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2006 SICE-ICASE International Joint Conference最新文献

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Development of Light-Weight RT-Component (LwRTC) on Embedded Processor -Application to Crawler Control Subsystem in the Physical Agent System- 嵌入式处理器上轻量级RT-Component (LwRTC)的开发-在物理代理系统爬虫控制子系统中的应用
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.314958
Y. Tsuchiya, M. Mizukawa, T. Suehiro, N. Ando, H. Nakamoto, A. Ikezoe
{"title":"Development of Light-Weight RT-Component (LwRTC) on Embedded Processor -Application to Crawler Control Subsystem in the Physical Agent System-","authors":"Y. Tsuchiya, M. Mizukawa, T. Suehiro, N. Ando, H. Nakamoto, A. Ikezoe","doi":"10.1109/SICE.2006.314958","DOIUrl":"https://doi.org/10.1109/SICE.2006.314958","url":null,"abstract":"Because the RT middleware is only supported by ORBs implemented on PCs, application to a small-scale system and the small-size robot seems to be difficult. To reduce power consumption and developing distributed RT-components on micro processors, application of the RT middleware to the embedded processing system and arbitrary network system are important. In this paper, we report the LwRTC that is the implementation of the RT-component on embedded micro-processors, and the prototype system for the mobile robot using LwRTC","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127084829","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
PID Controller Design Based on ASPR-ness by Using Partial Model Matching on Frequency Domain 基于频域部分模型匹配的aspr PID控制器设计
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.314888
K. Eguchi, Z. Iwai, I. Mizumoto
{"title":"PID Controller Design Based on ASPR-ness by Using Partial Model Matching on Frequency Domain","authors":"K. Eguchi, Z. Iwai, I. Mizumoto","doi":"10.1109/SICE.2006.314888","DOIUrl":"https://doi.org/10.1109/SICE.2006.314888","url":null,"abstract":"In this paper, a practical design method of stable PID controller based on almost strictly positive real (ASPR)-ness is proposed. Both of the controller and a parallel feedforward compensator (PFC), which is introduced to guarantee ASPR-ness of a controlled plant, are designed by using partial model matching on frequency domain technique. The design method utilizes only finite number of frequency response data so that there is no need to identify the whole transfer function of the controlled plant","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127213102","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 Design of an Age Estimation System Using the SOM 基于SOM的年龄估计系统设计
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.314793
H. Fukai, Y. Mitsukura, H. Takimoto, M. Fukumi
{"title":"A Design of an Age Estimation System Using the SOM","authors":"H. Fukai, Y. Mitsukura, H. Takimoto, M. Fukumi","doi":"10.1109/SICE.2006.314793","DOIUrl":"https://doi.org/10.1109/SICE.2006.314793","url":null,"abstract":"In this paper, we propose the new age estimation system using the GA and SOM. The GA is used in the feature extraction of faces at each age. Especially, we use the interactive GA. The faces are classified by using the SOM. Moreover, features are analyzed in the age by the selected parts of faces. Furthermore, in order to show the effectiveness of the proposed method, we show the simulation examples","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122373610","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 Practical Roadmap for the Path Planning of Mobile Robots in Rectilinear Environments 直线环境下移动机器人路径规划的实用路线图
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.315424
N. Doh, Chanki Kim, Sangik Na, Wonpil Yu, Young-Jo Cho, W. Chung
{"title":"A Practical Roadmap for the Path Planning of Mobile Robots in Rectilinear Environments","authors":"N. Doh, Chanki Kim, Sangik Na, Wonpil Yu, Young-Jo Cho, W. Chung","doi":"10.1109/SICE.2006.315424","DOIUrl":"https://doi.org/10.1109/SICE.2006.315424","url":null,"abstract":"In this paper we propose a practical roadmap for mobile robots with differential wheel base. The roadmap is designed for a rectilinear environment which covers most of indoor buildings. In designing the roadmap, we put emphasis on two issues: (1) human friendly path and (2) low computation. First, we analyze how human move. From the human movement, we find out that human navigate in a way that minimizes the sum of a muscle and a brain energy. On the basis of the human path, we suggest an algorithm with low calculations. Experimental results show that the path generated by our method is more human-friendly and natural","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123115358","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
