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

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Proposal of tendon-driven elastic telescopic arm and initial bending experiment 肌腱驱动弹性伸缩臂的提出及初始弯曲试验
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279206
Takashi Fujioka, G. Endo, K. Suzumori, Hiroyuki Nabae
{"title":"Proposal of tendon-driven elastic telescopic arm and initial bending experiment","authors":"Takashi Fujioka, G. Endo, K. Suzumori, Hiroyuki Nabae","doi":"10.1109/SII.2017.8279206","DOIUrl":"https://doi.org/10.1109/SII.2017.8279206","url":null,"abstract":"It is desirable to have an arm with a thin and long structure in order to observe a wide area through a narrow space for the survey at the disaster site. In addition, if the arm is lightweight and compact, there are fewer restrictions on the installation location, which leads to an improvement in the observation range. The telescopic structure has a high extension-to-contraction ratio and is a suitable structure to attain the aforementioned requirements. However, conventional telescopic arms can not avoid obstacles on the axis of extension because of high rigidity, so it is restricted to use in an open environment. In this paper, we propose an arm that controls the tip position by bending the structure with a wire by constructing a small diameter arm with a telescopic elastic body. We also examined the technical elements necessary to realize the proposed method and demonstrated the validity. It is difficult to bend in multiple directions or the whole structure by winding the wire only attached to the structure tip. Therefore, we devised a wire driving method in which bending moments are distributed as much as possible on the base side by arranging pulleys in multiple positions, and confirmed the desired motion through experiments.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"2 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120890237","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
Needle pose adjustment based on force information with needle puncturing robot 针刺机器人基于力信息的针位调整
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279291
Kazushi Kimura, T. Matsuno, Kohei Sugiyama, Akisato Nagao, T. Kamegawa, M. Minami, T. Hiraki
{"title":"Needle pose adjustment based on force information with needle puncturing robot","authors":"Kazushi Kimura, T. Matsuno, Kohei Sugiyama, Akisato Nagao, T. Kamegawa, M. Minami, T. Hiraki","doi":"10.1109/SII.2017.8279291","DOIUrl":"https://doi.org/10.1109/SII.2017.8279291","url":null,"abstract":"In recent years, interventional radiology (IR) which is a medical procedure has been attracting considerable attention. Doctors can perform IR percutaneously while observing the fluoroscopic image, such as CT and MRI images, of patients. Therefore, this surgical method is less invasive. However, doctors are exposed to strong radiation in the case of CT-guidance. In order to overcome this problem, we have developed remote-controlled IR assistance robot. The phenomena that the needle tip deviates from target tissue at the end sometimes occur, even if the needle is aligned with target tissue before puncturing. In this research a method to adjust pose of a needle in lateral direction based on information of force sensor for reducing deflection of needle is proposed. First, deflection of needle was modeled as a simply cantilever beam. Next, pose of needle gripper of robot to reduce the force is calculated. Finally, validity of the proposed method was verified based on the result of phantom puncture experiment.","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":"121222775","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
Measuring position determination for accurate and efficient visual inspection using UAV 利用无人机进行精确、高效的目视检测测量定位
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279210
Kotaro Asa, Yuki Funabora, S. Doki, K. Doki
{"title":"Measuring position determination for accurate and efficient visual inspection using UAV","authors":"Kotaro Asa, Yuki Funabora, S. Doki, K. Doki","doi":"10.1109/SII.2017.8279210","DOIUrl":"https://doi.org/10.1109/SII.2017.8279210","url":null,"abstract":"This paper presents a measuring position determination method of Unmanned Aerial Vehicles (UAVs) for automatic visual inspection. Ensuring accuracy and considering efficiency of operations in data gathering to detect anomaly are both important functions for inspections. This method is under the assumption that the 3D model of a target facility, required accuracy of gathering data and specs of instruments are given. The triangular polygons for shape description of the 3D model are reconstructed to those for measurement and the measuring positions; the waypoints that an UAV travels to gather the accurate data of the target facility efficiently are calculated systematically. If the measuring positions are obtained, the flight path appropriating for visual inspection can be planned by general path-planning methods by setting the measuring positions as waypoints. For evaluation of efficiency of measurement, the proposed method is examined through computer simulations on the assumption that an UAV measure image data of two typical bridges; a girder bridge and an arch bridge.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"15 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":"127730652","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
