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38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012

作者： Tsuruo, Yusei Murao, Toshiyuki Kawai, Hiroyuki Fujita, Masayuki Graduate Program in Mechanical Engineering Kanazawa Institute of Technology Ishikawa 921-8501 Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo 140-0011 Japan Department of Robotics Kanazawa Institute of Technology Ishikawa 921-8501 Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo 152-8550 Japan

ISBN: (纸本)9781467324212

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. © 2012 IEEE.

关键词： Visual communication

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Magnetic resonance wireless power transmission using a LLC resonant circuit for a locomotion robot's battery charging

Magnetic resonance wireless power transmission using a LLC r...

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6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Kim, Ki-Ryong Kim, Dong-Hyun Kim, Hee-Je Department of Interdisciplinary Program in Robotics Pusan National University Jangjeon-dong Geumjung-gu Korea Republic of Department of Electrical Engineering Pusan National University Jangjeon-dong Geumjung-gu Korea Republic of

ISBN: (纸本)9783642408519

The purpose of this paper is a locomotion robot's battery charging. Using a LLC resonant circuit and magnetic resonance WPT(Wireless Power Transmission). The proposed this WPT system consists of transmitter and receiver circuits. The transmitter is a LLC resonant circuit and receiver circuit is a LC resonant circuit that has a resonant coil, a capacitor, and full bridge diode rectifier. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Charging (batteries)

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programmable Skins based on Core-Shell Microsphere/Nanotube/Polymer Composites

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MRS Online Proceedings Library 2015年第1期1800卷 1-6页

作者： Panchapakesan, Balaji Onal, Cagdas Loomis, James Small Systems Laboratory Department of Mechanical Engineering Worcester Polytechnic Institute Worcester USA Soft Robotics Laboratory Department of Mechanical Engineering Robotics Engineering Program Worcester Polytechnic Institute Worcester USA Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge USA

In this paper, we describe unique thermally responsive polymer system based on nanotube-elastomers dispersed with core-shell expanding microspheres (phase-change material). Upon thermal or infrared stimuli, liquid hydrocarbon cores encapsulated within the microspheres vaporize, expanding the surrounding shells and stretching the matrix. Microsphere transformation resulted in visible dimensional changes associated with macroscopic volume increase (>500%), reduction in density (>80%), and increase in elastic modulus (>675%). Additionally, electrically conductive nanotubes allowed for expansion dependent electrical responses. We present our new findings on expansion dependent superhydrophobicity in these materials and present some outlook and comparison of our stimuli responsive polymers with other material systems for future origami based applications.

关键词： actuator composite nanostructure

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Target-adjusted model for Kernel-based tracker

Target-adjusted model for Kernel-based tracker

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作者： Choe, Jeehyun Goya Seok, Joon-Hong Kim, Jeong-Jung Lee, Ju-Jang Robotics Program Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon Korea Republic of

ISBN: (纸本)9784990288037

Kernel-based tracker shows robust performances in various object tracking technologies. Due to its robustness and accuracy, Kernel-based tracker using Mean-shift algorithm is regarded as one of the best ways to apply in object tracking technology in computer vision fields. However, it has a drawback. It fails tracking when faced with a speedy object moving beyond its window size within one image frame interval time. These failures are reduced with the use of Target-adjusted kernel models proposed in this paper. These models are designed to reflect the previously known target information. Same to the conventional kernel model in kernel-based object tracker, this model also contains the target information of both the color and the distance. Experimental results show that the time required for the calculations in tracking process is lessened so that causing lesser failures by applying this Target-adjusted model. Building a Target-adjusted model requires the previously known color data of the target. The model is designed to focus on the colors in the target object by using look-up tables. These look-up tables enable to reduce the size of the color bins in a model so that unnecessary trivial computations can be regarded. ©ISAROB 2009.

关键词： Color

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Opportunistic Synthesis in Reactive Games under Information Asymmetry

Opportunistic Synthesis in Reactive Games under Information ...

