2005 IEEE International Conference on Robotics and Biomimetics - ROBIO最新文献

{"title":"Voice driven applications in non-stationary and chaotic environment","authors":"C. Kwan, Xiaokun Li, D. Lao, Yunbin Deng, Z. Ren, B. Raj, Rita Singh, R. Stern","doi":"10.1109/ROBIO.2005.246250","DOIUrl":"https://doi.org/10.1109/ROBIO.2005.246250","url":null,"abstract":"Automated operations based on voice commands would become more and more important in many applications, including robotics, maintenance operations, etc. However, voice command recognition rates drop quite a lot under nonstationary and chaotic noise environments. In this research, we tried to significantly improve the speech recognition rates under non-stationary noise environments. First, 298 Navy acronyms have been selected for automatic speech recognition. Data sets were collected under 4 types of non-stationary noisy environments: factory, buccaneer jet, babble noise in a canteen, and destroyer. Within each noisy environment, 4 levels (5 dB, 15 dB, 25 dB, and clean) of signal-to-noise ratio (SNR) were introduced to corrupt the speech. Second, a new algorithm to estimate speech or no speech regions has been developed, implemented, and evaluated. Third, extensive simulations were carried out. It was found that the combination of the new algorithm, the proper selection of language model and a customized training of the speech recognizer based on clean speech yielded very high recognition rates, which are from 80% to 90% for the four different noisy conditions. Fourth, extensive comparative studies have also been carried out","PeriodicalId":280451,"journal":{"name":"2005 IEEE International Conference on Robotics and Biomimetics - ROBIO","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116840397","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":"Reliable robust controller design for nonlinear state-delayed systems based on neural networks","authors":"Yanjun Shen, Linguo Zhang","doi":"10.1109/ROBIO.2005.246336","DOIUrl":"https://doi.org/10.1109/ROBIO.2005.246336","url":null,"abstract":"An approach is investigated for the adaptive Hinfin control design for a class of nonlinear state-delayed systems. The nonlinear term is approximated by a linearly parameterized neural networks(LPNN). A linear state feedback Hinfin control law is presented. An adaptive weight adjustment mechanism for the neural networks is developed to ensure Hinfin regulation performance. It is shown that the control gain matrices and be transformed into a standard linear matrix inequality problem and solved via a developed recurrent neural network","PeriodicalId":280451,"journal":{"name":"2005 IEEE International Conference on Robotics and Biomimetics - ROBIO","volume":"8 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114029178","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":"High-throughput fabrication of sub-micron pillar arrays for free-solution DNA electrophoresis without E-beam lithography","authors":"Yick Chuen Chan, Yi-Kuen Lee, M. Wong, Y. Zohar","doi":"10.1109/ROBIO.2005.246409","DOIUrl":"https://doi.org/10.1109/ROBIO.2005.246409","url":null,"abstract":"A new technology approach for the design, fabrication and application of an integrated free-solution electrophoresis microsystem is presented. The technology approach, which utilizes the dual-photolithography provided from a stepper and a contact aligner, allows fast and flexible formation of sub-micron pillar array patterns on a silicon substrate. Combining with standard microfabrication technique and deep-reactive-ion-etching (DRIE), very high aspect-ratio sub-micron pillar arrays can be integrated in regular microfluidic system for free-solution DNA electrophoresis. DNA interaction with pillars inside the microsystem has been demonstrated, supporting the new technology approach a novel technique for Si-based free-solution electrophoresis microsystem fabrication","PeriodicalId":280451,"journal":{"name":"2005 IEEE International Conference on Robotics and Biomimetics - ROBIO","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129684905","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":"Modeling of heat transfer for laser-assisted direct nano imprint processing","authors":"F. Hsiao, Di-Bao Wang, C. Jen, H. Hsu, C. Chuang, Y. Lee, Chuan-Pu Liu","doi":"10.1109/ROBIO.2005.246362","DOIUrl":"https://doi.org/10.1109/ROBIO.2005.246362","url":null,"abstract":"The melting duration and molten depth are key information for laser-assisted direct imprinting, which raises issues about the melting & solidification induced by excimer-pulse-laser irradiating through unilaterally transparent binary materials. Considering the size-effect on thermal conductivity and phase-change of irradiated material, the thermal-contact resistance is taken into account to simulate and predict the melting behavior for this process. Results in this study indicate that the laser-annealing case as well as the perfect-contact case provides the upper-bound and the lower-bound values for the physical quantities involved in this process even without the detail information of the changing values of thermal-contact