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49th Israel Annual Conference on Aerospace sciences 2009

作者： Indelman, Vadim Gurfil, Pini Rivlin, Ehud Rotstein, Hector Technion - Israel Institute of Technology Haifa 32000 Israel RAFAEL - Advanced Defense Systems Limited Israel Faculty of Aerospace Engineering Israel Department of Computer Science Israel

ISBN: (纸本)9781605609836

This paper presents a method for improving the performance of an inertial navigation airborne system utilizing information from an on-line mosaicking construction process. The system setup consists of an airborne platform equipped with an inertial navigation system and a gimbaled camera, which scans the area in the flight vicinity. The images acquired by the camera are used to update the mosaic images and also to reduce the developing navigation errors. The main contribution of this paper is an updated measurements model and the performance evaluation of the proposed method based on an extensive simulation study and experiments conduction using real images acquired from Google Earth. Through these experiments we have shown that a significant improvement may be obtained in some of the navigation states under realistic scenarios. As the relative motion measurements, upon which the proposed method is constituted, are a by-product of the on-line mosaicking process, the navigation aiding is achieved without investing much additional effort.

关键词： Cameras

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Voice instructions for controlling a robotic forceps with image and auxiliary information

Voice instructions for controlling a robotic forceps with im...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Izumi, Kiyotaka Tokunaga, Takuya Watanabe, Keigo Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502 Japan Department of Intelligent Mechanical Systems Graduate School of Natural Science and Technology Okayama University 3-1-1 Tsushima-naka Kita-ku Okayama 700-8530 Japan

ISBN: (纸本)9784907764333

An image related to three-dimensional movement is used for constructing a control system for a robotic forceps by voice instructions, together with use of auxiliary information such as, the information on the tip-position in threedimension and on the distance of the previous movement. A degree-related adverb included in the voice instruction is quantified by using fuzzy reasoning, in which such auxiliary information is also applied to update the membership functions so as to realize a user-friendly interface. The effectiveness of the present system is demonstrated by actual experiments. © 2009 SICE.

关键词： Fuzzy control

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Feature extraction of light sleep state in polysomnogram by use of conditional probability

Feature extraction of light sleep state in polysomnogram by ...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Yoshiyama, Hiroaki Sugi, Takenao Wang, Bei Shirakawa, Shuichiro Nakamura, Masatoshi Department of Electrical and Electronic Engineering Saga University Saga Japan Department of Automation East China University of Science and Technology Shanghai China National Center of Neurology and Psychiatry Tokyo Japan Departmcnt of Advanced Systems Control Engineering Saga University Saga Japan

ISBN: (纸本)9784907764333

Human sleep stages during whole night are usually classified into six stages based on polysommnographic (PSG) record. Sleep state of human light sleep changes gradually and continuously. In this study, automatic judgment of light sleep state in PSG record was developed. Parameters for characterizing the PSG were calculated from the periodogram and the discriminant function was constructed by using conditional probability Estimated value of wake full level was gradually decreased according to the stage charged from W to S1. In contrast, changing the sleep state from S1 to S2 increased estimated value of sleep level accordingly. © 2009 SICE.

关键词： Sleep research

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Real-time mosaic-aided aerial navigation: I. Motion estimation

Real-time mosaic-aided aerial navigation: I. Motion estimati...

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ISBN: (纸本)9781563479786

This work presents a method for real-time mosaic-aided aircraft navigation. The method utilizes an on-line mosaic image construction process based on images acquired by a gim- balled camera attached to an airborne platform, which scans ground regions in the vicinity of the flight trajectory. The images captured by the camera are used to update the mosaic image while simultaneously estimating the platform's motion. The work is divided into two parts: The current paper addresses mosaic-based motion estimation using a scanning camera and a concomitant mosaic construction procedure. Part II focuses on fusion of the motion estimation with a standard navigation system. An extensive performance evaluation of the proposed method was carried out, involving real imagery and an implementation of the camera scanning and mosaic image construction processes. The current paper, concerned with the motion estimation procedure, shows a significant improvement of motion estimation in challenging scenarios, such as using a narrow field-of-view camera and tracking low-texture scenes. The approach proposed in this work is an alternative to Simultaneous Localization and Mapping (SLAM) in the following sense: We assume that the mosaic image construction is an independent process, to be utilized for improv- ing the navigation system. Therefore, the proposed architecture alleviates some of the computational load associated with SLAM. Copyright © 2009 by the authors.

关键词： Navigation systems

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RESTful device interaction architecture for embedded devices

Research Reports on Information Science and Electrical Engin...

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Research Reports on Information science and Electrical engineering of Kyushu University 2009年第2期14卷 53-58页

作者： Hayakawa, Hiroshi Sato, Kenya Tagashira, Shigeaki Nakanishi, Tsuneo Fukuda, Akira Department of Computer Science and Communication Engineering Department of Information Systems Design Faculty of Science and Engineering Doshisha University Japan Department of Advanced Information Technology

Toward ubiquitous network society, there have been challenges to construct smart spaces in living space such as homes and offices by connecting embedded devices with each other;however, many existing smart spaces tend to depend on particular platform or be a self-contained environment. In this paper, we describe requirements on frameworks for smart spaces with embedded devices, and then propose a new framework based on the requirements. The proposed framework is designed to have high scalability and be suitable for cross-platform environments by employing RESTful web service for device interaction architecture. By encoding communication messages for requesting services in x-www-form-urlencoded scheme, the proposed framework can support many kinds of devices including resource-limited devices which can't afford an XML parser. Evaluation with existing frameworks shows the proposed framework is suitable as a framework for smart spaces because of its simple and lightweight architecture.

