By Topic

Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on

Date 23-26 Nov. 2011

Filter Results

Displaying Results 1 - 25 of 205
  • Author index

    Page(s): 1 - 6
    Save to Project icon | Request Permissions | PDF file iconPDF (190 KB)  
    Freely Available from IEEE
  • Conference organization

    Page(s): 1 - 2
    Save to Project icon | Request Permissions | PDF file iconPDF (122 KB)  
    Freely Available from IEEE
  • [Copyright notice]

    Page(s): 1
    Save to Project icon | Request Permissions | PDF file iconPDF (1036 KB)  
    Freely Available from IEEE
  • Feature extraction based on common spatial analysis for time domain parameters

    Page(s): 377 - 382
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (297 KB) |  | HTML iconHTML  

    In this paper, an approach of feature extraction by designing common spatial filters specifically for time domain parameters (TDP) is proposed. This approach is aiming at motor imagery detection in electroencephalogram (EEG). Particularly, this method calculates the derivatives of the original signals and then applies common spatial analysis (CSP) to each order of derivatives. Variances of the spatially filtered signal after taking logarithm are used as features. Quadratic discriminant analysis (QDA) is applied to the feature vectors and classifies the vectors into different categories. We evaluate our approach using data consisting of two classes: left-hand and right-hand movement imageries from three subjects, and comparison between the proposed method and applying CSP analysis to the whole set of EEG signal directly is presented. Our results show that the proposed method generates more discriminant features in this motor imagery classification issue. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Guideline for determination of link mass of a robot arm for collision safety

    Page(s): 383 - 385
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (424 KB) |  | HTML iconHTML  

    In recent years the collision safety between a human and a robot has been increasingly important because of the spread of service robots. In order to design a safe robot arm, the collision safety evaluation must be conducted prior to the construction of the robot arm to compute the necessary design parameters. Previous evaluation methods required the use of the actual robot, which are both time consuming and expensive. In this study we propose a new human-robot collision model and a collision safety evaluation method which does not require the use of the actual robot. A human-robot collision model is developed, and the collision safety of a 3 DOF planar robot arm is evaluated. Then, using the evaluation results, the design of the robot arm is modified to ensure the collision safety. The proposed evaluation method enables the appropriate design parameters for a safe robot arm to be determined in a short period of time at the minimal cost. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Human motion reconstruction based on inertial motion sensors

    Page(s): 386 - 389
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (801 KB) |  | HTML iconHTML  

    Recently, the opportunity to have a smart human motion tracking systems represents an interesting instrument in a wide range of advanced application, such as gaming, augmented reality, telemedicine, rehabilitation and human machine interaction applications. In this research, we developed a Digital Suit (DS) for a horseback riding robot system named HRB-1. It gathers human motion data during horse riding. From these data, posture of the trainee can be corrected into that of expert. The system configuration and its usage are discussed on this paper. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Neural-network-based human intention estimation for physical human-robot interaction

    Page(s): 390 - 395
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (376 KB) |  | HTML iconHTML  

    To realize physical human-robot interaction, it is essential for the robot to understand the motion intention of its human partner. In this paper, human motion intention is defined as the desired trajectory in human limb model, of which the estimation is obtained based on neural network. The proposed method employs measured interaction force, position and velocity at the interaction point. The estimated human motion intention is integrated to the control design of the robot arm. The validity of the proposed method is verified through simulation. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A new approach for the two-player pursuit-evasion game

    Page(s): 396 - 397
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (274 KB) |  | HTML iconHTML  

    We study the problem of maintaining an unobstructed view of an agent moving amongst obstacles by a moving camera fixed to a pursuing robot. This is known as a two-player pursuit evasion game. Using a mesh discretization of the environment, we develop an algorithm that determines, given initial positions of both pursuer and evader, if the evader can take any moving strategy to go out of sight of the pursuer, and thus win the game. If it is decided that there is no winning strategy for the evader, we also compute a pursuer's trajectory that keeps the evader within sight, for every trajectory that the evader can take. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Autonomous motion selection via consciousness-based architecture

    Page(s): 401 - 402
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (483 KB) |  | HTML iconHTML  