resistance","PeriodicalId":280451,"journal":{"name":"2005 IEEE International Conference on Robotics and Biomimetics - ROBIO","volume":"68 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120825384","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":"Design of humanoid robot for human-robot interaction - Waseda Robots: Wendy and Wamoeba -","authors":"S. Sugano","doi":"10.1109/ROBIO.2005.246393","DOIUrl":"https://doi.org/10.1109/ROBIO.2005.246393","url":null,"abstract":"The development of humanoid robots that can support human labor and assist human daily activities by several combined communication channels, such as physical interaction and informational interaction, is expected to be a measure against labor shortages in aging societies. Such robots are distinctively called \"human symbiotic robots\". In designing of the human symbiotic robots, capabilities of ensuring safety and friendliness while interacting with human must be given top priority. Under this concept, the Humanoid Robot Project at the Advanced Research Institute for Science and Engineering, Waseda University has developed Wendy and Wamoeba as prototypes of human symbiotic robots. Wendy is an anthropomorphic type robot. Since human symbiotic robots must work in human's living space and manipulate things which are designed suitably for human usage, their design should be similar human body shape. On the other hand, Wamoeba is a trial model for the research which investigates for the possibility of the emergence of mind in the artificial mechanical system based on the model of the emergence process of human mind which should be the ultimate function for friendly communication","PeriodicalId":280451,"journal":{"name":"2005 IEEE International Conference on Robotics and Biomimetics - ROBIO","volume":"172 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132485757","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":"MEMS accelerometer with two thin film piezoelectric read-out","authors":"S. Bohua, Zhang Rui","doi":"10.1109/ICMENS.2005.66","DOIUrl":"https://doi.org/10.1109/ICMENS.2005.66","url":null,"abstract":"MEMS accelerometers using piezoelectric lead zirconate titanate (PZT) thin films as read-out have been attracting a great deal of attention due to their simple structures and high sensitivity. This paper proposes a model of microaccelerometer with two suspended flexural PZT-on-silicon beams and a central proof mass configuration. The geometry and elastic properties of the thin films have been taken into account when formulating the acceleration equations. To verify which vibration mode is the dominant one on the acceleration, mode analysis has been carried out by using MEMS software: CoventorWare. The analytical equation between charge and acceleration has been derived, which provides an opportunity to design the accelerometer. The research shows that the proposed accelerometer is simple to manufacturing, and reliable for large g conditions and wide frequency response","PeriodicalId":280451,"journal":{"name":"2005 IEEE International Conference on Robotics and Biomimetics - ROBIO","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124644674","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":"The applications of integrated microfluidic chips on automatic diagnosis systems","authors":"Chih-Hao Wang, Gwo-Bin Lee","doi":"10.1109/ROBIO.2005.246272","DOIUrl":"https://doi.org/10.1109/ROBIO.2005.246272","url":null,"abstract":"The present study reports an integrated microfluidic chip for automatic diagnosis applications. A new \"S-shape\" micromachine-based pneumatic pump using the concept of the time delay of the compressed air flow is adopted to transport a minute amount of samples/reagents and automate the diagnosis process. While compared to traditional pneumatic micropumps, the new S-shape micropumps provide a higher pumping rate, and more importantly, simplify the control system. The new micromachine-based pneumatic valves and pumps formed by PDMS membranes are designed and fabricated using MEMS (micro-electro-mechanical-systems) technology and are integrated to form an automatic bio-sensing chip for fast diagnosis of the infectious diseases. Experimental data show that the driving frequency, the quantity of the intersections, and the length of the S-shape microchannel could affect the pumping rate. The bio-sensing chips integrated with the micro-pneumatic valves and the S-shape pumps could successfully execute ELISA (Enzyme-linked immunosorbent assay)-based tests using less amounts of samples and reagents within a shorter time period. The development of the automatic bio-sensing chips could provide a useful tool for fast disease detection and be crucial for a micro-total-analysis system","PeriodicalId":280451,"journal":{"name":"2005 IEEE International Conference on Robotics and Biomimetics - ROBIO","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122434073","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":"Control system of loading manipulator based on profibus","authors":"Xingcan Liu, J. Ling, Bai-hui Zhao, Jian-lin Yang, Jian Gao, Wei Sun","doi":"10.1109/ROBIO.2005.246402","DOIUrl":"https://doi.org/10.1109/ROBIO.2005.246402","url":null,"abstract":"This