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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Taşkın Padır Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA

We posit that it is necessary to investigate the personalization of smart wheelchairs in three aspects interfaces for interaction, controllers for action (top-level, middle-level, and low-level), and feedback in interaction. Our team has been selected as an Innovation Corps (I-Corps) Team by the National Science Foundation to pursue customer discovery research to explore the commercial viability of smart wheelchairs. Through the process, our team has performed more than 110 interviews with powered wheelchair users, manufacturers, therapists, policy makers, and non-profit organization staff. Our findings revealed that the acceptability of fully autonomous systems by the users is still challenging and highly-dependent on the severity of the disability. Furthermore, the cost, ease-of-use and personalization are the most important factors in commercializing smart wheelchair technologies.

关键词： Wheelchairs Interviews Mobile robots Robot sensing systems Navigation Conferences

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Reaction torque minimization method for keeping drilling direction of the hybrid rotary steerable system

Reaction torque minimization method for keeping drilling dir...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Jongheon Kim Sungwook Jung Suyoung Choi Hyun Myung Dept. of Civil and Environmental Engineering Urban Robotics Lab. Daejeon Korea Robotics Program Urban Robotics Lab. Daejeon Korea

The directional drilling system is one of the key technologies for developing unconventional resources such as shale gas and coal bed methane (CBM). There are several types of the directional drilling system such as the whipstock, bent-sub, and the rotary steerable system (RSS). Among these systems, the RSS is most advanced system. In this paper, the hybrid type RSS is developed and its experiment results of drilling cement blocks will be introduced. The experiment had a problem due to the reaction torque of the drilling system. A method of minimizing the effect of the reaction torque is proposed to solve this problem.

关键词： Torque Rotation measurement Bismuth

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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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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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Detection and Segmentation of Underwater Archaeological Sites Surveyed with Stereo-Vision Platforms

Detection and Segmentation of Underwater Archaeological Site...

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Oceans MTS/IEEE Washington (Conference)

作者： Katherine A. Skinner Matthew Johnson-Roberson Robotics Program University of Michigan Department of Naval Architecture and Marine Engineering University of Michigan

ISBN: (纸本)9781467393744

This paper proposes a method for automating detection and segmentation of archaeological structures in underwater environments. Underwater archaeologists have recently taken advantage of robotic or diver-operated stereo-vision platforms to survey and map submerged archaeological sites. From the acquired stereo images, 3D reconstruction can be performed to produce high-resolution photo-mosaic maps that are metrically accurate and contain information about depth. Archaeologists can then use these maps to manually outline or sketch features of interest, such as building plans of a submerged city. These features often contain large rocks that serve as the foundation to buildings and are arranged in patterns and geometric shapes that are characteristic of human-made structures. Our proposed method first detects these large rocks based on texture and depth information. Next, we exploit the characteristic geometry of human-made structures to identify foundation rocks arranged along lines to form walls. Then we propose to optimize the outlines of these walls by using the gradient of depth to seek the local minimum of the height from the seafloor to identify the ground plane at the base of the rocks. Finally, we output contours as geo-referenced layers for geographic information system (GIS) and architectural planning software. Experiments are based on a 2010 stereo reconstruction survey of Pavlopetri, a submerged city off the coast of Greece. The results provide a proof-of-concept for automating extraction of archaeological structure in underwater environments to produce geo-referenced contours for further analysis by underwater archaeologists.

关键词： Rocks Image segmentation Image reconstruction Dictionaries Training Three-dimensional displays Buildings

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Low cost underwater acoustic localization

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Proceedings of Meetings on Acoustics 2017年第1期30卷

作者： Eduardo Alexander Iscar Ruland Atulya Shree Nicholas Goumas Matthew Johnson-Roberson 1Naval Architecture and Marine Engineering University of Michigan Ann Arbor Michigan 48109 USA eiscar@umich.edu mattjr@umich.edu 2Robotics Program University of Michigan Ann Arbor Michigan 48109 USA satulya@umich.edu 3University of Michigan Ann Arbor Michigan 48109 USA goumas@umich.edu

Over the course of the last decade, the cost of marine robotic platforms has significantly decreased. In part this has lowered the barriers to entry of exploring and monitoring larger areas of the earth’s oceans. However, these advances have been mostly focused on autonomous surface vehicles (ASVs) or shallow water autonomous underwater vehicles (AUVs). One of the main drivers for high cost in the deep water domain is the challenge of localizing such vehicles using acoustics. A low cost one-way travel time underwater ranging system is proposed to assist in localizing deep water submersibles. The system consists of location aware anchor buoys at the surface and underwater nodes. This paper presents a comparison of methods together with details on the physical implementation to allow its integration into a deep sea micro AUV currently in development. Additional simulation results show error reductions by a factor of three.

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Drone-type wall-climbing robot platform for structural health monitoring 6

Drone-type wall-climbing robot platform for structural healt...

