2017 IEEE/SICE International Symposium on System Integration (SII)最新文献_第7页

Compound manipulation mode for improving task-ability of multi-arm multi-flipper crawler robot 提高多臂多鳍履带机器人任务能力的复合操纵模式

2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279256

Kui-Ting Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Yusuke Uehara, T. Ishida, M. Seki, Ken Ichiryu, S. Sugano

{"title":"Compound manipulation mode for improving task-ability of multi-arm multi-flipper crawler robot","authors":"Kui-Ting Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Yusuke Uehara, T. Ishida, M. Seki, Ken Ichiryu, S. Sugano","doi":"10.1109/SII.2017.8279256","DOIUrl":"https://doi.org/10.1109/SII.2017.8279256","url":null,"abstract":"This paper presents a new manipulation mode for multi-arm and multi-flipper robots to improve the manipulation ability of them. Multi-arm and multi-flipper crawler robots designed for disaster response or other uses are naturally divided into two function parts from the design stage. There are the crawlers and the flippers for robot locomotion tasks, and the arms for manipulation tasks. In this design concept, the flippers and arms are hardly to systematically and actively cooperate with each other, and these control systems cannot fully play the structural features of this kind of robot. To solve this problem, we proposed a compound manipulation mode (CMM) for multi-arm multi-flipper robot. In this control mode, the flippers and arms are controlled as a whole in manipulation tasks, the flippers will support the arms to own bigger manipulation space, to have better manipulation posture and to optimize the position of robot center of gravity (COG) to make sure robot in good stable state. Four arm and four flipper robot OCTOPUS was used as the test platform, and the verification experiments were carried out. The results indicated that CMM control mode can achieve all the proposals, therefore the concept of CMM control mode is successful and useful.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"7 16 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":"127296303","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

LIDAR based scan matching for indoor localization 基于激光雷达的室内定位扫描匹配

2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279202

Chao-Chung Peng, Yun-Ting Wang, Chieh-Li Chen

引用次数: 9

Development of a specific word recognition system for the visually handicapped — Character recognition based on dataset generated from font data 视障人士专用词识别系统的开发——基于字体数据集的字符识别

2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279305

Hiroya Yatsuyanagi, Masataka Fuchida, Kazushige Okayasu, Akio Nakamura

{"title":"Development of a specific word recognition system for the visually handicapped — Character recognition based on dataset generated from font data","authors":"Hiroya Yatsuyanagi, Masataka Fuchida, Kazushige Okayasu, Akio Nakamura","doi":"10.1109/SII.2017.8279305","DOIUrl":"https://doi.org/10.1109/SII.2017.8279305","url":null,"abstract":"It is convenient for the visually handicapped to recognize specific words printed on the surfaces of commercial products. We propose a method that recognizes specific words by matching them to a dataset generated from font data. We extracted approximately 9,000 kinds of character images in each of two font types (MS Mincho and MS Gothic), including Chinese characters (kanji), and the Japanese systems hiragana and katakana. The characters are classified into 23 classes; 21 important characters to be recognized (classes 1–21), other characters (class 22), and no characters (class 23). To diversify the kinds of character images, we altered their color and added blur. The final dataset includes over one million images. Next, a convolutional neural network (CNN) was trained with this dataset. In the test phase, character candidates were extracted from images of commercial products by binarization and edge extraction. For character recognition, the character string was converted into meaningful words by thresholding the distances between characters. In an experimental verification using the intersection over union criterion, the word recognition rate of the proposed method was at least 65.0%, reaching up to 96.7%. These results validate our proposed method.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"511 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":"131605782","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 investigations of SMA wire actuator response in high frequency range SMA丝致动器高频响应的实验研究

2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279199

Y. Tajima, H. Harada

引用次数: 0

Prototype of a fabric actuator with multiple thin artificial muscles for wearable assistive devices 用于可穿戴辅助设备的带有多个薄人造肌肉的织物致动器的原型

2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279238

Yuki Funabora

引用次数: 12

A mechatronic approach for double robots collaborative deburring of die casting 双机器人协同压铸件去毛刺的机电一体化方法

2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279289

Yalun Song, Gong Zhang, Z. Hou, Weijun Wang, Zheng Xu, Xing Gu, Chang-Soo Han, A. Huang

引用次数: 3

Study on biodegradable photocurable PCL-diacrylate/PGSA for 3D printing 3D打印用可生物降解光固化PCL-diacrylate/PGSA的研究