Study on Motion Forms of a Two-dimensional Mobile Robot by Using Reinforcement Learning 基于强化学习的二维移动机器人运动形式研究
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.314829
Young-Jong Jung, Masashi Inoue, M. Hara, Jian Huang, Tetsuro Yabuta
{"title":"Study on Motion Forms of a Two-dimensional Mobile Robot by Using Reinforcement Learning","authors":"Young-Jong Jung, Masashi Inoue, M. Hara, Jian Huang, Tetsuro Yabuta","doi":"10.1109/SICE.2006.314829","DOIUrl":"https://doi.org/10.1109/SICE.2006.314829","url":null,"abstract":"The main advantage of reinforcement learning is that it provides unexpected solutions for a designer. This study shows how a mobile robot can obtain unexpected motion forms by using reinforcement learning. Results show that the mobile robot with two-dimensional mobile ability can obtain unexpected motion forms for both advance motion and rotation motion. The mechanisms for these motions were investigated in order to understand how to obtain these motions. Moreover, since this system has a two-dimensional factor, this study examines the learning characteristic for the oblivion of the learning knowledge. In addition, this study examines the learning of the knowledge manipulation method to obtain new learning results with respect to the two-dimensional factor","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"10 22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134147024","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: 16
Prediction of the maximum damaged part due to erosion-corrosion in pipes of chemical plants 化工管道冲蚀最大损坏部位的预测
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.314816
Y. Ueno, K. Inoue, S. Tateno, H. Matsuyama
{"title":"Prediction of the maximum damaged part due to erosion-corrosion in pipes of chemical plants","authors":"Y. Ueno, K. Inoue, S. Tateno, H. Matsuyama","doi":"10.1109/SICE.2006.314816","DOIUrl":"https://doi.org/10.1109/SICE.2006.314816","url":null,"abstract":"The maintenance strategy for pipelines of chemical plants has not been established because it requires a large number of inspections and some of them should be carried out at high and dangerous places. In order to establish the rational strategy, it is necessary to develop methodologies to concentrate inspection points on the maximum damaged parts of pipelines. In the case that piping management is carried out, there is a technology which measures the thickness of piping. This paper proposes a method to predict the maximum damaged part due to erosion-corrosion by use of design and operation information. Then, in this paper, flow analysis is performed using the 3-dimensional heat fluid analysis software FLUENT. The simulation with FLUENT has been calculated for the piping of the elbow shape to search for the place in the corrosion part where the progress of erosion-corrosion is the fastest in consideration of the influence of shear stress and pressure. As a result, it is clarified that the maximum damaged part can be predicted from design and operation information","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131660896","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
Safety Strategies for Human-Robot Interaction in Surgical Environment 手术环境中人机交互的安全策略
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.315633
Shinsuk Park
{"title":"Safety Strategies for Human-Robot Interaction in Surgical Environment","authors":"Shinsuk Park","doi":"10.1109/SICE.2006.315633","DOIUrl":"https://doi.org/10.1109/SICE.2006.315633","url":null,"abstract":"Over past decade, robots have been appearing in the operating room. Robots enhance surgery by improving precision, repeatability, stability, and dexterity. These qualities coupled with the human surgeon's judgment capabilities make a formidable combination. There are, however, many limitations to the application of robotics to surgery. In practice, these robotic systems can be difficult to use because of the limited dexterity and sensory feedback, as well as the major issue of safety. We may be able to solve the difficulties with dexterity, sensory feedback and safety through the use of small multi-DOF actuators, medical imaging technology, and compliant robotic manipulators. This paper presents our efforts to improve the issues of dexterity, sensory feedback and safety. For dexterity, we have developed a surgical tool using a compact multi-DOF ultrasonic actuator. For sensory feedback, we have developed virtual fixture using 3D medical imaging technology, which can also enhance safety. We are currently developing a novel robotic mechanism that generates human arm-like compliant motion","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134547047","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: 14