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Annual Allerton Conference on Communication, Control, and Computing

作者： Jie Fu Department of Electrical and Computer Engineering Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA

Reactive synthesis [1]is used to synthesize a provably-correct strategy (controller) with respect to a given Linear Temporal Logic (LTL) specification in a dynamic, potentially adversarial environment. The core idea of reactive synthesis is to model the interaction between a controlled agent (called the robot) and its dynamic and uncontrollable environment as a two-player turn-based zero-sum game. In particular, players' Boolean payoffs are specified by temporal logic formulas [2]-a rich language that can expressive properties such as safety, liveness, stability, and temporally extended goals.

关键词： Games Robots Task analysis Game theory Vehicle dynamics Computer security

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Therapist's and Robot's Roles in Robot-Assisted Interventions during JA Therapies of Children with ASD 23

Therapist's and Robot's Roles in Robot-Assisted Intervention...

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23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024

作者： Aguirre, Andrés Sierra M, Sergio D. Gaitán-Padilla, Maria Frizera-Neto, Anselmo Cifuentes, Carlos A. Múnera, Marcela Federal University of Espirito Santo Graduate Program of Electrical Engineering Vitoria29075-910 Brazil University of the West of England Bristol Robotics Laboratory Bristol United Kingdom Colombian School of Engineering Julio Garavito D.C. Bogotá Colombia

ISBN: (纸本)9798350373578

Joint Attention (JA) is a fundamental social interaction capability developed in early childhood by sharing a common focus point with others. However, this skill is commonly affected in children with Autism Spectrum Disorders (ASD). In this sense, social robots emerged as a tool for developing novel JA intervention strategies supporting therapists. Therefore, this work presents a study to determine the best combination of robot and therapist participation in JA therapies based on following the gaze of the mediator with verbal and pointing instructions. Sixteen subjects with ASD participated in seven robot-assisted sessions divided into a robot-assisted group (RAG) and a control group (CG), performing equivalent intervention sessions. A focus visual system measured quantitative and reliable JA metrics, while the robot's participation was progressively increased in the RAG to manage all the instructions at the last session. Results show that participants of the RAG had better JA scores than the CG during sessions 6 and 7 (=0.029 and p=0.018, respectively). The RAG paid more visual attention and presented more social engagement behaviours in the sessions (p © 2024 IEEE.

关键词： Social robots

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Development of Mobile Robot Education Kit Prototype for Elementary School Students

Development of Mobile Robot Education Kit Prototype for Elem...

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2021 International Conference on Computer System, Information Technology, and Electrical engineering, COSITE 2021

作者： Priandana, Karlisa Margaretha, Friska Sinaga, Doli Aryo Dani Kusumoputro, Benyamin Bogor Agricultural University Computer Science Department Bogor Indonesia Bogor Agricultural University Vocational School of Computer Engineering Program Bogor Indonesia Research Development Interactive Robotics Bogor Indonesia Universitas Indonesia Dept of Electrical Engineering Depok Indonesia

ISBN: (纸本)9781665425094

Electronic technologies are growing very rapidly, especially those related to automation and robotics. robotics technology is currently being developed and implemented in various fields including military, search and rescue, education, transportation, sports, and many other fields. Various researches on robotics technology continue to be carried out by various universities in the world including in Indonesia. To increase the interest of the young generation in the field of robotics, an attractive educational kit especially for elementary school level is necessary. This work aims to develop a robotics education kit in the form of a unique and interesting mobile robot as a learning media for elementary school students. The robot was developed using an Arduino microcontroller and can be operated by elementary school students using an easy and user-friendly blocks programming. The testing shows that the developed robotics education kit has been able to function properly, in accordance with the design and the specified requirements. © 2021 IEEE.

