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2006 SICE-ICASE International Joint Conference最新文献

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Autonomous Recognition of Multiple Cable Topology with Image 基于图像的多电缆拓扑自主识别
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.315754
R. Fujiki, H. Tanaka, Y. Kawahara, T. Yairi, K. Machida
{"title":"Autonomous Recognition of Multiple Cable Topology with Image","authors":"R. Fujiki, H. Tanaka, Y. Kawahara, T. Yairi, K. Machida","doi":"10.1109/SICE.2006.315754","DOIUrl":"https://doi.org/10.1109/SICE.2006.315754","url":null,"abstract":"From industrial situation to ordinary life, there are a lot of cables in today's society. There, however, are not many studies that describe the topological relationship between multiple cables for autonomous operation of robotics device. In this paper, an autonomous computing way to create 3D topological model of multiple cables using image is discussed. Cable model is described by probability density function and optimized its parameters via EM algorithm, that indicates the configuration and topological relationships. In order to manipulate the object cables then, depth from sensor to points are added to the unique points in topological graph structure derived from EM model. The quantitative results of basic experiment that was aimed to prove the recognition possibility via the algorithm are reported","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"47 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":"133452603","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
Large Scale Database-based Online Modeling using ICA of Visualized Process Data for Blast Furnace Operation 高炉运行可视化过程数据的ICA大规模数据库在线建模
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.315156
Y. Hijikata, J. Mori, K. Uchida, H. Ogai, M. Ito, S. Matsuzaki, K. Nakamura
{"title":"Large Scale Database-based Online Modeling using ICA of Visualized Process Data for Blast Furnace Operation","authors":"Y. Hijikata, J. Mori, K. Uchida, H. Ogai, M. Ito, S. Matsuzaki, K. Nakamura","doi":"10.1109/SICE.2006.315156","DOIUrl":"https://doi.org/10.1109/SICE.2006.315156","url":null,"abstract":"The large scale database-based online modeling, called LOM, is a type of just-in-time modeling for blast furnace. The database of LOM is so far built by quantizing directly measurement process data. Recently it has been shown that the image data generated by visualizing shaft pressure and stave temperature is very useful for blast furnace operation and guidance. In this paper we try to extend LOM to the one incorporated with the visualized process data. First we extract features of the visualized process data by using independent component analysis (ICA), and add the features (independent components) of the visualized process data, as process data, to the database of LOM. Prediction performance of the extended LOM is illustrated by using real process data","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"15 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":"134177973","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
Controller Design on the Fingerspelling Robot Hand using Shape Memory Alloy 基于形状记忆合金的手指拼写机械手控制器设计
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.315168
M. Terauchi, K. Zenba, A. Shimada, M. Fujita
{"title":"Controller Design on the Fingerspelling Robot Hand using Shape Memory Alloy","authors":"M. Terauchi, K. Zenba, A. Shimada, M. Fujita","doi":"10.1109/SICE.2006.315168","DOIUrl":"https://doi.org/10.1109/SICE.2006.315168","url":null,"abstract":"This paper introduces the mechanical structure and control technique of the robot fingers. The fingers has been developed as elements of the robot hand which has 20 joints and 16 degrees of freedom in order to express fingerspelling. The joints are driven by the small DC servomotors and the shape memory alloys (SMA). The hand system will consist of four parts of \"hand mechanism\", \"drive device\", \"control unit\" and \"man machine interface\". As the first step of the research, this paper introduces especially about the control technique related to the second axes of the fingers driven by SMA. Basically, the finger can be bended and unbend by a pair of SMA wires. Furthermore, to realize those smooth motions, the control system is designed based on an experimental result of system identification. Finally, we report the simulation and experimental control results","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"28 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":"123583774","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: 18
Localization and Error Correction for Mobile Robot with an Image Sensor 基于图像传感器的移动机器人定位与误差校正
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.315462
I. Nagai, Y. Tanaka
