2015 6th International Conference on Automation, Robotics and Applications (ICARA)最新文献

{"title":"Active electromagnetic damping for lightweight electric vehicles","authors":"Alista Fow, M. Duke","doi":"10.1109/ICARA.2015.7081116","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081116","url":null,"abstract":"Due to the low weight of most current electric vehicles, the effectiveness of commercial passive dampers is reduced when compared to current production automobiles. Active dampers allow for a significant reduction in the amount of road signal that affects the passenger body. However current active hydraulic dampers tend to be heavy and to have a power consumption that precludes their use in electric vehicles. By use of a linear electromagnetic element it is possible to create an active damper that has enough authority to provide active damping with a fraction of the weight and power consumption of a hydraulic system. A computer model of an active electromagnetic damper was constructed and the results were compared to a physical prototype. This verified the effectiveness of the damper and the low power consumption. This computer model was then scaled up for the simulation of a real world quarter car model. This simulation demonstrated that the use of the active linear electromagnetic damper was more effective at all frequencies when compared to an ideal passive damper. It was also demonstrated that the active electromagnetic damper had a similar mass to a passive damper and had a power consumption of more than an order of magnitude less than a comparable active hydraulic damper.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121439139","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}

{"title":"A novel approach of sensor data retrieving using a quadcopter in wireless sensor network forming concentric circular topology","authors":"R. Dasgupta, Ritwick Mukherjee, Amitava Gupta","doi":"10.1109/ICARA.2015.7081153","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081153","url":null,"abstract":"Paper describes a concentric circular wireless sensor network topology and sensor data retrieving strategy using a mobile sink. A quadcopter acts as a mobile sink. The strategy states how to improve network lifetime by reducing energy consumption of power constrained sensor nodes. It eliminates packet routing and optimizes packet retransmissions by reducing packet error, packet loss and packet collisions. Sensors are uniformly distributed across the sensor field of size r×r in such a way that they are almost all placed inside an inscribed disk D of radius r. Network is formed by creating concentric circles around the center and partitions the disk into n annuli. Each annulus is further divided into m wedges by partitioning the disk into sectors. Sensors nik belong to each wedge Wik,(∀1 ≤ ı k ≤ m; n) form Star network with the sink. At each level k, sink optimizes its pose pk ∈ Wik so that every nodes can send their data by one hop communication. The strategy will be extremely useful for data collection when large holes are formed inside the network due to nodes failure and results network partition.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132500063","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}

{"title":"Speech-to-speech translation humanoid robot in doctor's office","authors":"Sangmi Shin, E. Matson, Jinok Park, Bowon Yang, Juhee Lee, Jin-Woo Jung","doi":"10.1109/ICARA.2015.7081196","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081196","url":null,"abstract":"This paper illustrates the implementation of a speech-to-speech translation humanoid robot in the domain of medical care. At this stage, the proposed system is a one-way translation that is designed to help English speaking patients describe their symptoms to Korean doctors or nurses. A humanoid robot is useful because it can be extended to reach out to people in need first and may substitute the role of human workers, unlike laptops or tablets. The system consists of three main parts - speech recognition, English-Korean translation, and Korean speech generation. It utilizes CMU Sphinx-4 as a speech recognition tool. English-Korean translation in this system is based on the rule-based translation. The success rate of the translation shows reliable results from an experiment with a closed scenario.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"236 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132063697","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}

{"title":"Inverse kinematics solution for trajectory tracking using artificial neural networks for SCORBOT ER-4u","authors":"Rahul Kumar, P. Chand","doi":"10.1109/ICARA.2015.7081175","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081175","url":null,"abstract":"This paper presents the kinematic analysis of the SCORBOT-ER 4u robot arm using a Multi-Layered Feed-Forward (MLFF) Neural Network. The SCORBOT-ER 4u is a 5-DOF vertical articulated educational robot with revolute joints. The Denavit-Hartenberg and Geometrical methods are the forward kinematic algorithms used to generate data and train the neural network. The learning of forward-inverse mapping enables the inverse kinematic solution to be found. The algorithm is tested on hardware (SCORBOT-ER 4u) and reliable results are obtained. The modeling and simulations are done using MATLAB 8.0 software.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134422176","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}

{"title":"Humanoid robots rescuing humans and extinguishing fires for Cooperative Fire Security System using HARMS","authors":"Amy R. Wagoner, Adith Boloor, E. Matson, Lee EunSeop, Yoanna Nah, Kim Kyeong Tae, Dong Hyung Lee, Ju-Eun Joeng","doi":"10.1109/ICARA.2015.7081183","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081183","url":null,"abstract":"Fires cause billions of dollars in damage and thousands of deaths each year. Firefighting robots are being deployed around the world to reduce the loss of human life and the amount of property damage. High-rise buildings are used for both business and family homes. Buildings with dozens of floors present a great challenge to firefighters. Firefighter ladders cannot reach high enough to fight fires at the top of the building. Going into the building itself, in order to extinguish the blazing fire, is typically too dangerous and puts firefighters at risk. Monitoring, locating, and extinguishing the fire in the smallest amount of time is crucial to controlling fires in highrise buildings. This paper introduces humanoid robots capable of moving towards and extinguishing a fire and locating and rescuing any humans unlucky enough to be trapped in the inferno. This paper is one part of a Cooperative Fire Security System using HARMS (CFS2H) that detects, locates, and extinguishes a fire and rescues human beings using the Human, Agent, Robot, Machine, Sensor (HARMS) protocol.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125127247","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}

