2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)最新文献

Fuzzy logic-based adaptive control scheme for magnetic levitation systems 基于模糊逻辑的磁悬浮系统自适应控制方案

2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2017-10-01 DOI: 10.1109/IRIS.2017.8250115

Claudia-Adina Bojan-Dragos, R. Precup, Stefania-Persida Hergane, Teodor-Adrian Teban, E. Petriu

引用次数: 4

Multi-agent reinforcement learning approach based on reduced value function approximations 基于约值函数逼近的多智能体强化学习方法

2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2017-10-01 DOI: 10.1109/IRIS.2017.8250107

M. Abouheaf, W. Gueaieb

引用次数: 15

A real time emotional interaction between EEG brain signals and robot 脑电信号与机器人之间的实时情感交互

2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2017-10-01 DOI: 10.1109/IRIS.2017.8250150

M. Aldulaimi

{"title":"A real time emotional interaction between EEG brain signals and robot","authors":"M. Aldulaimi","doi":"10.1109/IRIS.2017.8250150","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250150","url":null,"abstract":"In this paper, emotion recognition using frontal electroencephalogram (EEG) asymmetry signals is presented. A total of four channels are used in representing EEG frontal asymmetry, consisting of the left and right hemisphere of the brain. Arousal and valence for two-dimensional emotion models are used in classifying four basic emotions; happy, sad, angry, and relaxed. The mirror neuron system (MNS) for emotion elicitation is utilized in finding correlation between participant's emotion rating and EEG data. This is achieved by showing images and music to each participant. These images are used to elicit emotions in applying the imitation concept. In addition, an emotion recognition method based on a combination of two algorithms, fractal dimension for feature extraction and multidimensional direct information on finding correlation between left and right EEG frontal asymmetry is proposed. Good performances are achieved from the combination and rating process, where it can be utilized to indicate correlation between participants rating and EEG recorded data. The final results of the EEG recorded data are represented as robot emotions. Therefore, the main contribution is to create a real-time emotional interaction based on the analyzed EEG recorded data.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129123528","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

Three-dimensional acoustic localisation via directed movements of a two-dimensional model of the lizard peripheral auditory system 通过蜥蜴外围听觉系统的二维模型的定向运动进行三维声学定位

2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2017-10-01 DOI: 10.1109/IRIS.2017.8250093

Danish Shaikh, Michael Kjær Schmidt

{"title":"Three-dimensional acoustic localisation via directed movements of a two-dimensional model of the lizard peripheral auditory system","authors":"Danish Shaikh, Michael Kjær Schmidt","doi":"10.1109/IRIS.2017.8250093","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250093","url":null,"abstract":"Three-dimensional acoustic localisation is relevant in personal and social robot platforms. Conventional approaches extract interaural time difference cues via impractically large stationary two-dimensional multi-microphone grids with at least four microphones or spectral cues via head-related transfer functions of stationary KEMAR dummy heads equipped with two microphones. We present a preliminary approach using two sound sensors, whose directed movements resolve the location of a stationary acoustic target in three dimensions. A model of the peripheral auditory system of lizards provides sound direction information in a single plane which by itself is insufficient to localise the acoustic target in three dimensions. Two spatial orientations of this plane by rotating the sound sensors by −45° and +45° along the sagittal axis generate a pair of measurements, each encoding the location of the acoustic target with respect to one plane of rotation. A multi-layer perceptron neural network is trained via supervised learning to translate the combination of the two measurements into an estimate of the relative location of the acoustic target in terms of its azimuth and elevation. The acoustic localisation performance of the system is evaluated in simulation for noiseless as well as noisy sinusoidal auditory signals with a 20 dB signal-to-noise ratio for four different sound frequencies of 1450 Hz, 1650 Hz, 1850 Hz and 2050 Hz that span the response frequency range of the peripheral auditory model. Three different neural networks with respectively one hidden layer with ten neurons, one hidden layer with twenty neurons and two hidden layers with ten neurons are comparatively evaluated. The neural networks are evaluated for varying locations of the acoustic target on the surface of the frontal spherical section in space defined by an azimuth and elevation range of [−90°, +90°] with a resolution of 1° in both planes.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121513594","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

Experimental comfort assessment of an active exoskeleton interface 主动外骨骼界面的实验舒适性评估

2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2017-10-01 DOI: 10.1109/IRIS.2017.8250095

