This paper investigates passivity-based pose control via an obstacle avoidance navigation function for three-dimensional (3-D) eye-in-hand visual feedback systems. Firstly, visual motion observer-based pose control fo...
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ISBN:
(纸本)9781467324199
This paper investigates passivity-based pose control via an obstacle avoidance navigation function for three-dimensional (3-D) eye-in-hand visual feedback systems. Firstly, visual motion observer-based pose control for 3-D eye-in-hand visual feedback systems is presented. Next, a path planner to be appropriate for the visual motion error system is designed through an obstacle avoidance navigation function to keep collision-free during servoing. Finally, the effectiveness of the proposed method is verified through computer simulations.
The 2013 Human-Robot Interaction (HRI) Pioneers Workshop, which will be held in conjunction with the 8 th ACM/IEEE International Conference on Human-Robot Interaction, is the premiere venue for student research in th...
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ISBN:
(纸本)9781467330558
The 2013 Human-Robot Interaction (HRI) Pioneers Workshop, which will be held in conjunction with the 8 th ACM/IEEE International Conference on Human-Robot Interaction, is the premiere venue for student research in the field. This highly selective workshop seeks to foster creativity, communication, and collaboration between the world's top student researchers in the field of human-robot interaction. Pioneers Workshop participants will have the opportunity to learn about the current state of HRI, to present their research, and to network with one another and with select senior researchers in a setting that is less formal and more interactive then the main conference. The theme for this year is Re-envisioning HRI: Dealing With the Elephants in Our Room. The workshop aims to bring forward difficult to discuss issues to help the field achieve more balanced perspectives and a clearer picture of what sort of future we are building.
In this paper, a low-cost navigation system with high integrity and reliability is proposed for enhancing highway traffic safety in adverse weather situations, such as a foggy or rainy weather. A high-integrity, 15-st...
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In this paper, a low-cost navigation system with high integrity and reliability is proposed for enhancing highway traffic safety in adverse weather situations, such as a foggy or rainy weather. A high-integrity, 15-state, estimation filter is proposed to obtain a high accuracy state estimate. The filter utilizes a vehicle velocity constraint measurement to enhance the accuracy of the estimate. Two estimations filters, the Kalman filter (KF) and the information filter (IF), are designed and compared to obtain the estimate of the vehicle state. An instrumentation system that consists of a microcontroller, a GPS receiver, an IMU, encoders, and a Zigbee transceiver is constructed. The microcontroller provides a vehicle navigation solution at 50 Hz by fusing the measurements of the IMU, the GPS receiver and the digital compass using the proposed filter design. Experimental tests, using the proposed system, are conducted and the obtained results are presented. These results are processed with and without the velocity constraints. The estimation accuracy improvement with the addition of the velocity constraints is demonstrated. Also, results of a static test are used to assess the accuracy of the low-cost navigation systems against a commercial solution.
The Yonmenkaigi System Method is utilized for developing a collaborative action plan for community recovery of a disaster damaged village. A case study was carried out in the Garisan-ri community, County of Inje, Prov...
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ISBN:
(纸本)9781467317139
The Yonmenkaigi System Method is utilized for developing a collaborative action plan for community recovery of a disaster damaged village. A case study was carried out in the Garisan-ri community, County of Inje, Province of Gangwon, Korea. The case study demonstrates how residents who experienced the flood disaster in 2006 in their local community can collaboratively create an action plan for their community recovery. The Yonmenkaigi System Method, originally developed in a local community in Japan, has the following main steps: defining the main theme based on SWOT analysis, working on a Yonmenkaigi chart, debating to improve the consistency and quality of collaborative activities, and presenting the group action plan.
Printed Circuit Boards are commonly exist in computers, laptops and mobile phones. Since it contains of a variety of metals and semiconductors, it is difficult to recover the materials in PCB. This paper aims to chara...
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Printed Circuit Boards are commonly exist in computers, laptops and mobile phones. Since it contains of a variety of metals and semiconductors, it is difficult to recover the materials in PCB. This paper aims to characterize the composition of these materials and a method to properly recycle and recover the materials in them. This paper utilized simple mechanical and chemical procedures to recover PCBs. Collected PCBs were disassembled, pulverized and separated by using density and magnetic separation method. By using the chemical recycling method, 98.82% purity of CuSO4 hydrate and Al2(SO4)3 hydrate were recovered from the PCBs. It is found that the milling methods, size of the sample and the density of the separating solution determine the effectiveness of the materials recovered.
A Pyrex nanochannel device was fabricated using AFM nanolithography in conjunction with MEMS-based microfabrication. The fabrication process began with the patterning of microchannels on a Pyrex substrate using photol...
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A Pyrex nanochannel device was fabricated using AFM nanolithography in conjunction with MEMS-based microfabrication. The fabrication process began with the patterning of microchannels on a Pyrex substrate using photolithography and wet etching. AFM nanolithography was then performed to realize a nanochannel between the micro reservoirs. A diamond-coated AFM probe with a relatively large force constant served as the cutting tool. A detailed study was conducted to determine the relationship between the AFM input parameters and the resultant nanochannel dimensions. A linear trend was obtained between the AFM scratch force and the nanochannel depth. A similar trend was also observed between the number of repeated scratches and the channel depth. Minimal material pileup on the nanochannel sidewall was observed during the scratch process. Flow patency in the capped-off nanochannel was demonstrated through fluorescence microscopy.
Electroendocytosis (EED) is a pulsed-electric-field (PEF) induced endocytosis, facilitating cells uptake molecules through nanometer-sized EED vesicles. We herein investigate the effect of a chemical inhibitor, Cytoch...
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This paper will present the simple process for the deposition of zinc oxide(ZnO)thin film on the silicon wafer using atmospheric pressure plasma ***,dry powder Zinc acetylacetonate hydrate,was directly heating as vapo...
This paper will present the simple process for the deposition of zinc oxide(ZnO)thin film on the silicon wafer using atmospheric pressure plasma ***,dry powder Zinc acetylacetonate hydrate,was directly heating as vapour combining with the carrying gas Argon to spray into downstream of Nitrogen plasma jet for the deposition of ZnO thin *** temperature of the substrate was not over 300℃.The power and frequency were maintained as 500W and 25kHz,*** Rigaku 2200 was used to characterize the diffraction patterns of ZnO thin *** peak at 34° of the hexagonal wurtzite structure ZnO were clearly *** morphology and thickness of the film was evaluated by scanning electron microscopy(SEM)JEOL JSM-6500F.
This paper deals with a stochastic system and maintenance service contract. We consider a situation where an agent offers more then one service contract option and a company as the owner has to select the optimal opti...
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This paper deals with a stochastic system and maintenance service contract. We consider a situation where an agent offers more then one service contract option and a company as the owner has to select the optimal option. This case is typically found in a mining industry where the original equipment manufacturer (OEM) is the only maintenance service provider. As repair time is related to the revenue of the company, service contract options need to consider the repair time target. We consider the repair time target from both the owner and OEM point of views. As an illustration, we give a numerical example with weibull failure distribution.
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