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IEEE Information technology and Mechatronics Engineering Conference (ITOEC)

作者： Yaxin Liu Yanqiang Zhang Yufeng Yao Ming Zhong Industrial Research Institute of Robotics and Intelligent Equipment Harbin Institute of Technology (Weihai) Weihai China

ISBN: (纸本)9781538653746

As the population aging becomes more and more serious, WMRA (Wheelchair Mounted Robotic Arms) has been rapidly developed. But it still has many problems in human-robot interaction. In this paper, laser pointer is used as an interactive method for wheelchair. First, the camera acquires the color image, then each channel of the image is carried on the weight process, causing the object with high brightness in the image to reduce. This operation eliminates environmental interference, and then color image is converted into HSV image. The background difference method and target matching method are used to detect the laser point in the home environment. In the experiment, the laser point in the home environment can be well detected, and the laser pointer is used as an interactive interface for the electric wheelchair, which enables the wheelchair to achieve the functions of forward, backward, left, right and so on.

关键词： Wheelchairs Brightness Laser modes Robots Color Cameras

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A stream field based partially observable moving object tracking algorithm

A stream field based partially observable moving object trac...

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Kuo-Shih Tseng Robotics Control Technology Department Intelligent Robotics Technology Division Mechanical Industry Research Laboratories Industrial Technology and Research Institute Hsinchu Taiwan

Self-localization and tracking a moving object is a key technology for service robot interactive applications. Most tracking algorithms focus on how to correctly estimate the acceleration, velocity, and position of the moving objects based on the prior states and sensor information. What has not been studied so far is tracking the partially observable moving object which is often hidden from a robot's view using lasers. Applying the traditional tracking algorithms will lead to the divergent estimation of the object's position. Therefore, in this paper, we propose a novel laser based partially observable moving object tracking and self-localization algorithm. We adopt stream functions and Rao-Blackwellised particle filter (RBPF) to predict where the partially observable moving object will go in previously mapped environmental features. Moreover, a robot can localize itself and track such a moving object according to stream field. Our experimental results show the proposed algorithm can localize itself and track the partially observable moving object effectively.

关键词： Particle filters Particle tracking robotics and automation Service robots intelligent robots Robot sensing systems Laser modes Robot vision systems Solid lasers Orbital robotics

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Application for Airport Tenant Selection Using Weighted Product-based Decision Support System

Application for Airport Tenant Selection Using Weighted Prod...

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2023 International Conference on Electrical and Information technology, IEIT 2023

作者： Sumari, Arwin Datumaya Wahyudi Saputra, Muhamad Andika Ayuningtyas, Astika Sudarmadi, Catur Adisutjipto Institute of Aerospace Technology Aerospace Intelligent System and Data Engineering Research Group Yogyakarta Indonesia Politeknik Negeri Malang Cognitive Artificial Intelligence Research Group Malang Indonesia Adisutjipto Institute of Aerospace Technology Informatics Study Program Faculty of Industrial Technology Yogyakarta Indonesia Adisutjipto Institute of Aerospace Technology Aerospace Health Informatics Research Group Faculty of Industrial Technology Yogyakarta Indonesia

ISBN: (纸本)9798350327298

This research aims to develop an application for selecting the best new tenant at PT Angkasa Pura II Sultan Thaha Jambi Airport Branch by utilizing Weighted Product (WP) method as the decision support system. Our approach is descriptive research with data analysis technique using four prospective tenants coded A-1 to A-4. The data was collected through observation, interviews, documentation, and literature study. The steps for selecting the best new tenant using the WP method include determining the criteria, sorting the suitability of alternatives and criteria, determining the weight of each criterion and its normalization, calculating the score, S value as an alternative preference, and calculating the ranking, V value as the final alternative preference. Based on the final calculation results, the new tenant coded A-4 is the best alternative based on the data collected from the Financial Management (FHFM) Unit and the Commercial Unit, with a value of V-4 is 0.294. © 2023 IEEE.