    We have attempted to give a robot “consciousness” and “emotion” such as that identified in humans and animals in order to enhance the affinity between humans and robots. A hierarchical structure model for such a robot has been developed to connect the robot's consciousness with the robot's behavior. However, it is difficult to autonomously control the timing and the motion that changes the consciousness and behavior of the robot. Therefore, a motivation model has been developed, and was combined with the hierarchical structure model, in order to induce and autonomously change consciousness and behavior. Then, the action of dopamine in neurotransmitters was incorporated in the motivation model to add activity to the robot in conjunction with the incentive to perform a behavior. In this paper the expression of emotion by a Conscious Behavior Robot (Conbe-I) that incorporated this motivation model, and the emotional behaviors that the humans can feel some emotional; a lovely and a pitiful etc., were studied. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Study of classification of failure states for Small Unmanned Ground Vehicle by response surface methodology

    Page(s): 403 - 408
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (761 KB) |  | HTML iconHTML  

    SUGV(Small Unmanned Ground Vehicle) used for human rescue and military operation is need to overcome the environment that tough terrains such as a hole or high obstacles. As far as the survival of the vehicle and the preserving ability of the information in the vehicle are concerned, it is essential to have an approach for recognizing unattainable driving states. However, despite the fact that the study of obstacle avoidance and stabilization of SUGV is focused on, it is hardly found out ways of classifying unattainable driving states with the sensors mounted on the SUGV unit. In order to overcome the problem, this paper proposes a practical way for classifying SUGV Failure State(SFS) with the meaningful parameters by statistical method, response surface methodology(RSM). View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Development of educational material for manufacturing engineering using stereo vision and 3D CAD/CAM

    Page(s): 409 - 413
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1357 KB) |  | HTML iconHTML  

    This paper proposes a technical education program for engineering students; this program is based on a 3D CAD/CAM technology and a stereo vision technology, and it encourages the students to use a CAD/CAM circuit board and an image information processing system. Further, in this study, control experiments involving the use of a simple and compact robot equipped with a stereo vision system were performed. In addition, this education program that introduces students to the attractive 3D CAD/CAM technology and the stereo vision technology can expect to provide students an interesting experience on both constructing a robot and programming. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Advanced community model using daily life information transmitter for supporting welfare workers and senior citizens living alone in a welfare society

    Page(s): 414 - 417
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (485 KB) |  | HTML iconHTML  

    Over the last few decades, the number of senior citizens living alone in Japan has increased rapidly, to the point of dampening economic activity, increasing the load on the social security system, and decreasing the vitality of the local society. In particular, the lack of communication between a large number of elderly people and the local community has become a social problem, and such individuals are a burden on welfare workers and volunteers. With support from Kanagawa Prefectural Government, our joint research team has constructed a support system that would assist welfare workers and volunteers in serving elderly people living alone and building an active local community network. In this paper, we discuss an advanced community model based on the aforementioned information transmission welfare support system for the aging society. We also propose a system that estimates an individual's living conditions by measuring the vibrations caused by sounds such as opening/closing of doors, flushing of the toilet, etc. Experiments revealed that this system efficiently identifies unusual/abnormal activities in households where senior citizens live alone and sends alert signals. This network model provides the necessary support to rescue workers and helps in establishing interactions between elderly citizens and their neighbors; further, it can be used to organize patrol activities. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Experimental analysis on a 4 leg-type force-torque sensor

    Page(s): 421 - 424
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (233 KB) |  | HTML iconHTML  

    This paper presents an experimental analysis on a new force-torque sensor with a 4 leg-type elastic structure. Cross coupling effect in the sensor is minimized using compliance matrix. The positions of strain gauges in the elastic structure are determined using surface strain distribution of the elastic structure via FEM analysis. For user convenience, USB communication between the sensor body and the control PC is realized through C and Visual Basic programming using PIC microcontrollers. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Implementation of an Inertial Measurement Unit based motion capture system

    Page(s): 425 - 429
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (891 KB) |  | HTML iconHTML  

