2022 IEEE/SICE International Symposium on System Integration (SII)最新文献

ASD Perception Simulator: Extension and Bridging to Daily Support ASD感知模拟器:扩展和连接到日常支持

2022 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2022-01-09 DOI: 10.1109/SII52469.2022.9708893

Guillermo Enriquez, Y. Nagai

引用次数: 0

Flexible Sliding-teeth-array Mechanism for Hollow Joint Module with Smooth Outline 光滑轮廓中空关节模块的柔性滑动齿阵机构

2022 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2022-01-09 DOI: 10.1109/SII52469.2022.9708806

Fumiya Nakano, Ryuma Niiyama, S. Yamanaka

引用次数: 0

Case Study on a Grasping Strategy of a Cylindrical Part along Inner Sides of a Parts Tray Using a Parallel Stick Fingered Hand 平行棍指手沿零件盘内侧抓取圆柱形零件的实例研究

2022 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2022-01-09 DOI: 10.1109/SII52469.2022.9708849

Yuka Kanaya, Hiroki Dobashi

引用次数: 0

Sonic communication using multiple bands with electrostatic drivers 声波通信使用多波段与静电驱动器

2022 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2022-01-09 DOI: 10.1109/SII52469.2022.9708799

T. Nakagawa, Toshio Fukuda

引用次数: 0

Calibration of Robotic Woodworking Machinery Using a Motion Capture System* 用运动捕捉系统标定木工机械机器人*

2022 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2022-01-09 DOI: 10.1109/SII52469.2022.9708733

N. Yamaguchi, Kouta Aiuchi, Norio Morita, J. Miyashita, Mitsutaka Moriya, Kouki Maeda, N. Uchiyama

引用次数: 1

Integration of Gesture Generation System Using Gesture Library with DIY Robot Design Kit 利用手势库与DIY机器人设计套件集成手势生成系统

2022 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2022-01-09 DOI: 10.1109/SII52469.2022.9708837

Hitoshi Teshima, Naoki Wake, Diego Thomas, Yuta Nakashima, David Baumert, Hiroshi Kawasaki, K. Ikeuchi

{"title":"Integration of Gesture Generation System Using Gesture Library with DIY Robot Design Kit","authors":"Hitoshi Teshima, Naoki Wake, Diego Thomas, Yuta Nakashima, David Baumert, Hiroshi Kawasaki, K. Ikeuchi","doi":"10.1109/SII52469.2022.9708837","DOIUrl":"https://doi.org/10.1109/SII52469.2022.9708837","url":null,"abstract":"Conversational agents are expected to improve the quality of communication by adding gestures to the speech, and are considered to be a promising tool. Recent data-driven methods are capable of attaching gestures to arbitrary speech, but the output is still not in line with human intuition. Therefore, we propose a gesture transformation system that utilizes gesture types as intermediate information, based on the theory of psycholinguistics. We employ the gesture-first principle to create gesture clusters based on gesture similarities among imagistic gestures, one type of gesture to represent image-like motions, which are considered to represent important concepts in conversations. Since this system explicitly takes into account the gesture types recognized by a deep neural network (DNN) and the semantics of the sentence to select gestures, it is expected to output gestures that are more in line with human intuition than existing end-to-end systems that do not place these intermediate states. We prepared a DIY robot kit consisting of cheap parts so that conversational agents at home become available to ordinary users, and implemented the proposed gesture generation system on this robot. In order to evaluate the effectiveness of the conversational agent, we evaluated user impression when using various media for conversation and confirmed the advantage of using our agent.","PeriodicalId":135304,"journal":{"name":"2022 IEEE/SICE International Symposium on System Integration (SII)","volume":"4 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123679747","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

6D-Pose Estimation for Manipulation in Retail Robotics using the Inference-embedded OAK-D Camera 基于推理嵌入式OAK-D相机的零售机器人操作的6d姿态估计

2022 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2022-01-09 DOI: 10.1109/SII52469.2022.9708910

Tatsuhiro Wakayama, G. A. G. Ricardez, Lotfi El Hafi, J. Takamatsu

{"title":"6D-Pose Estimation for Manipulation in Retail Robotics using the Inference-embedded OAK-D Camera","authors":"Tatsuhiro Wakayama, G. A. G. Ricardez, Lotfi El Hafi, J. Takamatsu","doi":"10.1109/SII52469.2022.9708910","DOIUrl":"https://doi.org/10.1109/SII52469.2022.9708910","url":null,"abstract":"The socio-economic need for service robots has become more evident during the ongoing pandemic. To boost their deployment, robots need to improve their manipulation capabilities, which includes solving one of the biggest challenges: determine the position and orientation of the target objects. While conventional approaches use markers which require constant maintenance, deep-learning-based approaches require a host computer with high specifications. In this paper, we propose a 6D-pose estimation system whose segmentation algorithm is embedded into OAK-D, a camera capable of running neural networks on-board, which reduces the host requirements. Furthermore, we propose a point cloud selection method to increase the accuracy of the 6D-pose estimation. We test our solution in a convenience store setup where we mount the OAK-D camera on a mobile robot developed for straightening and disposing of items, and whose manipulation success depends on 6D-pose estimation. We evaluate the accuracy of our solution by comparing the estimated 6D-pose of eight items to the ground truth. Finally, we discuss technical challenges faced during the integration of the proposed solution into a fully autonomous robot.","PeriodicalId":135304,"journal":{"name":"2022 IEEE/SICE International Symposium on System Integration (SII)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116475108","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