paper introduces a control system of loading manipulator in the filling and boxing line of a vinegar-producing factory. The system is composed of S7-300 PLC, touch panel, servo amplifier, servomotor and manipulator. S7-300 PLC is used as the central controller which controls servo amplifier and field actuator via Profibus control network. Manipulator can do accurate speed and position control driven by servomotor and servo amplifier. It's also a speed and position double-loop system owing to resolver sampling actual speed and position. The working process is divided into several speed areas and different PI parameters is applied in different speed area to avoid the shake efficiently. Such four kind of functions as seeking reference point automatically, self-learning, manual operation, automatic operation can be achieved. It run well since it has been installed and greatly improved the productivity","PeriodicalId":280451,"journal":{"name":"2005 IEEE International Conference on Robotics and Biomimetics - ROBIO","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117318327","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":"Applying the electrochemical deposition technology to construct the hybrid devices","authors":"Q. Ren, Ya-pu Zhao, J. C. Yue","doi":"10.1109/ROBIO.2005.246328","DOIUrl":"https://doi.org/10.1109/ROBIO.2005.246328","url":null,"abstract":"Nanowires functionalized by special molecules can be used to as the candidates for biological application in many areas. In this paper, nickel nanowires, which were fabricated by electrochemical deposition and functionalized by biotinylated peptide, were applied to constructing the hybrid device powered by F1-ATPaSe motors","PeriodicalId":280451,"journal":{"name":"2005 IEEE International Conference on Robotics and Biomimetics - ROBIO","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123622006","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":"Design of humanoid robot for human-robot interaction-Waseda","authors":"S. Sugano","doi":"10.1109/ROBIO.2005.246386","DOIUrl":"https://doi.org/10.1109/ROBIO.2005.246386","url":null,"abstract":"The development of humanoid robots that can support human labor and assist human daily activities by several combined communication channels, such as physical interaction and informational interaction, is expected to be a measure against labor shortages in aging societies. Such robots are distinctively called \"human symbiotic robots\". In designing of the human symbiotic robots, capabilities of ensuring safety and friendliness while interacting with human must be given top priority. Under this concept, the Humanoid Robot Project at the Advanced Research Institute for Science and Engineering, Waseda University has developed Wendy and Wamoeba as prototypes of human symbiotic robots. Wendy is an anthropomorphic type robot. Since human symbiotic robots must work in human's living space and manipulate things which are designed suitably for human usage, their design should be similar human body shape. On the other hand, Wamoeba is a trial model for the research which investigates for the possibility of the emergence of mind in the artificial mechanical system based on the model of the emergence process of human mind which should be the ultimate function for friendly communication. In my presentation, I will introduce two design concepts of humanoid robot: Wendy and Wamoeba. Biography Shigeki Sugano received the B.S., M.S., and Dr. of Engineering in Mechanical Engineering in 1981, 1983, and 1989, respectively, from Waseda University. From 1987 to 1991, he was a Research Associate in Waseda University. Since 1991, he has been a Faculty Member in the Department of Mechanical Engineering, Waseda University, where he is currently a Professor. From 1993 to 1994, he was a Visiting Scholar in the Mechanical Engineering Department, Stanford University. Since 2001, he has been a Director of the WABOT-HOUSE laboratory. He is a member of the Humanoid Robotics Institute of Waseda University. Since 2001, he has been President of Japan Association for Automation Advancement. His research interests include anthropomorphic robot, dexterous manipulator, and human-robot communication. He received the Technical Innovation Award from the Robotics Society Japan for the development of Waseda Piano-Playing Robot: W ABOT -2 in 1991. He received the JSME Medal for Outstanding Paper from the Japan Society of Mechanical Engineers in 2000. He is an Associate Editor of the International Journal of Advanced Robotics. He is currently a member of the IEEE Robotics & Automation Society Conference Board and serves as the Meetings Chair. He served as the General Chair of the 2003 IEEEI ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003). He will also serve as the General Co-Chair of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006).","PeriodicalId":280451,"journal":{"name":"2005 IEEE International Conference on Robotics and Biomimetics - ROBIO","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121738922","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}