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2017 IEEE/SICE International Symposium on System Integration (SII)最新文献

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Visual estimation of articulated objects configuration during manipulation with a humanoid 人形机器人操作过程中关节目标结构的视觉估计
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-11 DOI: 10.1109/SII.2017.8279234
Antonio Paolillo, Anastasia Bolotnikova, Kevin Chappellet, A. Kheddar
{"title":"Visual estimation of articulated objects configuration during manipulation with a humanoid","authors":"Antonio Paolillo, Anastasia Bolotnikova, Kevin Chappellet, A. Kheddar","doi":"10.1109/SII.2017.8279234","DOIUrl":"https://doi.org/10.1109/SII.2017.8279234","url":null,"abstract":"Robotic manipulation tasks require on-line knowledge of the operated objects' configuration. Thus, we need to estimate online the state of the (articulated) objects that are not equipped with positioning sensors. This estimated state w.r.t the robot control frame is required by our controller to update the model and close the loop. Indeed, in the controller we use the models of the (articulated) objects as additional ‘robots’ so that it computes the overall ‘robotsobjects’ augmented system's motion and contact interaction forces that fulfill all the limitation constraints together with the physics. Because of the uncertainties due to the floating-base nature of humanoids, we address the problem of estimating the configuration of articulated objects using a virtual visual servoing-based approach. Experimental results obtained with the humanoid robot HRP-4 manipulating the paper drawer of a printer show the effectiveness of the approach.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128768554","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: 2
Design of an industrial human-robot system through participative simulations — Tank cleaning case study 通过参与式模拟设计一个工业人机系统-水箱清洗案例研究
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-11 DOI: 10.1109/SII.2017.8279363
David Bitonneau, Theo Moulieres-Seban, Julie Dumora, O. Ly, J. Thibault, Jean-Marc Salotti, B. Claverie
{"title":"Design of an industrial human-robot system through participative simulations — Tank cleaning case study","authors":"David Bitonneau, Theo Moulieres-Seban, Julie Dumora, O. Ly, J. Thibault, Jean-Marc Salotti, B. Claverie","doi":"10.1109/SII.2017.8279363","DOIUrl":"https://doi.org/10.1109/SII.2017.8279363","url":null,"abstract":"Industrials are starting to deploy interactive robots as new solutions to improve workstations. In particular, workstations where human operators may get injured because of repetitive tasks, bad postures or heavy loads are targeted. The introduction of such interactive systems on industrial workstations brings new challenges concerning human cognitive and physical considerations to factories. We followed an approach involving operators, and ergonomics and cognitive engineering skills to improve the introduction of interactive robots in the industry. In this paper, we present the first application of our work on a pyrotechnic tank cleaning workstation. Our approach is illustrated with the design of a solution through several simulation steps involving the workstation's operators. Finally, the design of a prototype based on a teleoperated robot is introduced.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128466876","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: 3
Effectivity evaluation of YKOB in actual city road YKOB在城市实际道路中的有效性评价
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279225
Ryuji Suzuki, Junji Takahashi, Y. Tobe
{"title":"Effectivity evaluation of YKOB in actual city road","authors":"Ryuji Suzuki, Junji Takahashi, Y. Tobe","doi":"10.1109/SII.2017.8279225","DOIUrl":"https://doi.org/10.1109/SII.2017.8279225","url":null,"abstract":"This paper deals with a road monitoring problem that aims to detect road anomalies with low costs. In order to cope with large area monitoring with low cost, we proposed a participatory sensing based monitoring system named Your Kinetic Observation Bike (YKOB) that only uses a smartphone and a bicycle previously. The monitoring system, YKOB, gathers acceleration signals recorded on smartphone that cyclists posses in a pocket or bag. Then the gathered data are analyzed through real mother wavelet (RMW) after independent component analysis (ICA) to predict the road conditions. Early type of YKOB system classifies the road conditions in to four types of step and the prediction accuracy overtook 0.8 in artificially set real environment. So as to evaluate the effectivity of the YKOB to real road condition, we gathered acceleration signals when a cyclist runs actual city roads and analyzed them with ICA and RMW based algorithm. In this paper we report the data gathering method in actual city roads, data analysis method, and their results after a brief introduction of the YKOB.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114647182","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
Determining easily avoidable stop position by predicting surrounding vehicles' paths 通过预测周围车辆的路径，确定容易避免的停车位置
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279324
M. Kajiwara, K. Ohno, Ryunosuke Hamada, Takahiro Suzuki, S. Tadokoro