Ontology-based teacher-context data integration 基于本体的教师-上下文数据集成

2022 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2022-01-09 DOI: 10.1109/SII52469.2022.9708601

Nader N. Nashed, Christine Lahoud, Marie-Hélène Abel

{"title":"Ontology-based teacher-context data integration","authors":"Nader N. Nashed, Christine Lahoud, Marie-Hélène Abel","doi":"10.1109/SII52469.2022.9708601","DOIUrl":"https://doi.org/10.1109/SII52469.2022.9708601","url":null,"abstract":"The divergent web-based data sources and the large amount of intentionally or automatically collected data offer a great opportunity to re ne the existing knowledge in various fields, including education. In particular, the wide range of technologies provides a diversity of data such as resources for education, e-learning systems, teacher and learner analytic, educational institutions data, and the surrounding environment data. Educational data integration got the researchers’ attention due to the continuous emergence of new technologies in addition to the data heterogeneity from different sources. This integration process has two main challenges: data discovery by finding relevant datasets and exploitation by measuring the effectiveness of these datasets. Teachers coexist in two main contexts: their living environment and the work/educational environment. Therefore, the multiple teacher’s contexts cannot be represented through single-type datasets. In this paper, we introduce a general approach for data integration of teacher-related educational datasets to provide a rich and linked data for the educational domain. This approach provides the method of mapping the integrated datasets into the teacher-context ontology (TCO); which represents the teacher’s coexistence in multiple contexts.","PeriodicalId":135304,"journal":{"name":"2022 IEEE/SICE International Symposium on System Integration (SII)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125654811","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Development of Pneumatic Exercise Device for the Range of Motion in the Ankle Joint 踝关节运动范围气动运动装置的研制

2022 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2022-01-09 DOI: 10.1109/SII52469.2022.9708828

Hirosuke Okamoto, H. Taniguchi

{"title":"Development of Pneumatic Exercise Device for the Range of Motion in the Ankle Joint","authors":"Hirosuke Okamoto, H. Taniguchi","doi":"10.1109/SII52469.2022.9708828","DOIUrl":"https://doi.org/10.1109/SII52469.2022.9708828","url":null,"abstract":"Physiotherapists provide range of motion (ROM) exercise to patients with the aim of preventing contractures and improving ROM limitation. However, it is predicted that the physical and mental burden on physiotherapists will increase due to the increase in the number of patients and the shortage of physiotherapists due to the declining birthrate and aging population in recent years. In that case, the number of patients who can receive sufficient ROM exercise decreases. Then, it develops into problems such as aggravation of contracture and difficulty in activities of daily living. To prevent these problems, many researchers have developed passive ROM exercise devices. Among them, devices using air pressure as a drive source, which are easy to reduce weight and ensure safety, are being actively developed.We have developed a passive ROM exercise device for the ankle joint that uses a pneumatic soft actuator as a drive source. In addition to plantarflexion and dorsiflexion, this device can provide supination and pronation that existing devices cannot provide. In this device, the pneumatic soft actuator directly presses the toes and heels to exercise the ankle joint. Since this actuator has high flexibility, we aim to operate it by adapting to the shape of the foot. In this research, after designing and prototyping the device, we conducted a user test on eight healthy adult males.","PeriodicalId":135304,"journal":{"name":"2022 IEEE/SICE International Symposium on System Integration (SII)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132473368","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Power Consumption Comparison Between Mammal-Type and Reptile-Type Multi-Legged Robots During Static Walking 哺乳类和爬行类多足机器人静态行走时的功耗比较

2022 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2022-01-09 DOI: 10.1109/SII52469.2022.9708790

Shuhei Tsunoda, Hiroyuki Nabae, K. Suzumori, G. Endo

{"title":"Power Consumption Comparison Between Mammal-Type and Reptile-Type Multi-Legged Robots During Static Walking","authors":"Shuhei Tsunoda, Hiroyuki Nabae, K. Suzumori, G. Endo","doi":"10.1109/SII52469.2022.9708790","DOIUrl":"https://doi.org/10.1109/SII52469.2022.9708790","url":null,"abstract":"The leg configurations of multi-legged robots are classified into mammal-type and reptile-type. However, few studies have quantitatively compared the two leg configurations. We compared the power consumed during static walking when the parameters of walking, such as body height and foot trajectory, are changed. These parameters were not investigated in previous studies. In addition, we compared the power consumption when the robots walked sideways and diagonally. The analysis results showed that regardless of the direction in which the robot walked, the reptile-type configuration is able to maintain low power consumption over a wide range of foot positions. Furthermore, the reptile-type configuration can reduce the power consumption by lowering the body height, which simultaneously achieves improved stability and a wider range of foot positions. We also found that, by increasing the reduction ratio of the second joint from the body, the reptile-type configuration can reduce the power consumption without significantly reducing the maximum walking speed. These results indicate that the reptile-type configuration is superior to the mammal-type configuration in terms of the power consumption during static walking. The results of this research would be meaningful for applications requiring stable walking even at low speed.","PeriodicalId":135304,"journal":{"name":"2022 IEEE/SICE International Symposium on System Integration (SII)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132491695","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1