Guidelines for Human Interface Design of Rescue Robots 救援机器人人机界面设计指南
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.315163
Y. Yokokohji, T. Tubouchi, A. Tanaka, T. Yoshida, E. Koyanagi, F. Matsuno, S. Hirose, H. Kuwahara, F. Takemura, T. Ino, K. Takita, N. Shiroma, T. Kamegawa, Y. Hada, K. Osuka, T. Watasue, T. Kimura, H. Nakanishi, Y. Horiguchi, S. Tadokoro, K. Ohno
{"title":"Guidelines for Human Interface Design of Rescue Robots","authors":"Y. Yokokohji, T. Tubouchi, A. Tanaka, T. Yoshida, E. Koyanagi, F. Matsuno, S. Hirose, H. Kuwahara, F. Takemura, T. Ino, K. Takita, N. Shiroma, T. Kamegawa, Y. Hada, K. Osuka, T. Watasue, T. Kimura, H. Nakanishi, Y. Horiguchi, S. Tadokoro, K. Ohno","doi":"10.1109/SICE.2006.315163","DOIUrl":"https://doi.org/10.1109/SICE.2006.315163","url":null,"abstract":"In this paper, we summarize the findings and know-hows in the individual developments and try to establish guidelines of human-interface design of rescue robots. These guidelines would be useful for the future development of rescue robots. Preliminary guidelines were set from some case studies of the DDT project and RoboCup Rescue. A trial towards the standardized interface is also shown","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128284091","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
Trackabilifty Based Motion Control in Mobile Hand-Eye System 基于可跟踪性的移动手眼系统运动控制
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.315316
T. Shiozaki, T. Marakami
{"title":"Trackabilifty Based Motion Control in Mobile Hand-Eye System","authors":"T. Shiozaki, T. Marakami","doi":"10.1109/SICE.2006.315316","DOIUrl":"https://doi.org/10.1109/SICE.2006.315316","url":null,"abstract":"The paper describes a control of a moving target tracking for a mobile hand-eye system. Autonomous target tracking by vision system has many potential applications; e.g. surveillance, security, etc. In particular, mobile robot-based trackers are attractive because they can track targets in wide range. However, mobile robots with wheeled systems cannot instantaneously move in the axial direction because of nonholonomic constraints. Therefore, a visual sensor mounted on a mobile robot may lose sight of an observed target when their relative motion is large. On the other hand, mobile hand-eye systems with extra d.o.f. has great possibilities to track target objects due to redundancy. But there have been rarely previous researches in which effective utilization of the redundancy was considered. Hence \"Trackability measure! which is the index to evaluate tracking ability of a mobile hand-eye system is proposed in the paper. Not only operability b.o.f. hand-eye, but also mobility of a mobile robot and the a position of a target object are introduced as points of the index. The traceability measure makes it possible to track a moving target taking full advantage of a mobile hand-eye system","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134564227","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
An Automated System based on Incremental Learning with Applicability Toward Multilateral Negotiations 基于增量学习的适用于多边谈判的自动化系统
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.315845
Sanghyun Park, Sung-Bong Yang
{"title":"An Automated System based on Incremental Learning with Applicability Toward Multilateral Negotiations","authors":"Sanghyun Park, Sung-Bong Yang","doi":"10.1109/SICE.2006.315845","DOIUrl":"https://doi.org/10.1109/SICE.2006.315845","url":null,"abstract":"In this paper we propose a negotiation agent system based on the incremental learning in order to increase the efficiency of bilateral negotiations and to improve the applicability toward multilateral negotiations. For the proposed system, we also introduce a framework for multilateral negotiations in an e-marketplace in which the components can dynamically join and disjoin. In order to evaluate the performance of the proposed system, the bilateral negotiation systems based on the trade-off mechanisms have been implemented, and we have extended the systems so that they can perform multilateral negotiations. The experimental results show that the proposed system achieves better agreements than others except for the system under the ideal assumptions that one party knows the personal negotiation information of the other party. Furthermore, the system proposed in our paper carries out negotiations at least twice faster than other negotiation systems implemented in this paper","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128095994","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: 11
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