2013 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiSS)最新文献

Estimation of joint force/torque based on EMG signals 基于肌电信号的关节力/扭矩估计

2013 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiSS) Pub Date : 2013-04-16 DOI: 10.1109/RiiSS.2013.6607924

K. Kiguchi, K. Tamura, Y. Hayashi

引用次数: 2

Slip detection using robot fingertip with 6-axis force/torque sensor 机器人指尖带6轴力/扭矩传感器的打滑检测

2013 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiSS) Pub Date : 2013-04-16 DOI: 10.1109/RiiSS.2013.6607921

Hayato Kanno, Hiroyuki Nakamoto, F. Kobayashi, F. Kojima, W. Fukui

引用次数: 10

Fuzzy logic temperature controller for small robots 用于小型机器人的模糊逻辑温度控制器

2013 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiSS) Pub Date : 2013-04-16 DOI: 10.1109/RiiSS.2013.6607925

A. Jebelli, V. Kanavallil, D. Necsulescu, M. Yagoub

引用次数: 1

Learning based robot control with sequential Gaussian process 基于学习的序贯高斯过程机器人控制

2013 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiSS) Pub Date : 2013-04-16 DOI: 10.1109/RiiSS.2013.6607939

Sooho Park, S. K. Mustafa, K. Shimada

引用次数: 7

Reinforcement learning-based robust adaptive tracking control for multi-wheeled mobile robots synchronization with optimality 基于强化学习的多轮移动机器人鲁棒自适应跟踪最优同步控制

2013 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiSS) Pub Date : 2013-04-16 DOI: 10.1109/RiiSS.2013.6607932

Luy Tan Nguyen, N. Thanh, Hoang Minh Tri

{"title":"Reinforcement learning-based robust adaptive tracking control for multi-wheeled mobile robots synchronization with optimality","authors":"Luy Tan Nguyen, N. Thanh, