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2008 IEEE International Conference on Robotics and Biomimetics最新文献

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Research of micro/nano displacement sensor for piezoelectric actuator 压电作动器微纳位移传感器的研究
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913015
Bo Song, Yong Yu, WeiChao Yang, Y. Ge
{"title":"Research of micro/nano displacement sensor for piezoelectric actuator","authors":"Bo Song, Yong Yu, WeiChao Yang, Y. Ge","doi":"10.1109/ROBIO.2009.4913015","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913015","url":null,"abstract":"Micro displacement measurement of the PZT actuator is a micro sensor which could measure the minute displacement in micron or nanometer level. In general, the sensor is required not to accommodate much space in order to save the room of measuring device. In this paper, a mechanical micro displacement sensor with smaller volume has been proposed. This paper focus on the whole process of this novel sensor from the working principle, parameter determine to the FEM simulation as well as the characteristic experiment and so on. This sensor can enlarge the displacement of the PZT by utilizing the lever principle and from strain gauges can perceive the variation without amplifying the noise. In this sensor, we use the flexure hinges as the rotation joints to obtain the amplification. Whatever the simulation results in FEM or the experiment data, both of which show that the sensor can perceive the displacement of the PZT actuator in micro/nano scale. Also, the characteristic experiment shows that the proposed sensor has a higher level linearity and lower error.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129118482","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: 8
A novel wireless electrical muscle simulator for female urinary incontinence 一种新型的女性尿失禁无线电肌肉模拟器
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913150
Xiaoyuan Wang, Chao Hu, Haibin Wang, Jie Wu, M. Meng
{"title":"A novel wireless electrical muscle simulator for female urinary incontinence","authors":"Xiaoyuan Wang, Chao Hu, Haibin Wang, Jie Wu, M. Meng","doi":"10.1109/ROBIO.2009.4913150","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913150","url":null,"abstract":"Urinary Incontinence (UI) is one of the most acknowledged diseases that affected human health, and more than 1/5 females in this world suffer from this disease. In this paper, we present a novel electrical muscle simulator for the urinary incontinence, which adopted the wireless communication technique. The equipment is composed of a controller and an electrode pole. The electrode is inserted in female vagina or anus, and is controlled by the controller to generate some types of electrical pulses to produce appropriate stimulation. The application of wireless control on the stimulator makes it possible for the patient to do the exercise and therapy by themselves and their activity not to be restricted. Moreover, it avoids the mental obstacles ashamed for therapy in the hospital. We made the stimulator and the results showed that the equipment can work effectively that the stimulation can have the muscle be treated in desirable mode with good accuracy.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126235337","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
Soccer without intelligence 没有智力的足球
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913322
Tekin Meriçli, H. Levent Akin
{"title":"Soccer without intelligence","authors":"Tekin Meriçli, H. Levent Akin","doi":"10.1109/ROBIO.2009.4913322","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913322","url":null,"abstract":"Robot soccer is an excellent testbed to explore innovative ideas and test the algorithms in multi-agent systems (MAS) research. A soccer team should play in an organized manner in order to score more goals than the opponent, which requires well-developed individual and collaborative skills, such as dribbling the ball, positioning, and passing. However, none of these skills needs to be perfect and they do not require highly complicated models to give satisfactory results. This paper proposes an approach inspired from ants, which are modeled as Braitenberg vehicles for implementing those skills as combinations of very primitive behaviors without using explicit communication and role assignment mechanisms, and applying reinforcement learning to construct the optimal state-action mapping. Experiments demonstrate that a team of robots can indeed learn to play soccer reasonably well without using complex environment models and state representations. After very short training sessions, the team started scoring more than its opponents that use complex behavior codes, and as a result of having very simple state representation, the team could adapt to the strategies of the opponent teams during the games.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126432897","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
Detection of hand-raising gestures based on body silhouette analysis 基于身体轮廓分析的举手动作检测
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913267
Xiaodong Duan, Hong Liu
{"title":"Detection of hand-raising gestures based on body silhouette analysis","authors":"Xiaodong Duan, Hong Liu","doi":"10.1109/ROBIO.2009.4913267","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913267","url":null,"abstract":"This paper introduces a method for hand-raising gestures detection based on human body silhouette analysis in indoor environments. Past approaches have detected the gestures for isolated persons or seated persons. Our method can deal with moving persons in crowd. First, background subtraction based on integration of intensity histograms with codebook of color feature is employed to segment human bodies. And then, to deal with movements, nonrigidity and partially occlusions of human bodies, the silhouette analysis, including candidate regions (CR) search, shape feature extraction and classification, is applied to search for raised hands. Shape features in each CR instead of the entire silhouette are extracted through R-transform. At last, a hierarchical hand-raising gestures detector, consisting of two classifiers which are learnt using SVM, is used to determine whether each CR contains raised hands. Experiments show that this method can detect hand-raising gestures well, even in crowded scenes.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126518875","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: 12
Various local stiffness characterizations of single cells using buckling nanoneedles 利用屈曲纳米针表征单细胞的各种局部刚度
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4912979
M. Ahmad, M. Nakajima, S. Kojima, M. Homma, T. Fukuda
