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70th International Astronautical Congress, IAC 2019

作者： King, Caitlin Griffin, Brand Low, Thomas Ortiz, Antonio Stephens, Matthew Troll, John Single-Person Spacecraft Genesis Engineering Solutions Inc. 4501 Boston Way LanhamMD20706 United States Robotics Program Taurus Robotic System SRI International 333 Ravenswood Avenue Menlo ParkCA94025 United States

The Single-Person Spacecraft (SPS) is being developed by Genesis engineering Solutions (GES) to provide the space industry with a new piloted, or remotely operated, EVA solution. The SPS provides a free-flyer inspection, repair, and servicing solution for host vehicles and stations, such as the lunar Gateway. This represents a new technology that will enhance human mobility and work efficiency during EVAs, as well as be operable through a locally commanded tele-operated mode. Hardware is being designed and built for a fully robotic demonstration mission, as a precursor to human operations, which will test and validate several key SPS systems in LEO. An effort is currently underway to develop an on-orbit dexterous manipulation capability. This will be achieved by combining the Taurus robotic system, developed by SRI International, with a custom positioning robotic platform that will operate in a seamless end-to-end control system. The commercially available Taurus robotic system is being validated as a highly skilled manipulator platform for spacecraft related tasks and is being evaluated for space-worthiness. A developmental task board has been built and will be used to perform activities such as MLI repair, hook and loop access, wire manipulation, optical performance, and harness connector removal/installation. The capabilities of the Taurus robotic system will be evaluated to complete the activities in a tele-operated mode particularly as compared to the capabilities of a spacesuit glove. The control program will also be evaluated for adapting to pre-routined scripts to perform the activities. Quantitative and qualitative results of the task board evaluations will be discussed and an assessment on how the results relate to the system requirements of the positioning robotic platform. In addition, significant robotic efforts of the program will be discussed including key trades related to the design and ground testing of the robotic system, a virtual environment zer

关键词： Repair

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Automotive start-stop engine based on fingerprint recognition system 1

Automotive start-stop engine based on fingerprint recognitio...

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1st International Conference on Automotive, Manufacturing, and Mechanical engineering, IC-AMME 2018

作者： Rivandi, Pranoko Winda, Astuti Satrio, Dewanto Solihin, Mahmud Iwan Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta11480 Indonesia Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jl. K. H. Syahdan No. 9 Kemanggisan Palmerah Jakarta11480 Indonesia Faculty of Engineering Technology and Built Environment UCSI University Cheras Kuala Lumpur56000 Malaysia

Automated vehicle security system plays an important rule in nowadays advance automotive technology. One of the methods which can be applied for a security system is based on biometric identification system. Fingerprint recognition is one of the biometric systems that can be applied to the security system. In this work, fingerprint recognition system to start the motorcycle engine is developed. The fingerprint of the owner and other authorized persons will be stored into the database, then while the time of starting the engine of the vehicle, the fingerprint will be validated with the database. The minutiae extraction method is applied to find the difference of fingerprint each other after turn the image into grayscale and thinning. After the extraction, the next step is finding the ridge edge and bifurcation. The result of the image will be used as input to the Artificial Neural Network (ANN) to recognize authorized person only. The experiment of fingerprint recognition system shows that automatic start-stop engine using fingerprint recognition system based minutiae extraction and Artificial Neural Network (ANN) has accuracy 100 % and 100 %, respectively. © 2019 The Authors, published by EDP Sciences.

关键词： Neural networks

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Measuring hand use in the home after cervical spinal cord injury using egocentric video

arXiv

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arXiv 2022年

作者： Bandini, Andrea Dousty, Mehdy Hitzig, Sander L. Craven, B. Catharine Kalsi-Ryan, Sukhvinder Zariffa, José KITE Research Institute Toronto Rehabilitation Institute University Health Network Canada The BioRobotics Institute Scuola Superiore Sant'Anna Pisa Italy Department of Excellence in Robotics and AI Scuola Superiore Sant'Anna Pisa Italy Institute of Biomedical Engineering University of Toronto TorontoON Canada Rehabilitation Sciences Institute Temerty Faculty of Medicine University of Toronto TorontoON Canada St. John's Rehab Research Program Sunnybrook Research Institute Sunnybrook Health Sciences Centre TorontoON Canada Department of Occupational Science & Occupational Therapy Temerty Faculty of Medicine University of Toronto TorontoON Canada Brain and Spinal Cord Rehabilitation Program Toronto Rehabilitation Institute University Health Network TorontoON Canada Division of Physical Medicine and Rehabilitation Department of Medicine Temerty Faculty of Medicine University of Toronto TorontoON Canada Department of Physical Therapy University of Toronto TorontoON Canada Edward S. Rogers Sr. Department of Electrical and Computer Engineering University of Toronto TorontoON Canada