{"title":"Localization and Error Correction for Mobile Robot with an Image Sensor","authors":"I. Nagai, Y. Tanaka","doi":"10.1109/SICE.2006.315462","DOIUrl":"https://doi.org/10.1109/SICE.2006.315462","url":null,"abstract":"This paper describes localization and error correction of a mobile robot with a visual device which we have developed. The device can track floor image with natural texture and estimate the motion of a camera mounted in the robot. The robot is localized and controlled in real time according to information of position and direction estimated by the device. As a benefit of this method, accumulated errors of position and direction for a section in a path can be eliminated by finding an original floor image memorized at each target point where the robot reaches in the whole running. The robots have run a closed path repeatedly without a digression of the track by correcting the accumulated error. The method has a feature that double roles of both internal and external sensor are realized by a single image sensor","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":"125442851","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
Identification of Disappeared Volterra Kernels of M-sequence Correlation Method for Nonlinear System 非线性系统m序列相关法中消失Volterra核的辨识
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.315097
E. Nishiyama, C. Nishijima, H. Harada, H. Kashiwagi
{"title":"Identification of Disappeared Volterra Kernels of M-sequence Correlation Method for Nonlinear System","authors":"E. Nishiyama, C. Nishijima, H. Harada, H. Kashiwagi","doi":"10.1109/SICE.2006.315097","DOIUrl":"https://doi.org/10.1109/SICE.2006.315097","url":null,"abstract":"This paper describes a determination method for disappeared Volterra kernel on crosscorrelation function of a nonlinear system by use of a conventional correlation method. In this method, first, we have to search accurate some special higher order kernels on the crosscorrelation function. Second, we resolve the higher kernels to a first order kernels and an approximated coefficient. And the first order kernels and the coefficient reassembled to higher order kernels, and it will be calculated accurate kernel. Lastly, we carried out simulations to confirm of this method","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"53 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":"126990495","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
Car parking control using a trajectory tracking controller 泊车控制采用轨迹跟踪控制器
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.315492
Kooktae Lee, D. Kim, W. Chung, Hyo-Whan Chang, P. Yoon
{"title":"Car parking control using a trajectory tracking controller","authors":"Kooktae Lee, D. Kim, W. Chung, Hyo-Whan Chang, P. Yoon","doi":"10.1109/SICE.2006.315492","DOIUrl":"https://doi.org/10.1109/SICE.2006.315492","url":null,"abstract":"One of the key technologies of future automobiles is the parking assist or automatic parking control. Control problems of a car-like vehicle are not easy because of nonholonomic velocity constraints. This paper proposes a parking control strategy which is composed of an open loop path planner and a feedback tracking controller. By employing a trajectory tracking controller for a 2 wheeled robot, a car-like vehicle can be successfully controlled to the desired configuration. Experimental results with a radio controlled model car clearly show that the proposed control scheme is practically useful","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"80 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":"128605446","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: 39
Robot Design and Environment Design - Waseda Robot-House Project 机器人设计和环境设计-早稻田机器人之家项目
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.314981
S. Sugano, Yuko Shirai
{"title":"Robot Design and Environment Design - Waseda Robot-House Project","authors":"S. Sugano, Yuko Shirai","doi":"10.1109/SICE.2006.314981","DOIUrl":"https://doi.org/10.1109/SICE.2006.314981","url":null,"abstract":"The robot technology for human-robot symbiosis including robot adaptability to human and environment, which is urgently required in the rapidly aging society, is unfortunately yet to advance. This is because conventional robotics research has focused solely on the advanced function of the robot itself. We should establish the system by integrating robot technology and environments, especially the structures and functions of the houses and facilities. Based on this concept, robotics engineers, architects, IT researchers and fine artists in Waseda University take part in the WABOT-HOUSE (WAseda roBOT HOUSE) project, and we try to design an optimal system from robotic and architectural points of view to realize the truly practical symbiosis between human and robots. In this paper, I will introduce the project \"WABOT-HOUSE\", robots in WABOT-HOUSE including humanoid robots, design of a structured environment, and a contribution to the growth of the robotics industry by means of the collaboration with small & medium-sized companies and the development of active system-integrators.","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"764 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":"133319657","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: 31