{"title":"Enhanced noise models for GPS positioning","authors":"Andrew W. R. Soundy, Bradley J. Panckhurst, T. Molteno","doi":"10.1109/ICARA.2015.7081121","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081121","url":null,"abstract":"We analyze GPS position recordings, and show that they have long term autocorrelation functions. The traditional approach of assuming Gaussian uncertainties is therefore potentially problematic. We suggest some alternative noise models such as the Ornstein-Uhlenbeck process or autoregressive process, that can be used for state estimation.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"152 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115959714","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}

{"title":"Topological mapping for robot navigation using affordance features","authors":"K. Varadarajan","doi":"10.1109/ICARA.2015.7081123","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081123","url":null,"abstract":"Affordance features are being increasingly used for a number of robotic applications. An open affordance framework called AfNet defines over 250 objects in terms of 35 affordance features that are grounded in visual perception algorithms. While AfNet is intended for usage with cognitive visual recognition systems, an extension to the framework, called AfRob delivers an affordance based ontology targeted at robotic applications. Applications in which AfRob has been used include (a) top down task driven saliency detection (b) cognitive object recognition (c) task based object grasping and manipulation. In this paper, we use AfRob as base for building topological maps intended for robotic navigation. Traditional approaches to robotic navigation use metric maps or topological maps or hybrid systems that combine the two approaches at different levels of resolution or granularity. While metric and grid based maps provide high accuracy results for optimal path planning schemes, they require high space-time requirements for computation and storage, reducing real-time applicability. On the other hand, topological maps being graph based abstract structures are extremely light and convenient for goal driven navigation, but suffer from lack of resolution, poor self-localization and loop closing. Both approaches show severe restrictions in the case of dynamic environments in which objects which serve as features for the map building procedure are moved or removed from the scene across the time period of usage of the robot. This paper presents a novel approach to topological map building that takes into account affordance features that can help build lightweight, high-resolution, holistic and cognitive maps by predicting positional and functional characteristics of unseen objects. In addition, these features enable a cognitive approach to handling dynamic scene content, providing for enhanced loop closing and self-localization over traditional topological map building. These features also offer cues to place learning and functional room unit classification thereby providing for superior task based path planning. Since these features are easy to detect, fast building of maps is possible. Results on synthetic and real scenes demonstrate the benefits of the proposed approach.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122566578","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}

{"title":"A fluid dynamics model for wind turbine generators in equatorial environments","authors":"M. Pérez-Gutierrez, D. Rivas-Lalaleo, Mayra Erazo-Rodas, Victor Bautista, Omar Galarza-Barrionuevo, Patricio Reyes-Bedoya, Mónica Huerta, J. Rojo-álvarez","doi":"10.1109/ICARA.2015.7081185","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081185","url":null,"abstract":"Wind turbine generators represent a valid and sustainable alternative for a significant energy provision, which is increasingly demanded by the planet, and a number of generator models have been proposed for supporting their design. However, equatorial regions have very special conditions for their gravity and wind behavior. Therefore, we present here a new wind turbine-generator model suitable for equatorial environments. Our simulation system is based on computational fluid dynamics and the Navier-Stokes equation, accounting both for structural and energy efficiency considerations. The most relevant simulation parameters were shown to be the Shovel number, the rotor diameter, the generated power, and the working frequency. Simulation results were consistent with different gravity conditions affecting to the fluid viscosity and the blades weight, as well as with differences in uniform and turbulent wind flow behavior. The proposed model allows us to make decisions about the structure and optimal requirements suitable for equatorial regions.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132191342","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}

{"title":"Changes in perception of a small humanoid robot","authors":"Kerstin S Haring, Katsumi Watanabe, David Silvera Tawil, Mari Velonaki, Tomotaka Takahashi","doi":"10.1109/ICARA.2015.7081129","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081129","url":null,"abstract":"Humanoid robots are designed to interact with people. To improve the design and development of robots for social human-robot interaction, it is important to consider how people perceive the appearance and behavior of these robots. This paper presents the results of a study on the perception and the changes after passive and active interaction with a physically present humanoid robot in terms of anthropomorphism, animacy, likeability, perceived intelligence and perceived safety. Experimental results show that the perception of the robot changes mainly after the first interaction. The robot is perceived highly likeable in passive interactions with an increase on it's perception of animacy.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130424893","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}

{"title":"Sensorless position control of voice-coil motors for needle-free jet injection","authors":"J. Mckeage, Rhys M. J. Williams, B. Ruddy, Poul M. F. Nielsen, A. Taberner","doi":"10.1109/ICARA.2015.7081186","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081186","url":null,"abstract":"This paper demonstrates a simple method for sensorless position estimation and control of a linear voice-coil actuator. Such actuators are currently used in needle-free jet injector prototypes. The sensorless method makes use of the position dependent impedance of the voice-coil at high frequencies to produce an estimate of coil position. This is achieved through the addition of a high frequency signal to the motor's driving signal. The position and frequency dependence of the voice-coil impedance is presented. Also the ability of this sensorless position estimation method to control position to a square set point is demonstrated using PID control. A jet injection is performed in order to observe the ability of this position sensing method to track position in such a high speed application.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122800136","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}