Egocentric video has recently emerged as a potential solution for monitoring hand function in individuals living with tetraplegia in the community, especially for its ability to detect functional use in the home environment. The aim of this study was to develop and validate a wearable vision-based system for measuring hand use in the home among individuals living with tetraplegia. Several deep learning algorithms for detecting functional hand-object interactions were developed and compared. The most accurate algorithm was used to extract measures of hand function from 65 hours of unscripted video recorded at home by 20 participants with tetraplegia. These measures were: the percentage of interaction time over total recording time (Perc);the average duration of individual interactions (Dur);the number of interactions per hour (Num). To demonstrate the clinical validity of the technology, egocentric measures were correlated with validated clinical assessments of hand function and independence (Graded Redefined Assessment of Strength, Sensibility and Prehension - GRASSP, Upper Extremity Motor Score - UEMS, and Spinal Cord Independent Measure - SCIM). Hand-object interactions were automatically detected with a median F1-score of 0.80 (0.67-0.87). Our results demonstrated that higher UEMS and better prehension were related to greater time spent interacting, whereas higher SCIM and better hand sensation resulted in a higher number of interactions performed during the egocentric video recordings. For the first time, measures of hand function automatically estimated in an unconstrained environment in individuals with tetraplegia have been validated against internationally accepted measures of hand function. Future work will necessitate a formal evaluation of the reliability and responsiveness of the egocentric-based performance measures for hand use. © 2022, CC BY-NC-ND.

关键词： Video recording

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Perovskite superlattices with efficient carrier dynamics

Research Square

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Research Square 2021年

作者： Xu, Sheng Lei, Yusheng Li, Yuheng Lu, Chengchangfeng Yan, Qizhang Gong, Huaxin Zhang, Song Zhou, Jiayun Zhang, Ruiqi Chen, Yimu Tsai, Hsinhan Gu, Yue Hu, Hongjie Lo, Yu-Hwa Nie, Wanyi Lee, Taeyoon Luo, Jian Yang, Kesong Jang, Kyung-In Department of Nanoengineering University of California San Diego La Jolla CA92093-0448 United States Department of Chemical Engineering Stanford University StanfordCA94305 United States Department of Electrical and Computer Engineering University of California San Diego La Jolla CA92093 United States Material Science and Engineering Program University of California San Diego La Jolla CA92093-0418 United States Los Alamos National Laboratory Los AlamosNM87545 United States School of Electrical and Electronic Engineering Yonsei University Seoul03722 Korea Republic of Department of Bio and Brain Engineering Korea Institute of Science and Technology Korea Republic of Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology Daegu42988 Korea Republic of Department of Bioengineering University of California San Diego La Jolla CA92093-0412 United States

Compared with their three-dimensional counterparts, low-dimensional metal halide perovskites with periodic inorganic/organic structures have shown promising stability and hysteresis-free electrical performance, which paves the way for next-generation optoelectronic devices. However, when integrated in devices, they have relatively limited efficiencies because devices usually require carrier transport through the film thickness direction. In conventionally grown single crystals, the carrier transport in the thickness direction is hindered by the insulating organic spacers. In addition, the strong quantum confinement from the organic spacers limits the generation and transport of free carriers. The carrier dynamics is further compromised by the presence of grain boundaries in polycrystals. Here, we report a low-dimensional metal halide perovskite superlattice with efficient carrier transport in three dimensions by epitaxial growth. Epitaxy on a slightly lattice-mismatched substrate compresses the organic spacers in the superlattice, which weakens the quantum confinement and further improves carrier dynamics. The performance of a low-dimensional perovskite superlattice solar cell has been certified under the quasi-steady state for the first time. Moreover, the device shows an unusually high open-circuit voltage, due to a unique intra-band exciton relaxation mechanism. © 2021, CC BY.

关键词： Grain boundaries

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Underwater Object Detection and Pose Estimation using Deep Learning ⁎

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IFAC-PapersOnLine 2019年第21期52卷 78-81页

作者： MyungHwan Jeon Yeongjun Lee Young-Sik Shin Hyesu Jang Ayoung Kim Department of the Robotics Program KAIST Daejeon S. Korea KRISO Daejeon S. Korea Department of Civil and Environmental Engineering KAIST Daejeon S. Korea

This paper presents an approach for making a dataset using a 3D CAD model for deep learning based underwater object detection and pose estimation. We also introduce a simple pose estimation network for underwater objects. In the experiment, we show that object detection and pose estimation networks trained via our synthetic dataset present a preliminary potential for deep learning based approaches in underwater. Lastly, we show that our synthetic image dataset provides meaningful performance for deep learning models in underwater environments.