{"title":"Determining easily avoidable stop position by predicting surrounding vehicles' paths","authors":"M. Kajiwara, K. Ohno, Ryunosuke Hamada, Takahiro Suzuki, S. Tadokoro","doi":"10.1109/SII.2017.8279324","DOIUrl":"https://doi.org/10.1109/SII.2017.8279324","url":null,"abstract":"We propose a method for deciding an avoidable stop position for a vehicle to not disturb the surrounding traffic. A vehicle needs to pull over and make an autonomous emergency stop when a driver has a seizure and loses consciousness. To develop such an autonomous stop system on a narrow road, considering the surrounding vehicles and not hindering traffic are imperative to rescue a patient. We present an approach based on predicting the paths of other vehicles to avoid the ego-vehicle, a load index of a following vehicle driver for predicted paths, and an index that shows the interference between the paths of the following and oncoming vehicle. The path prediction is computed by applying a lattice path planner comprising the vehicle's position, posture, and path curvature. The load index of the following vehicle is calculated with respect to the cumulative curvature of the predicted path. The interference index of the following and oncoming vehicles is estimated by evaluating the area that both vehicles pass to avoid the ego-vehicle. The simulation results showed the ego-vehicle had to pull over by 1.5 m over the road shoulder and 1.0 m ahead of a parked vehicle on the opposite lane.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116910957","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
Efficient simulation budget allocation for stochastically constrained simulation optimization with regression in partitioned domains 基于分割域回归的随机约束仿真优化的有效仿真预算分配
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279214
Fei Gao, Siyang Gao
{"title":"Efficient simulation budget allocation for stochastically constrained simulation optimization with regression in partitioned domains","authors":"Fei Gao, Siyang Gao","doi":"10.1109/SII.2017.8279214","DOIUrl":"https://doi.org/10.1109/SII.2017.8279214","url":null,"abstract":"In this paper, we consider the problem of selecting the best design subject to stochastic constraints. We further improve the selection efficiency by incorporating the information from across the domain into regression equations. The domain of interest is divided into adjacent partitions such that the underlying functions of both the main objective and constraint measures in each partition are approximately quadratic with homogeneous noise. Based on the large deviation theory, we characterize an asymptotically optimal allocation rule by maximizing the rate at which the probability of false selection tends to zero. Numerical experiments demonstrate that the proposed approach can significantly improve the selection efficiency over the existing methods.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127194949","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
A modified system order estimation for system identification of structures with modal interference 含模态干涉结构系统辨识的改进系统阶数估计
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279251
Wei-Cheng Chen, J. Chuang, Chang-sheng Lin
{"title":"A modified system order estimation for system identification of structures with modal interference","authors":"Wei-Cheng Chen, J. Chuang, Chang-sheng Lin","doi":"10.1109/SII.2017.8279251","DOIUrl":"https://doi.org/10.1109/SII.2017.8279251","url":null,"abstract":"When performing a modal analysis of a structural system with close modes or high damping, the results of identification may be poor due to modal interference, which refers to the phenomenon that vibration energy of each mode of a system may overlap with other modes within certain frequency range, the estimation of system order is thus important to the effectiveness of modal identification. In this paper, by introducing the concept of the singular value decomposition (SVD) in Ibrahim Time-Domain method (ITD), and the order of system matrix is efficiently determined, and the modal identification of a system with close modes through the ITD method can then be well implemented. Numerical simulation of one example of a model of the railway vehicle, confirm the validity of the proposed method for system identification of a structure with modal interference.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125052356","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
Development of a teleoperated multiple crawler robotic system using robot service network protocol — Basic experiments by two crawler robots 基于机器人服务网络协议的遥控多履带机器人系统的研制——两台履带机器人的基本实验
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279257
Takatoo Senuma, M. Yasuda, N. Matsuhira, Hideyuki Nisawa
{"title":"Development of a teleoperated multiple crawler robotic system using robot service network protocol — Basic experiments by two crawler robots","authors":"Takatoo Senuma, M. Yasuda, N. Matsuhira, Hideyuki Nisawa","doi":"10.1109/SII.2017.8279257","DOIUrl":"https://doi.org/10.1109/SII.2017.8279257","url":null,"abstract":"Generally, remote decontamination systems comprise several types of robots to manage various tasks. Additionally, operators expect simpler operations from the perspective of working efficiency because cooperation among teleoperated robots is frequently required. In this study, we have developed a cooperative control system for multiple teleoperated robots that have tracking functions to improve the working efficiency using robot service network protocol (RSNP). Here, the RSNP was firstly applied to the multiple teleoperated robots system. Subsequently, the developed robotic system and the results of basic experiments are explained.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125539655","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