Buttock dummy consisting of force sensors and soft material for the validation of deep tissue injury risk 由力传感器和柔软材料组成的臀部假人，用于验证深层组织损伤风险
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279341
Kunihiro Ogata, K. Kanaya, Tsuyoshi Nakayama, M. Umezu, E. Ono
{"title":"Buttock dummy consisting of force sensors and soft material for the validation of deep tissue injury risk","authors":"Kunihiro Ogata, K. Kanaya, Tsuyoshi Nakayama, M. Umezu, E. Ono","doi":"10.1109/SII.2017.8279341","DOIUrl":"https://doi.org/10.1109/SII.2017.8279341","url":null,"abstract":"Wheelchair users, such as individuals with spinal cord injuries and the elderly, have a high risk of pressure ulcer formation due to many hours a day spent sitting. To prevent pressure ulcer formation, its risk needs to be quantified. In cases of deep tissue injury (DTI), it is difficult to predict where tissue breakdown will occur as it is initiated from the tissues under the skin. Therefore, the aim of this study is to develop a human buttock dummy with force sensors and soft material to evaluate the risk of DTI due to the surface of seat. To choose the soft material of the buttock dummy, the elasticity of the human buttock tissue was measured. The proposed buttock dummy consists of rigid simulated pelvis model and simulated soft tissue made from silicone rubber. To evaluate the developed buttock dummy, the pressure force distribution of the buttock dummy was measured and compared with the sitting human, we confirmed that the buttock dummy is similar to the features of the human buttock.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"24 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":"133738479","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
Cooking assistant service utilizing an interactive robot 使用互动机器人的烹饪助理服务
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279351
S. Kumagai, Tomoko Sato, Hiroki Sano, Hiroshi Tauchi, N. Maeda, Yuki Horiguchi, Sachiko Nakagawa, M. Narita
{"title":"Cooking assistant service utilizing an interactive robot","authors":"S. Kumagai, Tomoko Sato, Hiroki Sano, Hiroshi Tauchi, N. Maeda, Yuki Horiguchi, Sachiko Nakagawa, M. Narita","doi":"10.1109/SII.2017.8279351","DOIUrl":"https://doi.org/10.1109/SII.2017.8279351","url":null,"abstract":"The knowledge, experiences and know-how of many people, have been published and shared on the Internet. In particular, cooking recipe's information is one of the most actively utilized information. We can refer to these cooking-recipes using devices of a personal computer or a smartphone. However, if a person carries out cooking while viewing a cooking-recipe on the device, there are some issues. The issues are (1) we feel cooking is loneliness and not much fun sometimes, (2) we don't want to operate the device with dirty hands during cooking, and (3) it is difficult to record by hand during cooking. In this paper, we propose a cooking assistant service that utilizes an interactive robot for the purpose of solving these issues. Moreover, we implement a cooking assistant service and verify the usefulness of the service with a Demonstration scenario.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"14 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":"125192214","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: 4
Semantic indoor scenes recognition based on visual saliency and part-based features 基于视觉显著性和部分特征的语义室内场景识别
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279297
Kyosuke Tokuhara, H. Madokoro, Kazuhito Sato
{"title":"Semantic indoor scenes recognition based on visual saliency and part-based features","authors":"Kyosuke Tokuhara, H. Madokoro, Kazuhito Sato","doi":"10.1109/SII.2017.8279297","DOIUrl":"https://doi.org/10.1109/SII.2017.8279297","url":null,"abstract":"This paper presents a semantic indoor scene recognition method used for an autonomous mobile robot. The proposed method comprises feature description using accelerated KAZE (AKAZE), saliency maps (SMs) for feature selection, creating bags of visual words (BoVWs) using self-organizing maps (SOMs), and incorporating scene recognition based on category maps using counter propagation networks (CPNs). Saliency-based features are used in semantic indoor scene recognition. This study was conducted to evaluate the combination of salient features. We conducted evaluation experiments using a public benchmark dataset for comparison of feature sets of three types. We demonstrated basic properties of feature combination using part-based key-point feature descriptors according to saliency local regions consisted of generic objects.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"49 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":"134291322","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
Monitoring of ultrasonic machining process by time-frequency analysis 超声加工过程的时频监测
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279216
Meng-Kun Liu, Hsueh-Yu Chang, Hang-Jung Kuo