关键词： Mobile robots

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Study on Optimal Machine Learning Approaches for Kidney Failure Detection System Based on Ammonia Level in the Mount 1

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International Conference on Innovative Technologies in Intelligent Systems and Industrial Applications, CITISIA 2022

作者： Phandinata, Nicholas Puji, Muhammad Nurul Astuti, Winda Andriatin, Yuli Astuti Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta11480 Indonesia Nursery Department Cilacap Regional General Hospital Gatot Subroto No.28 Central Jawa Cilacap53223 Indonesia

ISBN: (数字)9783031290787

ISBN: (纸本)9783031290770

Patients with kidney failure can emit bad breath with a certain level of ammonia content. The interpretation of ammonia levels in patients with renal failure was identified in this work. This research used the Chronic Kidney Disease dataset from UCI Machine Learning Repository. The dataset was processed first to get the value of eGFR (estimated Glomerular Filtration Rate) and ppb (parts per billion) of ammonia. Based on the eGFR value, the severity of kidney failure was divided into 5 categories, namely normal (Stage 1), mild (stage 2), moderate (stage 3), severe (stage 4) and failure (stage 5). The values of eGFR features are used as input for the machine learning technique in order to predict the level of kidney failure. Four different types of machine learning techniques, namely Support Vector Machine (SVM), Naïve Bayes (NB), Artificial Neural Network (ANN) and K-nearest neighbors (KNN), are applied and compared. The last process was to identify kidney failure using the K-Nearest Neighbors (KNN) method based on eGFR and ppb of ammonia dataset. AI-based kidney failure severity identification system with KNN algorithm had an average accuracy of 89.9% and 95.65% for training and testing accuracy, respectfully. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Support vector machines

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Development of Wireless Integrated Early Warning System (EWS) for Hospital Patient 1

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International Conference on Innovative Technologies in Intelligent Systems and Industrial Applications, CITISIA 2022

作者： Steady Oey, Endra Astuti, Winda Andriatin, Yuli Astuti Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta11480 Indonesia Nursery Department Cilacap Regional General Hospital Gatot Subroto No. 28 Central Java Cilacap53223 Indonesia

ISBN: (数字)9783031290787

ISBN: (纸本)9783031290770

The implementation of the Early Warning System (EWS) in hospitalized patients aims to identify worsening of the patient’s condition based on the assessment of vital signs. Currently, the EWS is still applied manually by nurses by filling out observation sheets to assess the risk of patient deterioration, so that it can be used. There was an error filling in by the human error factor. In addition, the lack of nurses in Indonesia makes the implementation of EWS not optimal. Therefore, a system for measuring vital signs and risk assessment of patient deterioration was created automatically which nurses can monitor through the website. The results of this study are a system design prototype consisting of five data retrieval devices and a Raspberry Pi as a web server. Each device sends data to the server wireless using the MQ Telemetry Transport (MQTT) protocol. The test results show that the system can retrieve vital signs data automatically every hour and displays a risk that is one level lower than manual EWS implementation. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Deterioration

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Fuzzy gaze control-based navigational assistance system for visually impaired people in a dynamic indoor environment

Fuzzy gaze control-based navigational assistance system for ...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Seung-Beom Han Deok-Hwa Kim Jong-Hwan Kim Robotics Program KAIST Daejeon Korea Department of Electrical Engineering KAIST Daejeon Korea

285 million people are estimated to be visually impaired worldwide. Visually impaired people typically use a white cane or a guide dog or both of them to walk down the street. However, such as a cane and/or a dog are not enough to secure them from being collided with obstacles in a dynamic environment. This paper proposes a navigational assistance system based on fuzzy integral-based gaze control for visually impaired people in a dynamic indoor environment. It largely consists of an RGB-D camera and a vibrotactile vest interface. The RGB-D camera detects static and dynamic obstacles and obtains obstacle information on their center positions, sizes, and velocities. The fuzzy integral-based gaze control for obstacle detection is proposed to reduce a blind spot of the camera and obtain more information of the environment. The vibrotactile vest interface notifies a direction to avoid the obstacle using a fuzzy integral-based imminent-obstacle selection algorithm. To confirm the performance of the proposed assistance system for visually impaired people, experiments are carried out in an indoor dynamic environment.

关键词： Cameras 5G mobile communication Navigation Heuristic algorithms Indoor environments Visualization Size measurement

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