate School Faculty of Engineering Hokkaido University Sapporo Japan Department of Robotics and Mechatronics Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Cracow Poland

In recent decade, potential application of Unmanned Aerial Vehicles (UAV) has enabled replacement of various operations in hard-to-access areas, such as: inspection, surveillance or search and rescue applications in challenging and complex environments. Furthermore, aerial robotics application with multi-agent systems are anticipated to further extend its potential. However, one of the major difficulties in aerial robotics applications is the testing of the elaborated system within safety concerns, especially when multiple agents are simultaneously applied. Thus, virtual prototyping and simulation-based development can serve in development, assessment and improvement of the aerial robot applications. In this research, two examples of the specific applications are highlighted: harbor structure and facilities inspection with UAV, and development of autonomous positioning of multi-UAVs communication relaying system. In this research, virtual prototype was designed and further simulated in multi-body simulation (MBS) feigning the sensing and actuating equipment behaviors. Simultaneous simulation of the control and application system running with software in the loop (SITL) method is utilized to assess the designed hardware behavior with modular application nodes running in Robot Operating System. Furthermore, prepared simulation environment is assessed with multi-agent system, proposed in previous research with autonomous position control of communication relaying system. Application of the virtual prototype’s simulation environment enables further examination of the proposed system within comparison degree with postfield tests. In future work, the proposed simulation environment can be further applied for motion and vibration control of the UAV applications. The research aims to contribute through case assessment of the design process to safer, time and cost-efficient development and application design in the field of aerial robotics. Copyright © 2018, The Authors. All

关键词： Multi agent systems

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Estimation of Hand Motion Based on Forearm Deformation

Estimation of Hand Motion Based on Forearm Deformation

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IEEE International Conference on robotics and Biomimetics

作者： Sung-Gwi Cho Masahiro Yoshikawa Ming Ding Jun Takamatsu Tsukasa Ogasawara Division of Information Science Nara Institute of Science and Technology (NAIST) Japan Faculty of Robotics & Design Engineering Osaka Institute of Technology (OIT) Japan

ISBN: (纸本)9781728103785;9781728103778

In various applications, studies of hand motion estimation play an important role. In these studies, the methods based on biosignals have gained in popularity because biosignals can be measured using only wearable devices. Among the various biosignals, we focus on forearm deformation. The forearm deformation provides the motion information about the surface and deep layer muscles, tendons, and bones. The previous studies based on the forearm deformation only attempted to recognize types of hand motions/shapes or to estimate a single joint angle. In this study, we propose a hand motion estimation method for multiple joint angles based on the forearm deformation measured with a distance sensor array. A Support Vector Regression is used for the joint angles regression. The distance sensor array has 10 distance sensor units and a mechanism that can be adjusted to the size of the user's forearm. The results of the hand motion estimation experiments show that the proposed method correctly estimated the joint angles with an RMSE of 6.6 degrees.

关键词： Strain Motion estimation Robot sensing systems Sensor arrays Motion measurement Muscles

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Corretion to “Shift-Adaptive Estimation of Joint Angle Using Instrumented Brace With Two Stretch Sensors Based on Gaussian Mixture Models” [Oct 20 5881-5888]

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IEEE robotics and Automation Letters 2020年第4期5卷 6804-6804页

作者： Ryo Eguchi Brendan Michael Matthew Howard Masaki Takahashi School of Science for Open and Environmental Systems Graduate School of Science and Technology Keio University Yokohama Japan Centre for Robotics Research Department of Engineering King's College London London U.K. Department of System Design Engineering Faculty of Science and Technology Keio University Yokohama Japan

Presents corrections to the above named paper.

关键词： Medical robotics Wearable sensors Maximum likelihood estimation Regression analysis Gaussian mixture model

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Firefly Algorithm Approach For Rational Bézier Border Reconstruction of Skin Lesions from Macroscopic Medical Images

Firefly Algorithm Approach For Rational Bézier Border Recon...