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Joint 6th International Conference on Advances in Experimental Structural engineering, AESE 2015 and 11th International Workshop on Advanced Smart Materials and Smart Structures Technology, ANCRiSST 2015

作者： Myeong, W.C. Jung, K.Y. Jung, S.W. Jung, Y.H. Myung, H. Dept. of Civil and Environmental Engineering KAIST Daejeon Korea Republic of Dept. of Civil and Environmental Engineering KAIST Daejeon Korea Republic of Robotics Program KAIST Daejeon Korea Republic of Dept. of Civil and Environmental Engineering KAIST Daejeon Korea Republic of Dept. Civil and Environmental Engineering KAIST Daejeon Korea Republic of

Though civil structures need constant maintenance and inspection of the structural health condition and safety of the users, the accessibility is getting harder and harder because of their gigantic height and size. To overcome this problem, several approaches for wall-climbing mechanism have been introduced for many decades;however, there is no assured solution yet. One of the reasons why existing wall-climbing robots haven't been put to practical use is the risk of accidental fall due to operational failure from the harsh environment like gust and surface's uncertainty. Therefore, we propose a drone-type wall-climbing aerial robot platform that can approach to any place of the structure by flying and sticking to the target place with pose change and perching mechanism. Not only that the robot is equipped with a moving mechanism like other wall-climbing robots to move on the vertical surface of the structure, but also this paper suggests the wall-climbing mechanism for an aerial robot, its pose change and wall sticking mechanism, and the way to move on the surface of a structure. © International Conference on Advances in Experimental Structural engineering. All rights reserved.

关键词： Antennas

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A framework for unsupervised online human reaching motion recognition and early prediction

A framework for unsupervised online human reaching motion re...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Ruikun Luo D. Berenson Ruikun Luo and Dmitry Berenson are with the Robotics Engineering Program Worcester Polytechnic Institute Worcester MA US

This paper focuses on recognition and prediction of human reaching motion in industrial manipulation tasks. Several supervised learning methods have been proposed for this purpose, but we seek a method that can build models on-the-fly and adapt to new people and new motion styles as they emerge. Thus, unlike previous work, we propose an unsupervised online learning approach to the problem, which requires no offline training or manual categorization of trajectories. Our approach consists of a two-layer library of Gaussian Mixture Models that can be used both for recognition and prediction. We do not assume that the number of motion classes is known a priori, and thus the library grows if it cannot explain a new observed trajectory. Given an observed portion of a trajectory, the framework can predict the remainder of the trajectory by first determining what GMM it belongs to, and then using Gaussian Mixture Regression to predict the remainder of the trajectory. We tested our method on motion-capture data recorded during assembly tasks. Our results suggest that the proposed framework outperforms supervised methods in terms of both recognition and prediction. We also show the benefit of using our two-layer framework over simpler approaches.

关键词： Trajectory Libraries Hidden Markov models Prediction algorithms Training Robots Supervised learning

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Reaction force estimation of hydraulic servo system using sliding perturbation observer

Reaction force estimation of hydraulic servo system using sl...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015

作者： Cha, Keum-Gang Yoon, Sung-Min Kim, Hyun-Hee Gim, Ki-Yeon Lee, Min-Cheol Department of Mechanical Engineering Pusan National University BusanKS102 Korea Republic of Interdisciplinary Program in Robotics Pusan National University BusanKS102 Korea Republic of School of Mechanical Engineering Pusan National University BusanKS102 Korea Republic of

ISBN: (纸本)9781467391078

In this paper, the estimation method of reaction force for electro-hydraulic servo system for movement is discussed. This reaction force estimation method is based on sliding perturbation observer that is robust observer technique. Before estimating reaction force, the modeling of electro-hydraulic servo system is processed. Before the fine modeling parameters of electro-hydraulic servo system, modeling equation is obtained through cylinder equation using expansion and shrinkage stroke process. After finding modeling equation, the obtaining accurate modeling parameter is carried out from signal compression method. After defining modeling parameter, reaction force estimation is operated by sliding perturbation observer. The analysis result of estimation for reaction force will be used for bilateral control with master-slave structure. © 2015 IEEE.

关键词： Estimation

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Development of USV Autonomy for the 2014 Maritime RobotX Challenge

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IFAC-PapersOnLine 2015年第16期48卷 13-18页

作者： Minju Kang Sungchur Kwon Jeonghong Park Taeyun Kim Jungwook Han Jeonghyeon Wang Seonghun Hong Yeonjoo Shim Sukmin Yoon Byunghyun Yoo Jinwhan Kim Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Daejeon Korea Robotics Program Korea Advanced Institute of Science and Technology Daejeon Korea

The inaugural Maritime RobotX Challenge competition was held in Marina Bay, Singapore between October 20-26 in 2014. The competition composed of five mission tasks in which intelligence is the single most important factor, and all the mission tasks were required to be performed autonomously with no human intervention. We participated in the competition as the KAIST team with our own unmanned surface vehicle integrated with various sensors for autonomous navigation and perception. All the software algorithms for vehicle autonomy including mission management, environmental perception, path planning and control were developed and applied in the actual competition. This paper describes the given mission tasks of the competition and how the vehicle intelligence and control algorithms were designed in order to perform those mission tasks autonomously.

关键词： Unmanned surface vehicle vehicle autonomy navigation perception

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