关键词： Web services

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Kinematics-based control of underactuated vehicles with four-inputs and six-states by applying invariant manifolds

Kinematics-based control of underactuated vehicles with four...

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IEEE International Conference on Networking, Sensing and control

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

In this paper, an invariant manifold approach is applied for controlling chained form systems with four inputs and six states. This type of systems includes VTOL (vertical take off and landing) aerial robots such as X4-flyer, AUVs (autonomous underwater vehicles) such as a longitudinal or lateral X4 -AUV, etc. The present underactuated control method is composed of a two step method: the first step is an attractive control to achieve an invariant manifold vector and the second step is a state feedback control to assure the asymptotic behavior of states constrained on each invariant manifold. Some simulations with changes in design parameters are given to demonstrate the effectiveness of the proposed method.

关键词： control systems Velocity control Underwater vehicles State feedback Feedback control Manifolds Robot control control system synthesis Mobile robots Acceleration

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Behavior generation in robots by emotional motivation

Behavior generation in robots by emotional motivation

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Kiyoaka Izumi Sajal Chandra Banik Keigo Watanabe Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

Emotions are necessary in robotic system to get some extra benefits especially in intelligence and autonomy with the motivational mechanism for behavior generation. A robot needs to be intelligent enough to adjust with dynamic and flexible environment. Benefits can be amplified if emotional intelligence can be incorporated with the available control methods. We describe an emotion model to be used for a robotic system with an application in a simulated environment. The simulation shows satisfactory results in emotion generation and actions selection.

关键词： Robots

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control of three-link underactuated manipulators by a logic-based switching method

Control of three-link underactuated manipulators by a logic-...

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IEEE International Conference on Networking, Sensing and control

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

control of underactuated manipulators is an attractive research theme in robotics. One of the reasons is that they become a complex system, so that they cannot be controlled by normal any control methods. These systems also include the properties of nonholonomic systems. One of control methods used for underactuated manipulators is known as a switching control, which selects a stable controller out of ones prepared in advance by using a switching rule. In this paper, we propose a switching control method for three-DOF underactuated manipulators. The dynamical model of an underactuated manipulator consisting of two prismatic joints and one revolute joint is first transformed into an extended nonholonomic double integrator form. Such a system can be controlled by applying the conventional logic-based control method developed in the case of velocity constraint, after slightly extending it to the present case. The effectiveness of the proposed method is illustrated through simulations with a three-DOF underactuated manipulator.

关键词： Manipulator dynamics control systems Robot kinematics Velocity control Mobile robots Orbital robotics Acceleration Equations Actuators Robot sensing systems

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Evaluating fuzzy voice commands by user guided visual attention for controlling a robot manipulator

Evaluating fuzzy voice commands by user guided visual attent...

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SICE Annual Conference

作者： A.G. Buddhika P. Jayasekara Keigo Watanabe Kiyotaka Izumi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

This paper proposes a method for evaluating fuzzy voice commands (FVCs) by user guided visual attention. FVCs inherit fuzzy linguistic information due to the inclusion of fuzzy linguistic terms such as “very little.” The contextual meaning of such information depends on the environmental arrangement. Therefore, visual attention system (VAS) is utilized to evaluate the fuzzy linguistic information based on the environmental conditions. It is implemented by assuming that the corresponding distance value for a particular FVC depends on the spatial arrangement of the surrounding objects in the environment. A fuzzy logic based voice command evaluation system (VCES) is proposed to assess the fuzzy linguistic information in user commands. In addition, the user has been given the freedom to adjust command evaluation process by changing the attention level. It is achieved by using attentive voice commands such as “move carefully.” A situation of object manipulation by navigating the tip of a robot manipulator through the user's working space is demonstrated to illustrate the system where a PA-10 robot manipulator is used.

关键词： Fuzzy control Robot control Manipulators Fuzzy systems Humans Orbital robotics Fuzzy logic Service robots Mobile robots control systems

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T-S fuzzy model adopted SLAM algorithm with linear programming based data association for mobile robots

T-S fuzzy model adopted SLAM algorithm with linear programmi...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Keigo Watanabe Chandima Dedduwa Pathiranage Kiyoaka Izumi Graduate School of Science and Engineering Department of Advanced Systems Control Engineering Saga University Saga Japan

This paper describes a Takagi-Sugeno (T-S) fuzzy model adopted solution to the simultaneous localization and mapping (SLAM) problem with two-sensor data association (TSDA) method. Fuzzy Kalman filtering of the SLAM problem (FKF-SLAM) is used in this paper together with newly proposed data association algorithm. An extended TSDA (ETSDA) method is introduced for the SLAM problem in mobile robot navigation based on an interior point linear programming (LP) approach. Simulation results are given to demonstrate that the ETSDA method has low computational complexity and it is more accurate than the existing single-scan joint probabilistic data association (JPDA) method.

关键词： Simultaneous localization and mapping Linear programming Mobile robots Fuzzy systems State estimation Kalman filters Filtering Vehicles Stochastic processes Nonlinear systems

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