2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)最新文献

A study on integration of particle filter and dead reckoning for efficient localization of automated guided vehicles 基于粒子滤波和航位推算的自动导航车辆有效定位方法研究

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451591

S. Jang, KyungJae Ahn, Jongseong Lee, Yeonsik Kang

引用次数: 10

Design and development of RH-2000 Robotic Hand RH-2000型机械手的设计与开发

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451602

M. Norizan, F. Ali, N. Abas, H. Jamaluddin, Mohamad Fakri Juhari

引用次数: 0

Effect of leader information broadcasted throughout vehicle platoon in a constant spacing policy 等间距策略下车长信息广播对车辆排的影响

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451599

M. Ariffin, Mohd Azizi Abdul Rahman, H. Zamzuri

引用次数: 10

Investigating the relationship between TIP and 3-link models when the links' length are varied 研究了不同连杆长度时，TIP与三连杆模型的关系

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451612

Mohd Zaki bin Ghazali, M. F. Miskon, Fariz bin Ali, Mohd Bazli bin Bahar

{"title":"Investigating the relationship between TIP and 3-link models when the links' length are varied","authors":"Mohd Zaki bin Ghazali, M. F. Miskon, Fariz bin Ali, Mohd Bazli bin Bahar","doi":"10.1109/IRIS.2015.7451612","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451612","url":null,"abstract":"In the field of humanoid and exoskeleton robotics, the ability to perform everyday task as human movement has been crucial point of research. One of the aspects that a lot of researcher put an effort is sit to stand (STS) motion. Study has shown that STS motion can be predicted using Three-link multi segment robot. But the calculation needed to perform the STS motion is complicated and requires high computational resources. One model is found that has much simpler task for planning and analyzing humanoid or exoskeleton robot which is Telescopic Inverted Pendulum (TIP). TIP is using one single link to represent whole body. However it is not clear whether TIP can represent 3L multi segment robot yet. Thus, this paper objective is trying to find the relationship between TIP and 3L model when the length of the limbs is varied. To do so, MATLAB is used to simulate the STS motion for both 3L and TIP model. The torque values at each joint are observed to obtain the relationship between length and the torque. The results show that both TIP and 3L model give a similar result where the limb's length and joint torque have linear relationship.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126361962","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

The development of AEDESTROYER : A mobile robot that search and destroy potential breeding habitat for aedes AEDESTROYER的开发:一种移动机器人，用于搜索和摧毁伊蚊的潜在繁殖栖息地

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451604

N. Marzuki, N. Zamin, N. Arshad

引用次数: 0

Optimization of real-time Gabor-based face recognition 基于gabor的实时人脸识别优化

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451629

F. Kamaruzaman, A. Shafie

{"title":"Optimization of real-time Gabor-based face recognition","authors":"F. Kamaruzaman, A. Shafie","doi":"10.1109/IRIS.2015.7451629","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451629","url":null,"abstract":"Many research works have proven the superiority of Gabor Wavelets as a feature descriptor for face classification as compared to other methods. However, most implementations used some commonly used values for Gabor parameters and we proposed that the performance of Gabor-based face recognition can be improved by proper optimization of Gabor parameters. Here in this paper we used Ant Colony Optimization to find the most optimal value for several Gabor parameters - the step frequency, maximum frequency and σ - that produced maximum classification accuracy. Additionally, due to high complexity of Gabor wavelets computation, we examine as well the feasibility of Gabor wavelets to be used in a real-time face recognition system. Using AR face dataset, we tested two classifiers namely Nearest Neighbor and ensembles of NN to determine which classifier would best suit a real-time implementation and delivers best performance. As a result we found that proper optimization would yield as high as 18% increase in face classification accuracy and it is actually feasible to use Gabor wavelets in a real-time system. We recommend using holistic implementation and NN method as classifier in order to achieve real-time performance for a Gabor-based face recognition system.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133732420","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: 2

Thermal imaging based affective state recognition 基于热成像的情感状态识别

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451614

M. H. A. Abd Latif, Md. H. Yusof, S. N. Sidek, N. Rusli

{"title":"Thermal imaging based affective state recognition","authors":"M. H. A. Abd Latif, Md. H. Yusof, S. N. Sidek, N. Rusli","doi":"10.1109/IRIS.2015.7451614","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451614","url":null,"abstract":"Human Robot Interaction is a multidisciplinary field which involves developing, perceiving and assessing robotic systems. In effective communication, the understanding of emotions and intentions are essential. A robotic system that is capable of recognizing emotion states and synthesizing proper response would be beneficial for Human Robot Interaction (HRI). Human emotion recognition could be achieved through affective state computing method. Emotional state assessment of humans has been traditionally studied using various direct physiological measures and psychological self-reports. There are several measures to identify human emotional states such as gestures, facial images, physiological signals and neuro-imaging methods. However, some of these approaches require sizeable and expensive equipment which might hinder free movement. Recent finding shows that facial cutaneous temperature and its topographic distribution exhibited specific features clearly correlated to emotional arousal and associated measures of standard physiological signals of the sympathetic activity. The results of this study indicate thermal imaging as an alternative, contactless and non-invasive method for assessing individual's emotional arousal in psychophysiology.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116895223","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: 16

The application of piezoelectric sensor as phlegm detector in simulated mammal lungs 压电传感器在模拟哺乳动物肺中的应用

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451583

H. Zakaria, N. Ridzuan

{"title":"The application of piezoelectric sensor as phlegm detector in simulated mammal lungs","authors":"H. Zakaria, N. Ridzuan","doi":"10.1109/IRIS.2015.7451583","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451583","url":null,"abstract":"Detection of phlegm sounds may help to identify mammal with pneumonia-related disease. However, auscultatory findings may be subjected to clinically relevant observer variation. . Phlegm related diseases such as tuberculosis, pneumonia, and bronchitis is a fatal disease if not properly diagnosed and treated. Unfortunately, until now there is still no exact parameter to measure the intensity of phlegm in human or animal lung infected with phlegm related illnesses. Currently, doctors only rely on experience, anatomy knowledge, and visual cues from x-ray images to decide on the patient's condition. Piezoelectric is an electrical phenomenon where electric charges will accumulate in a certain piezoelectric material in response to applied mechanical stress. This study demonstrated a prototype sensor designed to have a fixed parameter with real-time analysis to measure the phlegm intensity by utilizing the inherent ability of piezoelectric sensor to detect movement of phlegm substitute in simulated mammal lungs. The prototype is presented with an Arduino board, a circuit, and a vacuum pump. It was proven, that the prototype were able to detect and differentiate viscous and runny phlegm substitute solution. This finding might be the foundation towards accurate and digitalized detection of phlegm in mammal lungs. Our result had shown that when the phlegm substitute solution was thick and viscous, will correlate with higher voltage values as detected by the piezoelectric sensor. In contrast, low values in voltage was produced when less-viscous solution was present. Based on these findings, the prototype has proved that it has the ability to measure the intensity of phlegm with a fixed parameter.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129803898","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

Stereo correspondence matching with Clifford phase correlation 立体对应匹配与Clifford相位相关

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451610

M. E. Nia, E. K. Wong, Kok-Swee Sim, T. Rakgowa

引用次数: 1

Experimental evaluation of actuator fault accommodation for small UAV 小型无人机致动器容错实验评价

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451582

Z. Sahwee, Nazaruddin B. Abd Rahman, K. Sahari

引用次数: 1