2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)最新文献_第2页

Intelligent estimation strategies applied to a flight surface actuator 基于智能估计策略的飞行面执行器

2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2017-10-01 DOI: 10.1109/IRIS.2017.8250105

Elyse Hill, Andrew S. Lee, S. Gadsden, M. Al-Shabi

{"title":"Intelligent estimation strategies applied to a flight surface actuator","authors":"Elyse Hill, Andrew S. Lee, S. Gadsden, M. Al-Shabi","doi":"10.1109/IRIS.2017.8250105","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250105","url":null,"abstract":"The Kalman filter (KF) has drastically changed and formed the field of state and parameter estimation theory and has impacted a number of applications: spacecraft, GPS, fault detection and diagnosis, stock market analysis, cell phones, autonomous vehicles, to name only a few. A statistically optimal solution for known linear systems is provided by the KF, in the presence of Gaussian white noise. However, the optimality of the KF affects numerical stability and robustness. A number of linear and nonlinear forms of the KF have been introduced to overcome numerical, stability, and nonlinearity issues. In recent years, intelligent or cognitive-based KFs have been proposed. Intelligent filters generally include adaptive gains and feedback for improved estimation accuracy and robustness. These types of filters are typically more robustness to modeling uncertainties and disturbances. This paper provides a comparison of two popular KF methods: fuzzy-based and machine learning-based. These strategies are applied on a flight surface system and the estimation results are compared and discussed. Future trends in intelligent estimation theory are also considered.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"55 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":"124837567","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: 10

A cooperative exploration strategy with efficient backtracking for mobile robots 移动机器人高效回溯的协同探索策略

2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2017-10-01 DOI: 10.1109/IRIS.2017.8250106

Jinho Kim, Stephanie Bonadies, Andrew Lee, S. Gadsden

引用次数: 7

Personalized clothing recommendation by a social robot 社交机器人的个性化服装推荐

2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2017-10-01 DOI: 10.1109/IRIS.2017.8250118

Leo Woiceshyn, Yuchi Wang, G. Nejat, B. Benhabib

引用次数: 16

Kinematic motion studies of an OmniDirectional mobile robot 全向移动机器人的运动学运动研究

2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2017-10-01 DOI: 10.1109/IRIS.2017.8250141

J. Field, M. U. Salman

引用次数: 2

A novel clutch coupled nonholonomic wheeled mobile robot mechanism to mechanically minimize deduced reckoning error 一种新颖的离合器耦合非完整轮式移动机器人机构，以机械地减小推算误差

2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2017-10-01 DOI: 10.1109/IRIS.2017.8250136

Ammar Nathad, Jaya Rajwani

{"title":"A novel clutch coupled nonholonomic wheeled mobile robot mechanism to mechanically minimize deduced reckoning error","authors":"Ammar Nathad, Jaya Rajwani","doi":"10.1109/IRIS.2017.8250136","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250136","url":null,"abstract":"Motion stabilization of mobile robots has been a considerably large area of research in robotics and there are innumerous programming based solutions to cater this issue. It still becomes inconvenient to make wheeled mobile robots (WMR) move autonomously over distances without producing deduced (dead) reckoning error. The WMRs then fail to move without continuous control feedback systems resulting in systematic odometry error. A novel approach for attaining continuously synchronized drive motion and to produce a cost effective mechanical structure, without complex electronic feedback control system is the purpose of our research. This paper presents the existing solutions that have been in practice to mechanically reduce odometry error, a comparative analysis is then evaluated followed with the proposed design. Unlike conventional differential drive mechanisms, it is driven by two independent motors, one generates drive power to all the wheels for linear kinematics, and the other helps achieve the zero degrees rotation using bevel gear arrangement. The robot has the ability to move in a curved trajectory using two motors simultaneously. These mechanisms are electronically controlled by powering the motor, and engaging the electromagnetic clutch attached to the wheel as required. This shows that this robot is flexible and able to perform point-to-point motion effectively.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"74 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":"114533492","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