{"title":"Monitoring of ultrasonic machining process by time-frequency analysis","authors":"Meng-Kun Liu, Hsueh-Yu Chang, Hang-Jung Kuo","doi":"10.1109/SII.2017.8279216","DOIUrl":"https://doi.org/10.1109/SII.2017.8279216","url":null,"abstract":"This study used the dynamometer to capture the force signal during ultrasonic machining, and the Empirical Mode Decomposition (EMD) was applied to analyze the vibration mode, including cavitation, impact and hammer effect. After capturing the characteristics of the vibration mode, such as marginal spectrum, mean frequency and energy, we established a measurement mechanism which could identify the stability of machining process and monitor the workpiece quality by cutting force signal. In order to enhance the design accuracy, we apply modal analysis and harmonic analysis for the ultrasonic horn design.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"79 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":"131963919","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
Implementation of a data acquisition system for heterogeneous machines 异构机器数据采集系统的实现
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279217
Ching-chih Wei, Yu-Tzu Lee, Kai-siang Cao, Wei-chen Lee
{"title":"Implementation of a data acquisition system for heterogeneous machines","authors":"Ching-chih Wei, Yu-Tzu Lee, Kai-siang Cao, Wei-chen Lee","doi":"10.1109/SII.2017.8279217","DOIUrl":"https://doi.org/10.1109/SII.2017.8279217","url":null,"abstract":"The cyber-physical system is a core issue of Industrie 4.0. One of the main tasks is to create a digital twin with acquired data from a physical system. In this study, a data acquisition system was constructed for the heterogeneous machines using the sensor-based I/O module. Three different types of heterogeneous machines on the shop floor were considered. The results of the study may be applied to other types of machines. In the end, the application of monitoring machine operation status was conducted. The data were archived into MySQL database for the further application.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"21 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":"132473014","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: 7
Elderly care training robot for quantitative evaluation of care operation — Development of robotic elbow joint to imitate elderly people's elbow 用于护理操作定量评价的老年护理训练机器人——模拟老年人肘关节的机器人肘关节的研制
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279358
K. Murata, H. Yamazoe, Min Gyo Chung, Joo-Ho Lee
{"title":"Elderly care training robot for quantitative evaluation of care operation — Development of robotic elbow joint to imitate elderly people's elbow","authors":"K. Murata, H. Yamazoe, Min Gyo Chung, Joo-Ho Lee","doi":"10.1109/SII.2017.8279358","DOIUrl":"https://doi.org/10.1109/SII.2017.8279358","url":null,"abstract":"In this research, we are developing a care training robot for quantitative evaluation of care operation. In this paper, we propose a care training robot and how to evaluate the care operation. The proposed robot aims to imitate elderly people body and a care worker is able to gain experience or training by using the robot. It is possible to evaluate elderly care activity quantitatively by using sensors placed on the robot's body. Therefore, the system can return accurate feedback, and it is possible to nurture a care worker who acquired effective caretaking operation efficiently. Currently, in order to develop care training robot, we are developing a robot that imitates elderly elbow joints. This elbow joint robot can simulate symptoms that are common in elderly people. In cooperation with a care worker, we measured the joint angle and the force during the improvement movement of contracture, and evaluate the availability of the proposed robot.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"99 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133170076","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: 9
3D radiation imaging using mobile robot equipped with radiation detector 利用配备辐射探测器的移动机器人进行三维辐射成像
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279253
Doyeon Kim, Hanwool Woo, Yonghoon Ji, Y. Tamura, A. Yamashita, H. Asama
{"title":"3D radiation imaging using mobile robot equipped with radiation detector","authors":"Doyeon Kim, Hanwool Woo, Yonghoon Ji, Y. Tamura, A. Yamashita, H. Asama","doi":"10.1109/SII.2017.8279253","DOIUrl":"https://doi.org/10.1109/SII.2017.8279253","url":null,"abstract":"This paper presents a novel scheme for the three-dimensional (3D) reconstruction of radiation source distribution by using multiple viewpoint of detector. Detecting and localizing radiation source are required for nuclear safety, security, and surveillance when considering exposure to radiation. In such cases, 3D reconstructed information would greatly contribute to a better understanding of the spatial relation between radiation sources and a surrounding environment. Considering contamination of radiation for human, we used a mobile robot equipped with a detector because it is suitable to measure a radiation in multiple viewpoint. We assume that trajectory of the mobile robot with the detector (i.e., pose of the detector) is estimated by simultaneous localization and mapping (SLAM) scheme. Therefore, 3D radiation source distribution can be reconstructed by utilizing maximum likelihood expectation maximization (MLEM) method, which performs optimization based on all measured data and estimated detector poses. The result of the simulation experiment demonstrated that the proposed framework can accurately perform 3D reconstruction of radiation image in the indoor environment.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"78 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":"132653920","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: 24
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