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International Conference on Software, Knowledge Information, Industrial Management and Applications (SKIMA)

作者： Akemi Gálvez Andrés Iglesias Hassan Ugail Lihua You Habibollah Haron Zulfiqar Habib Dept. of Information Science Toho University Funabashi Japan Faculty of Engineering & Informatics Media Design and Technology University of Bradford Bradford UK National Center for Computer Animation Bournemouth University Poole UK Dept. of Computer Science Universiti Teknologi Malaysia Skudai Malaysia Center for Research in VIG-Robotics COMSATS University Islamabad Lahore Pakistan

Image segmentation is a fundamental step for image processing of medical images. One of the most important tasks in this step is border reconstruction, which consists of constructing a border curve separating the organ or tissue of interest from the image background. This problem can be formulated as an optimization problem, where the border curve is computed through data fitting procedures from a collection of data points assumed to lie on the boundary of the object under analysis. However, standard mathematical optimization techniques do not provide satisfactory solutions to this problem. Some recent papers have applied evolutionary computation techniques to tackle this issue. Such works are only focused on the polynomial case, ignoring the more powerful (but also more difficult) case of rational curves. In this paper, we address this problem with rational Bézier curves by applying the firefly algorithm, a popular bio-inspired swarm intelligence technique for optimization. Experimental results on medical images of melanomas show that this method performs well and can be successfully applied to this problem.

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Low-cost automatic device for obtaining the coefficient of static friction

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IOP Conference Series: Materials Science and engineering 2019年第1期519卷

作者： H A Rodriguez-Arias Research group in Robotics Automation Telecommunications Electricity and Electronics (GIRATEC) Faculty of Design and Engineering Technological Foundation Antonio de Arévalo TECNAR Cartagena Colombia.

Considering that the coefficient of friction between materials is one of the important characteristics in the design, either by wear or by requiring friction for power transmission, and this value is usually achieved in tables and these values come out of experimentation or results with tests using devices. Furthermore, these devices are not often found in the laboratories of the universities. For this reason, it was decided to adopt one of the methods of calculation, in this case the inclined plane. This consists of finding the angle of inclination in which one material begins to slide on another, since calculating the tangent of this angle determines the coefficient of friction. To this end, a device was built, consisting of a platform that by means of a mechanism is tilted little by little, until the object under study begins to move. In addition, to exclude human error, the device has sensors and an adequate control, in such a way that the process is completely automatic. Finally, the device is based on open technology, such as Arduino, managing to build a device to obtain the coefficient of friction at low cost. Its development and the results obtained are shown in this paper.

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Wideband Cognitive Radio Networks Based Compressed Spectrum Sensing: A Survey

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Journal of Signal and Information Processing 2018年第2期9卷 122-151页

作者： Mohammed Abo-Zahhad Sabah M. Ahmed Mohammed Farrag Khaled Ali BaAli Electronics and Communication Engineering Department School of Electronics Communications and Computer Engineering Egypt-Japan University for Science and Technology Alexandria Egypt Electrical and Electronics Engineering Department Faculty of Engineering Assiut University Assiut Egypt Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University for Science and Technology Alexandria Egyp Electrical Engineering Department King Khalid University (KKU) Abha KSA Electronics and Communication Department Faculty of Engineering and Petroleum Hadhramaut University Mukalla Republic of Yemen

Spectrum sensing is a core function at cognitive radio systems to have spectrum awareness. This could be achieved by collecting samples from the frequency band under observation to make a conclusion whether the band is occupied, or it is a spectrum hole. The task of sensing is becoming more challenging especially at wideband spectrum scenario. The difficulty is due to conventional sampling rate theory which makes it infeasible to sample such very wide range of frequencies and the technical requirements are very costly. Recently, compressive sensing introduced itself as a pioneer solution that relaxed the wideband sampling rate requirements. It showed the ability to sample a signal below the Nyquist sampling rate and reconstructed it using very few measurements. In this paper, we discuss the approaches used for solving compressed spectrum sensing problem for wideband cognitive radio networks and how the problem is formulated and rendered to improve the detection performance.

关键词： Cognitive Radio Spectrum Sensing Compressive Sensing Compressed Measurements Nyquist Sampling Rate

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