{"title":"Various local stiffness characterizations of single cells using buckling nanoneedles","authors":"M. Ahmad, M. Nakajima, S. Kojima, M. Homma, T. Fukuda","doi":"10.1109/ROBIO.2009.4912979","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4912979","url":null,"abstract":"We performed in-situ measurements of mechanical properties of individual W303 wild-type yeast cells by using a soft nanoneedle inside an integrated environmental scanning electron microscope (ESEM) - nanomanipulator system. Two different spring constants of soft nanoneedles which can buckle from certain applied compression force were used to measure a general local stiffness, i.e. stiffness property of the whole cell from a single indentation point, and a finer local stiffness, i.e. stiffness property of a cell surface from a single indentation point. The finer local stiffness property of the single cells was also being compared at different pressure and different temperature ranges. The advantages of using a soft nanoneedle for single cells stiffness characterizations are severe cell damage from an excessive indentation force could be prevented and big variations in single cell stiffness property could be easily detected by examining either from the dented mark area of the local indentation point or by comparing the buckling length of the nanoneedle. The soft nanoneedle which currently used for measuring single cells stiffness variations could be applied in the future fast disease diagnosis based on single cell stiffness analysis.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132081662","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
Embedded intelligent capability of a modular robotic system 模块化机器人系统的嵌入式智能能力
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913319
Houxiang Zhang, J. González-Gómez, Shengyong Chen, Jianwei Zhang
{"title":"Embedded intelligent capability of a modular robotic system","authors":"Houxiang Zhang, J. González-Gómez, Shengyong Chen, Jianwei Zhang","doi":"10.1109/ROBIO.2009.4913319","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913319","url":null,"abstract":"The last few years have witnessed an increasing interest in modular reconfigurable robotics for education, inspired robotic research, and space applications. This paper presents the latest results of the Cube-M modular project. Firstly, an overview of the research achievements in modular robot is given. Then the new modular robot Cube-M with one degree of freedom, an improved version of the Y1 modular robot, is presented. After that, the discussion focuses on the realization of a distributed hardware and control. Each module has embedded intelligent capabilities with an independent onboard controller to enable the realization of completely modular design. In the end, a snake-like robot prototype is built to confirm the feasibility of our design principle.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132497472","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
Wireless and wearable EKG device with lossless compression for on-line post-surgery heart monitoring system 用于在线术后心脏监测系统的无线、可穿戴无损压缩心电图设备
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913174
Cherdkul Sopavanit, T. Desudchit, Panomkhawn Riyamongkol
{"title":"Wireless and wearable EKG device with lossless compression for on-line post-surgery heart monitoring system","authors":"Cherdkul Sopavanit, T. Desudchit, Panomkhawn Riyamongkol","doi":"10.1109/ROBIO.2009.4913174","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913174","url":null,"abstract":"This paper describes the construction and implementation methods of wearable and wireless EKG device for on-line post surgery heart monitoring system. The device is a proven, accessible circuit design that uses lightweight and inexpensive hardware to facilitate the development of distributed and real-time biomedical monitoring equipment. Moreover, EKG data from the designed device is compressed by the proposed image-like model with Lossless JPEG. The results of our low cost design device show that the presented algorithm has compression ratio about 2.15:1.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131830392","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
Palmprint image enhancement using phase congruency 基于相位一致性的掌纹图像增强
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913247
Yunyong Punsawad, Y. Wongsawat
{"title":"Palmprint image enhancement using phase congruency","authors":"Yunyong Punsawad, Y. Wongsawat","doi":"10.1109/ROBIO.2009.4913247","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913247","url":null,"abstract":"This paper proposes the use of the phase congruency to enhance the palmprint image used for palmprint identification. By using phase congruency, the palmprint lines which act like the edges in the palmprint image are detected. The resulting phase image is shown as the enhanced palmprint image. Comparing with the previous palmprint enhancement method that uses the phase symmetry proposed by Kovesi et al. (1997), the proposed method is significantly less sensitive to the textures which are not the palmprint lines in the palmprint image.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131853478","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: 23
Autonomous control of electromagnetic aircraft launch system based on decentralized architecture 基于分散体系结构的电磁弹射系统自主控制
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913324
Jizhu Liu, S. Hao, Zili Tang, M. Hao
{"title":"Autonomous control of electromagnetic aircraft launch system based on decentralized architecture","authors":"Jizhu Liu, S. Hao, Zili Tang, M. Hao","doi":"10.1109/ROBIO.2009.4913324","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913324","url":null,"abstract":"So far, there is no research achievement of using the Autonomous decentralized control (ADC) technology to control the super high power motor of the electromagnetic aircraft launch system (EMALS). In this paper, we propose an autonomous decentralized system and algorithm for this control problem. We first analyse the architecture of the EMALS autonomous control model, then design a autonomous decentralized algorithm which is performed on the experimental model system. And we propose the fault-tolerance design. The experimental result shows that this method is effective for motor control, it's highly fault-tolerant and allowing the distributed power transmission which can reduce the power of the power source.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131178027","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
Robotic assistants for health care 医疗保健机器人助手
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913154
R. Barea, L. Bergasa, M. E. L. Guillén, M. Ocaña, D. Schleicher, A. León
{"title":"Robotic assistants for health care","authors":"R. Barea, L. Bergasa, M. E. L. Guillén, M. Ocaña, D. Schleicher, A. León","doi":"10.1109/ROBIO.2009.4913154","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913154","url":null,"abstract":"The main objective of this work is to develop a robots' fleet working together to make assistance tasks in a hospital, geriatric or home in a collaborative way. This paper focus on multi-robot mapping and localization system for robotic assistants and a camera based system for tracking people. This paper presents a method to detect, recognize and track people using mount cameras fixed on a building and an algorithm for collaborative mobile robot mapping and localization based on probabilistic methods. The performance of this system has been tested successfully. Some experimental results and conclusions are presented.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132937178","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
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