ApriAlpha V3 - sharp ear robot - and the omni-directional auditory process ApriAlpha V3——灵敏的耳朵机器人——和全方位的听觉过程
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.315561
Toshiyuki Koga, Kaoru Suzuki, J. Hirokawa, H. Ogawa, Nobuto Matsuhira
{"title":"ApriAlpha V3 - sharp ear robot - and the omni-directional auditory process","authors":"Toshiyuki Koga, Kaoru Suzuki, J. Hirokawa, H. Ogawa, Nobuto Matsuhira","doi":"10.1109/SICE.2006.315561","DOIUrl":"https://doi.org/10.1109/SICE.2006.315561","url":null,"abstract":"Home robots will help us household works in the living environment. The robots need to listen to user's order and communicate with him/her. For the interaction between the user and the robot, we developed the omni-directional auditory process. This process allows the robot recognize the direction of the sound source of user's voice - that is the direction of user. It extracts the sound stream of user's speech, and recognizes the contents of the speech. We implemented this process into ApriAlphatrade V3 - sharp ear robot, and exhibited in Aichi Expo 2005. This paper describes the summary of ApriAlphatrade V3 and the omni-directional auditory process - the estimation of the voice direction with the function and the experimentation of the process","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"39 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":"131945714","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
Model predictive control for lane change decision assist system using hybrid system representation 基于混合系统表示的变道决策辅助系统模型预测控制
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.315230
M. Mukai, T. Kawabe
{"title":"Model predictive control for lane change decision assist system using hybrid system representation","authors":"M. Mukai, T. Kawabe","doi":"10.1109/SICE.2006.315230","DOIUrl":"https://doi.org/10.1109/SICE.2006.315230","url":null,"abstract":"This paper considers an optimal lane change path generation for intelligent automobiles using hybrid system representation. A longitudinal maneuver and a lateral maneuver of automobiles are modeled. To represent a behavior of lane changes hybrid system representations, that can combine continuous dynamics and discrete dynamics are employed. An objective function is designed to obtain a smooth lane change like a skilful drivers decision. Collision avoidance conditions are also considered. The optimal lane change path generation problem by using model predictive control formulated as mixed integer programming. The problem is solved by using multi-parametric programming. Simulation results are shown to illustrate that this control problem generates an appropriate trajectory and input","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":"128994278","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: 28
Decision Procedure of Maximum Landing Area Applied Homotopy Method 应用同伦法的最大着陆面积决策程序
2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI: 10.1109/SICE.2006.314656
S. Ueno
{"title":"Decision Procedure of Maximum Landing Area Applied Homotopy Method","authors":"S. Ueno","doi":"10.1109/SICE.2006.314656","DOIUrl":"https://doi.org/10.1109/SICE.2006.314656","url":null,"abstract":"Optimal control theory is applied to a large number of trajectory designs in aerospace engineering. For example, a reusable spaceplane uses a trajectory to an orbit with minimum fuel or a non-powered aircraft is required to glide as far as possible. Optimal control theory provides the necessary conditions of optimal trajectory. The problem is defined as an two-point boundary value problem (TPBVP). There is, however, no solution for a TPBVP in some cases due to severe terminal conditions. This paper discusses on procedure to find the existence of solution in a TPBVP using homotopy method. Homotopy method is a numerical calculation in which a guessed solution changes continually to the exact solution with definite integration. There is no assumption such as linearization, thus the existence of solution is clearly shown in the numerical calculation and the exact solution is provide with finite numbers of calculation. This paper is an intermediate report that the procedure is applied to the maximum range for non-powered aircraft","PeriodicalId":309260,"journal":{"name":"2006 SICE-ICASE International Joint Conference","volume":"31 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":"133875976","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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