Laurent Levesque, Scott Pardoel, Zlatko Lovrenovic, Marc Doumit

{"title":"Experimental comfort assessment of an active exoskeleton interface","authors":"Laurent Levesque, Scott Pardoel, Zlatko Lovrenovic, Marc Doumit","doi":"10.1109/IRIS.2017.8250095","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250095","url":null,"abstract":"Walking assistive devices are designed to improve the mobility of the user. Although promising, active devices have a problem: they become uncomfortable after prolonged usage. Large motor torques provided by active devices effectively assist the movements of the user. However, these torques transfer forces to the user's limbs creating significant discomfort and limiting the duration of usefulness. This work used force mapping in an attempt to identify zones of pressure concentration that may cause discomfort as well as examined the effect that various pads had on these zones. The device tested in this research was the K-SRD TM by B-Temia Inc. Force analysis identified certain zones of high force concentration. Possible causes were identified and potential solutions were suggested. Furthermore, the padding testing showed that the force transfer was similar regardless of the thickness of the pads. However, the stiffer padding materials distributed the forces over a greater area and decreased the pressure at the interface. This seems to indicate that the thickness of padding is less important than the distribution of applied forces. In all, interfaces that distribute forces over large surface areas may be beneficial. Further research efforts are needed in order to develop a physical human-machine interface that will ensure the success of exoskeletons in the future.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"138 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124352146","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: 19

Handrail IoT sensor for precision healthcare of elderly people in smart homes 面向智能家居老年人精准医疗的扶手物联网传感器

2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2017-10-01 DOI: 10.1109/IRIS.2017.8250149

Yusuke Takahashi, Y. Nishida, K. Kitamura, H. Mizoguchi

引用次数: 9

Effects of active or passive touch on perception precision of edge direction using tactile mouse exhibiting convex dot-patterns on the palm 主动或被动触摸对手掌凸点型触觉鼠标边缘方向感知精度的影响

2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2017-10-01 DOI: 10.1109/IRIS.2017.8250103

Hiraku Komura, M. Ohka

{"title":"Effects of active or passive touch on perception precision of edge direction using tactile mouse exhibiting convex dot-patterns on the palm","authors":"Hiraku Komura, M. Ohka","doi":"10.1109/IRIS.2017.8250103","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250103","url":null,"abstract":"We developed a tactile mouse that presents convex dot-patterns on a human palm to obtain the design parameters of haptic devices for virtual reality (VR). In a tactile VR study, we focused on the following issue, “which tactile perception is superior, active or passive touch?”, because it is related to the design of haptic devices that can present detailed information in tactile VR. This study evaluates the differences in perception precision between active and passive touch to clarify the best presentation method in VR through a series of psychophysical experiments using a tactile mouse. Since the presentation precision of virtual figures depends on the sharpness of the edges generated by dot-patterns, our experiment subjects evaluate the slope of the oblique edges. In a psychophysical experiment, two oblique edges of dot-patterns are presented consecutively and subjects compare them to determine which is larger. We evaluate the perception precision using the difference threshold of the edge angles calculated by the simplified constant stimuli method. Experimental results show that the perception precision at low speed (45 and 90 mm/s) of edge movement is better than at high speed (130 and 170 mm/s) and also that there is no significant difference between active and passive touching.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126401658","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

Quadrature Kalman filters with applications to robotic manipulators 正交卡尔曼滤波在机械臂上的应用

2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2017-10-01 DOI: 10.1109/IRIS.2017.8250108

M. Al-Shabi, Andrew Cataford, S. Gadsden

引用次数: 19

Adaptive control of intelligent walker guided human-walker systems 智能助行器引导人-助行器系统的自适应控制

2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2017-10-01 DOI: 10.1109/IRIS.2017.8250119

Nursefa Zengin, Halit Zengin, B. Fidan

{"title":"Adaptive control of intelligent walker guided human-walker systems","authors":"Nursefa Zengin, Halit Zengin, B. Fidan","doi":"10.1109/IRIS.2017.8250119","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250119","url":null,"abstract":"Intelligent walkers (i-walkers) need to have precise torque generation to sustain safe human-walker motion. Utilizing a recently developed control oriented system model that involves the physical-human walker interaction (pHWI) based on the user gait dynamics and characteristics, this paper studies an adaptive control scheme design for high precision trajectory tracking of the i-walker robust to user gait dynamics, body pose and weight. The proposed control scheme involves a backstepping based kinematic controller to generate reference i-walker velocities that match the pre-defined i-walker trajectories. These desired velocities are tracked applying the torques generated by an adaptive sliding mode control (SMC) scheme that is robust to unknown torque disturbance arising from friction forces, center of gravity displacement and load changes due to pHWI. The proposed SMC scheme design contains a feedback linearization unit based on the computed torque control law, and is fed by the wheel velocity estimates generated by a system-dynamics based sliding mode observer. The designed adaptive control scheme is simulated for the users with symmetric and asymmetric gait patterns.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115805453","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

3D object recognition from tactile data acquired at salient points 基于突出点触觉数据的三维物体识别

2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2017-10-01 DOI: 10.1109/IRIS.2017.8250113

Nicolas Pedneault, A. Crétu

引用次数: 4