2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)最新文献_第3页

Robotic motion planning in unknown dynamic environments: Existing approaches and challenges 未知动态环境下的机器人运动规划:现有方法和挑战

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451627

Sai Hong Tang, Farah Kamil, W. Khaksar, N. Zulkifli, Siti Azfanizam Ahmad

引用次数: 17

System identification and predictive functional control for electro-hydraulic actuator system 电液执行器系统辨识与预测功能控制

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451600

N. H. Izzuddin, A. M. Faudzi, Mohd Ridzuan Johari, K. Osman

引用次数: 10

Real-time quasi-optimal trajectory planning for autonomous underwater docking 自主水下对接的实时准最优轨迹规划

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451579

A. Yazdani, K. Sammut, A. Lammas, Youhong Tang

引用次数: 14

Trajectory controls and its analysis for robot arm using flexible pneumatic cylinders 柔性气缸机械臂轨迹控制及其分析

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451585

Mohd Aliff, S. Dohta, T. Akagi

{"title":"Trajectory controls and its analysis for robot arm using flexible pneumatic cylinders","authors":"Mohd Aliff, S. Dohta, T. Akagi","doi":"10.1109/IRIS.2015.7451585","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451585","url":null,"abstract":"Due to their excellent speed, accuracy and cost-effectiveness in repetitive tasks, now extensive use of robotic technology for medical applications is in rehabilitation robotics. The trajectory controls and analysis of robot arm using flexible pneumatic cylinders and embedded controller which can be used as rehabilitation for human wrist are described. The system consists of the flexible robot arm, an accelerometer, embedded microcomputer, a potentiometer and compact quasi-servo valves. This robot arm has three degree-of-freedom; bending about x and y axis (2-DOF) and extending-and-contracting (1-DOF). Two analytical models for trajectory controls are proposed and applied on the flexible pneumatic robot arm. The difference between two proposed models is as follows. One is needed to be linearized which is commonly used in a robot arm. Another does not need a linearization that is a direct method. The trajectory control can help patients recover more quickly by repeating the movements based on the patient's individual condition. Both experiments and simulations from two trajectory models show that the proposed trajectory controls of robot arm can be realized by using the proposed control methods and the tested robot arm.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"65 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":"129584250","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

A projection-based sensor system for ensuring safety while grasping and transporting objects by an industrial robot 一种基于投影的传感器系统，用于确保工业机器人抓取和运输物体时的安全

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451624

Christian Vogel, Christoph Walter, N. Elkmann

引用次数: 4

A review on mobile robots motion path planning in unknown environments 未知环境下移动机器人运动路径规划研究进展

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451628

W. Khaksar, S. Vivekananthen, Khairul Salleh Mohamed Saharia, M. Yousefi, F. Ismail

{"title":"A review on mobile robots motion path planning in unknown environments","authors":"W. Khaksar, S. Vivekananthen, Khairul Salleh Mohamed Saharia, M. Yousefi, F. Ismail","doi":"10.1109/IRIS.2015.7451628","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451628","url":null,"abstract":"Robotics sector have achieved enormous founds in recent years due to its high demands in factories to carry out high-precision jobs like riveting and welding. They are also often applied in special situations that would be hazardous for humans such as disposing toxic wastes or defusing bombs. Mobile robots alone however have gained much focus from researches relating optimization of their motion path planning. In this paper, a brief review on mobile robots motion path planning in unknown environment have been done based on recent founds. The paper categorizes motion path planning into two groups which is the Optimized Classic Approaches and Evolutionary and Hybrid Approaches. The optimized classic approaches represents the recent optimized motion path planning that implies the classic approaches such as A* search algorithm, Rapidly-exploring Random Trees (RRT), D* and D* Lite algorithm. The evolutionary and hybrid approaches are those adapts Artificial Intelligence (AI) such as neural networks (NN), genetic algorithms (GA), fuzzy systems and reinforced learning either acting alone or as hybrids together with other algorithms. Finally a comparison between these two categories are done differentiating their advantages and disadvantages.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"389 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120891200","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: 15

Automatic deployment and simultaneous sampling in a distributed transducer network 分布式传感器网络中的自动部署和同步采样

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451621

L. Shang, Mengnan Tian, Mi Zhou, Qianshi Zhang

引用次数: 0

Human gesture recognition using a low cost stereo vision in rehab activities 低成本立体视觉在康复活动中的人体手势识别