    Nowadays, due to its broad applications, demands on motion capture technology is increasing. Inertial Measurement Unit (IMU) is one of technology that is capable of estimating orientation of a rigid body. IMU technology uses information from three sensors, i.e. gyroscope, accelerometer and magnetometer to calculate the orientation. By using multiple IMU devices, human arm motion can be tracked. This paper presents an implementation of a real-time motion capture system. We proposed a serial-chain network to collect orientation data from the IMU devices. The proposed network focuses on flexibility and easy-to-use factor. Real-time experimental results show that our prototype is capable of capturing human arm motion. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A study of inchworm robot by using smart materials

    Page(s): 430 - 431
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (762 KB) |  | HTML iconHTML  

    Recently, many researchers have been studying new class of biologically inspired robots that exhibit much greater robustness in performance on unstructured environments. Among these robots, inchworm robot can move well in many kinds of environments. Especially, the advantage of an inchworm robot imitating the locomotion of real inchworm can move well in unstructured environments where other wheel or walking robots can't move. In this study, the inchworm robots are designed and the dynamic simulations are done to validate its performance. Magneto-rheological (MR) elastomer which is one of the smart materials is used to give stiffness changes the robot. The stiffness characteristics of MR elastomer can be changed as magnetic field is applied on. Friction characteristics, which are due to variable-stiffness elastomeric actuator with MR elastomers, are identified. Through the dynamic simulation of inchworm robot with MR elastomer, the optimal design as well as the friction coefficient of robot is obtained. As following the optimal design, the robot is manufactured. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • A method to recognize road terrain with 3D scanning

    Page(s): 432 - 436
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (916 KB) |  | HTML iconHTML  

    This research deals with a method to recognize road terrain for a robot to navigate near building. In order to move a robot in and around buildings, it is required to recognize some structured way of both indoor and outdoor environment such as slope, steps, stairs and so on. For that, a detection technique based on 3D scan and plane geometry was proposed in this research. By adopting preprocessing to extract lines from scan points, it can make planes effectively. Experiments with the proposed method to recognize the environment near building were carried out. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Compact torque sensor for a robot hand

    Page(s): 439 - 441
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (367 KB) |  | HTML iconHTML  

    For a robot to grasp and manipulate an object with a multi-fingered hand, not only the fingertips but also the whole-finger links should be utilized. Sensing of joint torque is necessary for the robot hand to work correctly, and many sensors for measuring joint torque have been proposed. In this paper, a novel torque sensor that can measure strain of the elastic body is proposed for a robot hand. The torque sensor system requires the miniaturization of both the sensor and its amplifier circuit and can be built into the mechanism of the robot hand. The system has a built-in amplifier circuit on the torque sensor frame. We perform experiments designed to show the sensor system's linearity, hysteresis, and frequency response. The motor can be controlled using a feedback signal of the torque sensor. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Evaluation of fingertip F/T sensor for dexterous manipulation

    Page(s): 442 - 445
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (666 KB) |  | HTML iconHTML  

    The miniature six-DOF force/torque sensor with CAN interface has been developed for the finger-tip of the dexterous robot hand. We designed the frame of sensor by FEM Analysis. The sensor consists of a transducer and a signal conditioning circuit. It is embedded in finger-tip sensor. We tested the performance of sensors by using a robot hand and a load cell. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Compliance control of a position controlled robotic hand using F/T sensors

    Page(s): 446 - 450
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (340 KB) |  | HTML iconHTML  

    There are a variety of robotic hands with many different hardware configurations including many sensors. For a robotic hand, physical interaction between the hand and objects is an interesting point. Compliance control is of great importance in grasping arbitrary object. In this paper, compliance control of position controlled robotic hand is attempted with external sensor on the finger tip. Utilizing an F/T sensor, sensor compensation first and then gravity compensation are executed. Overall system and algorithm are analyzed with the proposed controllers. For validating the proposed method, low-pass filter (LPF), sensor initial calibration are conducted and showed competent results. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Motion planning of multifingered robotic hand for turning the cap

    Page(s): 451 - 454
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (606 KB) |  | HTML iconHTML  