关键词： Decision support systems

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Integrated Pressure and Proximity Sensors on Silicone and PU Substrates That Supports Flexible Hybrid Electronics

IEEE Journal on Flexible Electronics

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IEEE Journal on Flexible Electronics 2024年第6期3卷 259-265页

作者： Pundrikaksha Pancham, Padmanabh Mukherjee, Anupam Lek Yuan, Boong Tsai, Cheng-Han Yu, Peichen Lo, Cheng-Yao Institute of NanoEngineering and MicroSystems National Tsing Hua University Hsinchu300044 Taiwan General Silicones Department of Marketing Hsinchu300104 Taiwan National Yang Ming Chiao Tung University Department of Photonics Hsinchu300093 Taiwan Industrial Technology Research Institute Intelligent Robotics Technology Division Hsinchu310401 Taiwan National Tsing Hua University Institute of NanoEngineering and MicroSystems The Department of Power Mechanical Engineering Hsinchu300044 Taiwan

In this work, we demonstrate an integrated, simple, yet highly sensitive parallel-plate and co-planar capacitive pressure sensors on a silicone-based composite substrate that addresses the issue of low surface energy (LSE) of silicone. The composite substrate exhibited flexibility and appropriate bonding strength after high-temperature vulcanization. Meanwhile, by utilizing deionized water in dielectric mixture (10%-30%), micropores in different sizes and distributions in the dielectric were realized as a novel solution to enhance its flexibility and thus its sensitivity. The parallel-plate pressure capacitor exhibited adjustable detection sensitivity between 5.3 and 6.6 kPa-1 and the highest sensitivity outperformed existing demonstrations in literature with large dynamic window between 0.05 and 83.3 kPa with a resolution of 0.05 kPa and a response time of 0.25 s. On the other hand, the co-planar proximity sensor showed supportiveness on real-time detection, exhibiting a multifunctional sensing system together with the parallel-plate pressure sensor. Related design, fabrication, evaluation, and discussion were thoroughly conducted in this work. © 2022 IEEE.

关键词： Substrates

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AI Fairness-From Machine Learning to Federated Learning

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Computer Modeling in Engineering & Sciences 2024年第5期139卷 1203-1215页

作者： Lalit Mohan Patnaik Wenfeng Wang Consciousness Studies Program School of HumanitiesNational Institute of Advanced StudiesBangalore560012India Research Institute of Intelligent Engineering and Data Applications Shanghai Institute of TechnologyShanghai201418China Research Center of Ecology and Environment of Central Asia Chinese Academy of SciencesUrumqi830011China Applied Nonlinear Science Lab Anand International College of EngineeringJaipur391320India London Institute of Technology The ASE-London CTI of SCOLondonCR26EQUK Sino-Indian Joint Research Center of AI and Robotics The IMT InstituteBhubaneswar752054India

This article reviews the theory of fairness in AI-frommachine learning to federated learning,where the constraints on precision AI fairness and perspective solutions are also *** a reliable and quantitative evaluation of AI fairness,many associated concepts have been proposed,formulated and ***,the inexplicability of machine learning systems makes it almost impossible to include all necessary details in the modelling stage to ensure *** privacy worries induce the data unfairness and hence,the biases in the datasets for evaluating AI fairness are *** imbalance between algorithms’utility and humanization has further reinforced *** for federated learning systems,these constraints on precision AI fairness still *** solution is to reconcile the federated learning processes and reduce biases and imbalances accordingly.

关键词： Formulation evaluation classification constraints imbalance biases

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Online dense local 3D world reconstruction from stereo image sequences

Online dense local 3D world reconstruction from stereo image...

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IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Kagami, S Takaoka, Y Kida, Y Nishiwaki, K Kanade, T Digital Human Research Center National Institute of Advanced Industrial Science and Technology Japan CREST Program Japan Science and Technology Agency Japan NARA Institute of Science and Technology Graduate School of Information Science Japan Dept. of Mechanical Engineering Tokyo University of Science Japan Robotics Institute Carnegie-Mellon University United States

ISBN: (纸本)0780389123

This paper describes an online 3D reconstruction system from stereo image sequences to obtain a dense local world model for robot navigation. Proposed method consists of three components: 1) stereo depth map calculation, 2) correspondence calculation in time sequential images by tracking raw image features, 3) 6DOF camera motion estimation by RANSAC and integrate depth map into 3D reconstructed model. We examined and evaluated our method in motion capture environment for comparison. Finally experimental results by humanoid robot H7 is denoted.

关键词： reconstruction stereo image sequence visual odometory humanoid robot

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Appropriate Emotions for Facial Expressions of 33-DOFs Android Head EveR-4 H33

Appropriate Emotions for Facial Expressions of 33-DOFs Andro...