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Correction to “A Sigmoid-Colon-Straightening Soft Actuator With Peristaltic Motion for Colonoscopy Insertion Assistance: Easycolon”

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IEEE robotics and Automation Letters 2021年第3期6卷 5736-5736页

作者： Hansoul Kim Joonhwan Kim Jae Min You Seung Woo Lee Ki-Uk Kyung Dong-Soo Kwon Division of Mechanical Engineering School of Mechanical Aerospace and Systems Engineering KAIST Daejeon South Korea Robotics Program KAIST Daejeon South Korea Division of Gastroenterology Department of Internal Medicine College of Medicine The Catholic University of Korea Seoul South Korea

There are two corresponding authors who have contributed to this letter, yet only one of them has been mentioned as the corresponding author in the original letter. As a result, “Ki-Uk Kyung” was added to footnote a... 详细信息

关键词： Actuators Colonoscopy

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License plate recognition system based on principal component analysis and one-against-one multi-class support vector machine

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IOP Conference Series: Earth and Environmental Science 2020年第1期426卷

作者： Kevin Kristofer Kosasih Winda Astuti Endra Oey Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia 11480

The license plate number which identifies the original registered place of the vehicle, as well as the usage of each vehicle which belongs to a private entity, a government vehicle, and a commercial vehicle, is identified in this work. Vehicle plate detection by a camera that mounted on parking gate. Detection process starts with collecting data using the camera. This work consists two important parts, namely image processing and classification system, respectively. In the image processing, the plate image capture by the camera is extracted to the feature space which will use as the input to the classification system. The classification system is then will identify the extracted input to the plat recognition identification. The Fast Fourier Transform (FFT) and Support Vector Machine (SVM) are applied as feature extraction technique and classification methods, respectively. The results of the training and testing phase are 80% and 66%, respectively.

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Development of Fish Separator Conveyor based on Fish Identification System

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IOP Conference Series. Earth and Environmental Science 2020年第1期426卷

作者： Muhammad Rangga Dzulfiqar Agung Elian, Adrian Adhe Astuti, Winda Muhammad Nurul Puji Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia 11480

Indonesia as the largest archipelago and maritime country in the world has a very large marine resources. Fish is one of the marine wealthties (marine biota), which have large numbers in Indonesia. Fishermen is an important role in the process of fishing, however fish caught by fishermen are often mixed with other types of fish. Currently, the process of fist separation is done manually, which takes longer time and many error occur due to fatigue. In this work the conveyer separator based on the fish identification system is developed. The fish conveyer separator is designed and developed. The fish identification system is based on Fast Fourier Transform (FTT) technique and Artificial Neural Network (ANN). The system is working properly, since it resulting the training and testing accuracy of 80% and 66%, respectively.

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Automatic Diabetic Detection System based on Retina Using an artificial intelligent system

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IOP Conference Series: Materials Science and engineering 2020年第1期982卷

作者： Zayd Assyarif Alaydrus Winda Astuti Sofyan Tan Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia 11480

The Diabetes measurement level usually uses the blood sugar test method, where patients have to fast for eight hours before the test. Glucose tests generally only require a small sample of blood using a sterile needle from the glucometer. The sufferer may feel pain due to a pin prick. However, not all diabetics can do glucose tests regarding having a great fear of syringes, especially in older patients. Therefore, in this work, the diabetic detection system with the retina is an alternative for early checking of patients without having to take a sample of the blood patient. The Contrast Limited Adaptive Histogram Equalization (CLAHE) is used to extract the signal, in which the extracted the retina image is later used as input to the artificial neural network (ANN) based identifier. The retina image parameters are compared and classified to identify the human retina that are intended to be performed. The results of the computer simulation show that this technique produces good accuracy 100% and 96.6%, for training and testing phases, respectively.

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The Development of Attention Detection Model from Child Behavior for Robot-Assisted Autism Therapy

The Development of Attention Detection Model from Child Beha...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Penpitcha Wanglavan Wisanu Jutharee Thavida Maneewarn Boonserm Kaewkamnerdpong Institute of FIeld roBOtics King Mongkut's University of Technology Thonburi Bangkok Thailand Biological Engineering Program Faculty of Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

Using a robot as a mediator in therapeutic activity for autism therapy is a trending solution to reduce the burden for therapists. However, to promote continuous therapy, the use of robots could be extended for assisting parents or caregivers as well. Our group developed a robot called BLISS, which is a mobile robot with friendly toy-like appearance and sensors, to interact with children. The BLISS robot has been used to assist in learning interventions for autistic children through games. Previous studies showed that children paid attention and responded to the robot differently. Inexperienced parents often struggle to provide therapy to their autistic child. If the robot could learn to detect child attention and interact with the child appropriately, could the robot better help maintain child attention to the activity in therapy session? In this study, we developed an attention detection model based on child behavior during activity with the robot. We collected the child behavior data and the child psychologist evaluation for the behavior. We built the attention detection model for 2 levels of attention (high and low) by using k-nearest neighbor classifier, support vector machine, decision tree, and random forest. From the experiment, the random forest model returned the highest accuracy at 70%. We employed the model in the adaptive interaction system where the robot selects action based on child attention. In the pilot experiment, all four participants could stay engaged with the activity for equal to or more than the standard attention span. The promising results showed the potential of using robots to assist parents at home.

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