    This paper presents a motion planning with position based impedance controller for our newly designed robotic hand. We explained the position based impedance control scheme presents equations. Also the inverse kinematics method is presented using pseudo-inverse. Finally, we proposed a motion planning to open a bottle cap and simulation result is shown to verify the effectiveness and robustness. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Framework of grasping planning for multi-fingered robot hands

    Page(s): 455 - 458
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1336 KB) |  | HTML iconHTML  

    In this paper, we present a framework of grasping planning for multi-fingered robot hands which is based on the planning scheme of human. Structure of the proposed grasping planner is composed of three sub planners: grasping type planner, opposition parameter planner and approach vector planner. This planner is based on the way of human's grasping plan, so it is suitable for learning of intelligences for grasping of human. Using this framework of grasping planning, we would like to utilize to study for robot's imitating of human's grasping plan intelligence. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Trajectory planning and control for multiple-vehicles systems

    Page(s): 461 - 466
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (456 KB) |  | HTML iconHTML  

    Algorithms for trajectory planning and control for a multiple-vehicles system are investigated. An issue of designing collision-free trajectories on a group of crossing paths is tackled. The trajectories are modeled as a set of via-points coupled with their associated achieving time. Furthermore, a tracking controller design dealing with actuators constraints and all via points' achieve times is proposed. By applying the controller, each vehicle is guaranteed to get closer to the desired via-points without any obstacle-avoidance motions. Simulation results showing the generated trajectories and tracking performance is presented. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Control of swarming robots in an area with dead-end passage

    Page(s): 467 - 472
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1444 KB) |  | HTML iconHTML  

    This paper addresses the adaptive flocking problem for a swarm of autonomous mobile robots. From the observation of individual and emergent behaviors of fish schools, we propose an adaptive navigation algorithm, enabling large-scale robot swarms with limited sensing capabilities to navigate toward a goal. The proposed algorithm is based on our geometric local interaction which allows three neighboring robot to locally form an equilateral triangle lattice. During traveling in an unknown environment, mobile robots maintain the local formation. According to environmental conditions, this algorithm allows the swarm of robots to split into multiple groups or merge with other groups. More specifically, a group of robots could be trapped in a dead-end passage, but they merge with an adjacent group to escape from the dead-end passage. Accordingly, through the local motions of individual robots, the whole swarm network can be easily recovered in an emergent way. We validate the effectiveness and scalability of the proposed flocking control algorithm by performing various simulations. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Real time replanning based on A* for collision avoidance in multi-robot systems

    Page(s): 473 - 479
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (341 KB) |  | HTML iconHTML  

    This paper deals with collision avoidance for multiple robots and methods to allow robots to replan their routes in real time, taking into account a dynamic environment. A number of collision types are defined for multiple robots and, in particular, between pairs of robots that need to be handled by any real-time collision avoidance system. A novel extension to the standard A* algorithm is presented (Super A*) that solves these collision types by using dynamic real time monitoring and iterative move-evaluate-move cycles. The proposed extension to A* is capable of avoiding not just other moving robots but also static obstacles. Also, the proposed extension allows robots to replan their routes as optimally as possible. Simulations of the algorithm are conducted in different state-space configurations. The algorithm is tested on two minibots in real world, small-scale environments containing obstacles. The results show that the collision avoidance and replanning approach is effective and useful for managing possible collisions between robots working independently in a shared physical environment and needing to traverse the environment to undertake and complete their tasks. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.
  • Automation of Air Data Test System

    Page(s): 480 - 484
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (246 KB) |  | HTML iconHTML  

    In this paper we have presented an approach to automate the air data testing techniques. Traditionally the Air Data Test System (ADTS) is manually programmed with different values, using the built-in numeric keypad on the equipment, to calibrate the pressure and altitude sensors of a vehicle or aircraft. For each input the resulting output is compared with it. This manual approach is suitable for small ranges of pressure but when the sensor needs to be tested over a large range of pressure values, is time consuming and thus becomes impractical. Thus the need arises for automating the calibration process. This paper presents the implementation of an application developed in Lab VIEW for automating the calibration of the ADS via the GPIB interface. The GUI developed allows for extensive testing of the sensor in limited time. View full abstract»

    Full text access may be available. Click article title to sign in or learn about subscription options.