2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279196

Yih-Lin Cheng, Yu-Wei Hsu, Jane Wang

{"title":"Study on biodegradable photocurable PCL-diacrylate/PGSA for 3D printing","authors":"Yih-Lin Cheng, Yu-Wei Hsu, Jane Wang","doi":"10.1109/SII.2017.8279196","DOIUrl":"https://doi.org/10.1109/SII.2017.8279196","url":null,"abstract":"Biodegradable polycaprolactone (PCL) is a popular scaffold material, and is mainly adopted in melt-and-dispense-type or sintering-type 3D printing processes. Photocurable PCL, PCL-diacrylate (PCL-DA), has been mixed with poly(ethylene glycol)-diacrylate (PEG-DA) to generate 3D scaffolds by a DLP-projected-type 3D Printing system in our earlier research. PGSA, the acrylated form of Poly(gkycerol sebacate) (PGS), is an photocurable ester and can be a candidate to replace PEG-DA in our material system. Therefore, in this research, PCL-DA and PGSA were mixed to form photocurable 3D printing scaffold material. Tensile testing, contact angle measurement, DSC, and TGA were conducted to characterize the photocured samples. Coloring approaches were applied to the transparent material system by dye (Sudan Black B, SB) and pigment (Phthalocyanine Blue, PB) to avoid overcuring in the earlier-cured layer causing dimensional inaccuracy and pore closure. The results showed that PGSA in the material system did improve the mechanical properties and hydrophilicity of photocured material compared to only PCL-DA. Both coloring materials (SB and PB) were biocompatible. Sudan Black B is recommended due to its better performance in dimensional accuracy of photocured samples and number of layers can be stacked without overcuring and pore closure.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"9 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":"133864601","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

Development of an optical sensor based torque regulation system with friction observer 基于光学传感器的摩擦观测器转矩调节系统的研制

2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279332

Chang Wei, Wei Wang, Chiahao Kuo, Quanhe Li, S. Sugano

引用次数: 0

Collaborative and robot-based plug & produce for rapid reconfiguration of modular production systems 协作和基于机器人的插头和生产，用于快速重新配置模块化生产系统

2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279364

Michael Wojtynek, Hendrik Oestreich, Oliver Beyer, S. Wrede

{"title":"Collaborative and robot-based plug & produce for rapid reconfiguration of modular production systems","authors":"Michael Wojtynek, Hendrik Oestreich, Oliver Beyer, S. Wrede","doi":"10.1109/SII.2017.8279364","DOIUrl":"https://doi.org/10.1109/SII.2017.8279364","url":null,"abstract":"The manufacturing of individualized products down to batch size 1 poses ongoing challenges for the design and integration of future production systems. Today's production lines with a high degree of automation achieve high efficiency, but usually come with high costs for adaptation to product variants. In order to combine full automation with high flexibility, we propose a concept for the dynamic composition of automation components in a modular production system that facilitates the rapid adaptation of collaborative and robot-supported manufacturing processes. To achieve this, we integrate self-descriptive automation components at runtime into the control architecture of the production system using a Plug-and-Produce approach. While the location and orientation of automation components in the modular production system are derived from physical human-robot interaction, the adaptation and verification of the robot behavior is made possible through a simulation-based planning subsystem. Once this dynamic reconfiguration process by the machine setter is finished, the adapted production process is executed in a fully automated way with high efficiency. A case study carried out in an industrial collaboration project on flexible assembly demonstrates the benefits of the presented approach.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"62 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":"134551810","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

Semantic position recognition and visual landmark detection with invariant for human effect 人的影响不变性语义位置识别和视觉地标检测

2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279296

Yuuji Ishikoori, H. Madokoro, Kazuhito Sato

{"title":"Semantic position recognition and visual landmark detection with invariant for human effect","authors":"Yuuji Ishikoori, H. Madokoro, Kazuhito Sato","doi":"10.1109/SII.2017.8279296","DOIUrl":"https://doi.org/10.1109/SII.2017.8279296","url":null,"abstract":"This study was conducted to realize semantic position recognition based on visual landmarks (VLs) used for an autonomous mobile robot in an environment living with humans. This paper presents a novel VL feature extraction and description method that is robust for the effect and interference of humans. The proposed method provides a mask image of human regions using histograms of oriented gradients (HOG). The VL features are described with accelerated KAZE (AKAZE) after extracting conspicuous regions obtained using saliency maps (SMs). We created codebooks as visual words using bags of AKAZE features that have different feature numbers. For scene recognition, we used adaptive category mapping networks (ACMNs) that learn adaptively with additional sequential data and visualization of topological data structures as a category map. As a preliminary experiment, we evaluated the accuracies of human detection using EPFL benchmark datasets. The true positive rate and the false positive rate are, respectively, 85.4% and 41.6% for 100 randomly selected images in four scene categories. As an evaluation experiment, we created our original benchmark datasets using a mobile robot. The recognition accuracy evaluated using leave-one-out cross validation (CV) reveals 49.9% for our method, which is 3.2 percentage points higher than the accuracy of the comparison method without HOG detectors.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"44 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":"133480014","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: 6