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451615

S. Ismail, Mohd Azizi Abdul Rahman, S. Mazlan, H. Zamzuri

{"title":"Human gesture recognition using a low cost stereo vision in rehab activities","authors":"S. Ismail, Mohd Azizi Abdul Rahman, S. Mazlan, H. Zamzuri","doi":"10.1109/IRIS.2015.7451615","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451615","url":null,"abstract":"During rehabilitation, patients tend to do several abnormal gestures to indicate their conditions. Since danger might happen to patients, especially without the supervision of therapist, a monitoring system should be developed. In this paper, a preliminary work is conducted to provide an online monitoring system to replace the therapist role to automatically monitor patient during the physical therapy activities by using a stepper. However, the main objective of this paper is to propose methods that can improve recognition rate of human gesture by implying Linear Discriminant Analysis (LDA) on features and then propose Support Vector Machine (SVM) as classifier. In order to accurately identify gesture of patients such as falling down during physical activities, angle features calculated from the information of head and torso positions is proposed as input data. A low cost RGB and depth camera will be used to track and capture the skeleton joint position of the patient. LDA of joint angles is proposed as feature in this research. The feature extracted will be analysed and classified using SVM to recognize the type of gestures performed by the patient during rehabilitation. As any abnormal gesture was recognized, the system will provide information to be used as an alarm for further supervision by the therapist.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"11 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":"114174069","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: 4

Performance evaluation of wireless accelerometer sensor for water pipeline leakage 管道漏水无线加速度计传感器性能评价

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451598

M. Ismail, R. Dziyauddin, Noor Azurati Ahmad Salleh

{"title":"Performance evaluation of wireless accelerometer sensor for water pipeline leakage","authors":"M. Ismail, R. Dziyauddin, Noor Azurati Ahmad Salleh","doi":"10.1109/IRIS.2015.7451598","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451598","url":null,"abstract":"Recently, an acoustic method is used in a water industry to detect and localise the leak in the water pipeline. However, the acoustic leak detection is only feasible for the metal pipes and has several limitations when applied to soft materials like plastic pipes. The objective of this paper is to investigate the accuracy of leakage detection for an Acrylonitrille Butadience Styrene (ABS) pipe using a vibration technique. This paper employs an accelerometer sensor called MPU6050 to measure the vibration in the water pipeline from three different axes, which are x-, y- and z-axis. The water pipeline used in this study is a high pressure pipe, which is an inch size of ABS pipe with a length of approximately 10 meters. We used an Arduino controller board to process the vibration data from the accelerometer sensor and transmit (Tx) the data over wireless ZigBee networks every ten millisecond elapsed time. The water pipeline system is examined based on three states, (i) no pipe leakage, (ii) a l mm, and (iii) a 3mm sizes of leaking holes. In our experiments, the pressure is varied at four different levels, 0.6, 0.8, 1.0 and 1.2 kgf/cm2. The main finding can be summarized as follow: 1) when the pressure is varied to 0.6, 0.8, 1.0 and 1.2 kgf/cm2, the frequency has significant difference between no leak and leakage conditions, 2) when the pressure is varied to 0.6, 0.8 and 1.0kgf/cm2, the frequency can identify the sizes of the leaking holes, and 3) when the pressure is varied to 1.2kgf/cm2, the leakage hole size is difficult to identify, but the normal and abnormal conditions can be determined.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"1 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":"124214366","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: 15

Preliminary investigation of indoor positioning system using Visible Light Communication 可见光通信室内定位系统的初步研究

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451616

Y. C. See, L. Wilson, S. C. Yap, C. F. Leong

{"title":"Preliminary investigation of indoor positioning system using Visible Light Communication","authors":"Y. C. See, L. Wilson, S. C. Yap, C. F. Leong","doi":"10.1109/IRIS.2015.7451616","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451616","url":null,"abstract":"Indoor positioning research has been active for the past two decades. However no promising result has been identified for the position accuracy. Recently Light Emitting Diode (LED) lighting is used as a tool for the Visible Light Communication (VLC) research which opens a dimension in indoor positioning system (IPS). This paper presents a preliminary investigation of indoor positioning related to the accuracy of the position. In this proposed VLC-IPS, four LEDs are used as transmitters and a photodiode is used as receiver. The photodiode will obtain information from the transmitter to perform a coordinate estimation. A unique frequency modulation (F-ID) method is used on the transmitter to prevent interference; while on the receiver, Fast Fourier Transform (FFT) is used to retrieve the transmitted signal. In the meantime, the received signal strength (RSS) and trilateral methods are used to estimate the distance between the transmitters and receiver which then will estimate the coordinate of the receiver. Simulation results show that the average error between the exact position and the predicted position of the proposed system is 0.79 cm.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"703 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":"129440157","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: 7