Research on horizontal, inclined, and vertical conveyance of powder by peristaltic conveyor for developing high-speed printing machine 研制高速印刷机用蠕动输送机水平、倾斜和垂直输送粉体的研究
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279317
Kyota Ashigaki, Shun Yoshihama, Koichi Kato, Yasuyuki Yamada, Taro Nakamura
{"title":"Research on horizontal, inclined, and vertical conveyance of powder by peristaltic conveyor for developing high-speed printing machine","authors":"Kyota Ashigaki, Shun Yoshihama, Koichi Kato, Yasuyuki Yamada, Taro Nakamura","doi":"10.1109/SII.2017.8279317","DOIUrl":"https://doi.org/10.1109/SII.2017.8279317","url":null,"abstract":"Powdered materials have been used in a wide range of fields, such as foods, pharmaceuticals, and industrial processing. Although a screw conveyor is used for conveying the powder handled by the printing machine, owing to the high shear force and heating of the motor, it exerts a significant impact on printing. Therefore, low shear force and high-speed conveyance at a low temperature are required. For this purpose, a delivery device that mimics the intestinal tract and can successfully transport highly viscous mixed solid-liquid fluids and powders was developed. In this study, a peristaltic conveyor was developed. It realized an amount of 22.5 g/s with a high-speed conveyance of powder and an amount of 81.5 g/s with a reduced unit length, which were approximately 2.2 and 8.1 times, respectively, the amounts realized by the screw conveyor of the same diameter in the horizontal conveyance. In addition, the powder conveyance in the current printing press was only in the horizontal direction and naturally falling, making it difficult to optimize for a high speed. Therefore, 45 degree inclined and vertical conveyance was conducted and the transport to a high position was examined.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116159067","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: 3
Preliminary research on force transmission characteristic and control of tendon sheath actuation 腱鞘驱动力传递特性及控制的初步研究
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279290
Qingcong Wu, Xingsong Wang
{"title":"Preliminary research on force transmission characteristic and control of tendon sheath actuation","authors":"Qingcong Wu, Xingsong Wang","doi":"10.1109/SII.2017.8279290","DOIUrl":"https://doi.org/10.1109/SII.2017.8279290","url":null,"abstract":"Tendon sheath actuation has been widely applied in different kinds of robots, as it can provide remote power transmission and effectively simplify the overall mechanical structure of robot systems. However, there existing a lot of nonlinear properties which greatly degrade the transmission precision and control characteristics of tendon sheath actuation system. In this paper, a force transmission model is developed to study the characteristics of tendon sheath actuation system. Besides, a sliding mode control strategy is proposed based on the developed force transmission model in order to improve the force control accuracy. The validity and effectiveness of the transmission model and control strategy are demonstrated by several preliminary experiments. The experimental results indicate that the root mean square errors (RMSE) of the force tracking experiments with sinusoidal desired trajectories are about 0.685 N.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"200 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123019799","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: 2
Estimation accuracy of self-localization using a single omni-directional camera based on arrangement of landmarks 基于地标排列的单台全向相机自定位估计精度
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279203
Y. Hoshino, Liangliang Yang, Soichiro Suzuki
{"title":"Estimation accuracy of self-localization using a single omni-directional camera based on arrangement of landmarks","authors":"Y. Hoshino, Liangliang Yang, Soichiro Suzuki","doi":"10.1109/SII.2017.8279203","DOIUrl":"https://doi.org/10.1109/SII.2017.8279203","url":null,"abstract":"This paper investigates estimation accuracy of a self localization method with single omni-directional camera. This method uses positions and arrangement of landmarks which are preliminarily obtained, and estimates the position of omni-directional camera. Note that measurements of distances between the camera and the landmarks are not required, which are needed for conventional self-localization method but becomes the major reason of estimation errors. Therefore, this method avoids the estimation errors due to the measurement error of the distance measurement. The geometric non-linear simultaneous equations consists of the cosine formulas are solved by recursive least squares method. This paper studies the relationship between the estimation accuracy and the digital camera resolution by conducting simulations which considers a camera resolution model when using an actual omni-directional camera.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129709187","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
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