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IEEE International Symposium on Robot and Human Interactive Communication

作者： Ho Seok Ahn Dong-Wook Lee Dongwoon Choi Duk-Yeon Lee Manhong Hur Hogil Lee Intelligent Robotics and Communication Laboratories Advanced Telecommunications Research Institute International Department of Applied Robot Technology Korea Institute of Industrial Technology

ISBN: (纸本)9781467346047

There are many theories about basic emotions, and we do not know which emotions are appropriate to use. Also, faces of robots are designed differently and require different ways to embody emotional expressions. Therefore, in this paper we address the appropriate emotions for facial expressions of EveR-4 H33, which is controlled by thirty-three motors for head system. EveR-4 H33 displays her facial expressions for certain emotions selected from typical basic emotion theories. Then, audiences at an exhibition evaluate her facial expressions, by enjoying a game of emotional correction. We analyze the results of the game, and decide appropriate emotions for EveR-4 H33.

关键词： Facial Expression Emotions Game theory Game animals Methyltestosterone Androids Robot

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Uses of Facial Expressions of Android Head System according to Gender and Age

Uses of Facial Expressions of Android Head System according ...

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IEEE International Conference on Systems, Man, and Cybernetics

ISBN: (纸本)9781467317139

This paper analyzes emotional expressions of an android head system according to gender and age. We use an EveR-4 H33 controlled by thirty-three motors for facial expression. EveR-4 H33 is a head system for an android face consists of three layers: a mechanical layer, an inner cover layer and an outer cover layer. Facial expressions of robots are different from the purposes of robots. In addition, feeling of emotional expressions is also different from humans depending on age, gender, etc. Therefore, we find the appropriate uses of EveR-4 H33 in this paper. EveR-4 H33 shows her facial expressions about some emotions. Then, audiences of exhibition evaluate her facial expressions by enjoying a game of emotional correction. We analyze the results of the game according to gender and age, and decide appropriate uses of EveR-4 H33.

关键词： Android Facial expression Emotional expression EveR Human-Robot Interaction Facial Expression Gender Methyltestosterone Androids Robot Emotions Aged Game theory Game animals Head

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Development of a reconfigurable miniature throwable robot for indoor surveillance

Development of a reconfigurable miniature throwable robot fo...

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IEEE Conference on industrial Electronics and Applications (ICIEA)

作者： Yuan Qu Rong Liu Rui Chen Sheng Cheng Ludan Wang Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing China Intelligent Robotics Institute Kunshan Industrial Technology Research Institute Kunshan Jiangsu China

This paper presents an innovative mechanical design of a reconfigurable miniature throwable robot. The robot keeps in spherical shape to buffer shock and to protect inner sub-systems in falling, and it transforms to a two-wheeled mobile robot in surveillance via wireless control. Two generations of the robot have been constructed, and details in mechanical design, principle of transformation and a servo-system for adjusting view level of micro-camera are discussed. Experiments are also presented, and effectiveness of the design has been approved.

关键词： Batteries Service robots Mobile robots Cameras Robot vision systems Receivers

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Experimentation of Humanoid Walking Allowing Immediate Modification of Foot Place Based on Analytical Solution

Experimentation of Humanoid Walking Allowing Immediate Modif...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Mitsuharu Morisawa Kensuke Harada Shuuji Kajita Shinichiro Nakaoka Kiyoshi Fujiwara Fumio Kanehiro Kenji Kaneko Hirohisa Hirukawa Humanoid Robotics Group Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology RIKEN Tsukuba Japan

This paper proposes a method of a real-time gait planning for humanoid robots which can change stride immediately at every step. Based on an analytical solution of an inverted pendulum model, the trajectories of the COG (center of gravity) and the ZMP (zero-moment point) are parameterized by polynomials. Since their coefficients can be efficiently computed with given boundary conditions, this framework can provide a real-time walking pattern generator for humanoid robots. To handle the unexpected result caused by immediate changes of foot placement, we made single support periods as an additional trajectory parameter and the ZMP fluctuation was suppressed by mixing the opposite phase of the ZMP error. The effectiveness of our method is shown by experiments of the humanoid robot HRP-2.

关键词： Legged locomotion Foot Humanoid robots Boundary conditions Humans Polynomials Fluctuations Differential equations intelligent robots robotics and automation

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