Design of an electromechanical prosthetic finger using shape memory alloy wires 形状记忆合金丝机电假指的设计

2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2017-10-01 DOI: 10.1109/IRIS.2017.8250098

L. Van der Elst, Serket Quintanar-Guzman, J. Hadji-Minaglou

引用次数: 4

Pressure presentation strength for calligraphy brushwork instruction 压力呈现力度为书法笔法指导

2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2017-10-01 DOI: 10.1109/IRIS.2017.8250121

N. Tsuda, Ami Morikawa, Y. Nomura, N. Kato

{"title":"Pressure presentation strength for calligraphy brushwork instruction","authors":"N. Tsuda, Ami Morikawa, Y. Nomura, N. Kato","doi":"10.1109/IRIS.2017.8250121","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250121","url":null,"abstract":"In this paper, an instruction system of calligraphy brushwork for apprentices is introduced. In order to write a well-shaped character, the brush is required to be operated skillfully. Calligraphy experts operate a brush in multi-degrees of freedom, however, for apprentices, it is tentatively required to control a brush in low-degree of freedom (a horizontal plane) as a beginning training. The reason is that the shape of a character becomes better to an extent by correcting a brushwork slightly, and a slight instruction in a horizontal plane enables this. In the authors' developed system, the motion of the student's brush (handwriting) is measured by Leapmotion, and if the brush goes far from the reference trajectory, the developed pressure presentation device stimulates the student's wrist as an instruction at the moment. Although the structure of the developed instruction system is so elementary, the system is expected that it can induce the student to correct the handwriting. For this purpose, calligraphy training experiments with several participants were carried out. The reaction times and the brush overruns from the reference trajectories for three kinds of pressure strength were measured during brushworks. As results, it was confirmed that the reaction times of participants and the brush overruns became shorter significantly, if the strength of the pressure presentation was strengthened.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"21 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":"123770978","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

A stereo cameras setup for pedestrian detection enhancement 立体摄像机设置行人检测增强

2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2017-10-01 DOI: 10.1109/IRIS.2017.8250147

A. T. M. Nakamura, Luiz Ricardo Takeshi Horita, V. Grassi

引用次数: 3

Value iteration based approximate dynamic programming for mobile robot trajectory tracking with persistent inputs 基于值迭代的移动机器人轨迹跟踪近似动态规划

2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2017-10-01 DOI: 10.1109/IRIS.2017.8250096

Md. Suruz Miah

引用次数: 1

Preparation for adulthood: Benefits of assistive technologies in social skills training of children with autism 为成年做准备:辅助技术在自闭症儿童社交技能训练中的益处

2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2017-10-01 DOI: 10.1109/IRIS.2017.8250151

Rugayah Hashim, H. Yussof

{"title":"Preparation for adulthood: Benefits of assistive technologies in social skills training of children with autism","authors":"Rugayah Hashim, H. Yussof","doi":"10.1109/IRIS.2017.8250151","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250151","url":null,"abstract":"Humanoids as a form of assistive technologies have been shown to have positive effects on the social-cognitive behavior of brain-impaired children, particularly those with autism. However, evidences on the socio-economic benefits in social-skill training on brain-impaired children have been lacking. At the preliminary stage, a case study of a primary school with special classes for gifted children is the case study for pretesting purposes. As it is, interviewers with teachers at the special integration classes form the basis for primary data collection. Findings indicated that the teachers, parents and guardians of these children are not ready for humanoids to train their children but in future such attempts are encouraged. Nonetheless, this paper will highlight the socio-economic benefits of humanoid-assisted social skills training of children with autism. This is important in preparing them for adulthood and independence. In addition, from the literature reviewed, content analyses on humanoid-mediated research articles provide the preliminary empirical support. Evidences and outcomes from similar research projects conducted from social scientists in developing nations further narrows the objectives of the investigation. Theoretical implication from this study is also discussed.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"47 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":"116112620","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