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 natu...
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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.
It is quite a well-known fact that there exists a gap between the published fuel consumption value of vehicles and fuel consumption in actual use (actual fuel consumption). It is because the actual fuel consumption st...
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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 t...
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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
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 measure...
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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.
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 ...
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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
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 nonholo...
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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
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 interr...
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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.
An efficient and precision hybrid interference verification algorithm for the web-based interference verification system is studied for injection mold design processes. In order to design a collaborative system over t...
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ISBN:
(纸本)1887706410
An efficient and precision hybrid interference verification algorithm for the web-based interference verification system is studied for injection mold design processes. In order to design a collaborative system over the distributed environment, the proposed system uses lightweight CAD files produced from the optimally transformed CAD data through ACIS kernel and InterOp. This proposed system allows collaborative developers to verify interferences among parts over the Internet without any commercial CAD systems. The system gives benefits to collaborators by reducing production cost, errors and lead-time to the market. Validity of the developed system is confirmed through case studies.
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 ba...
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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.
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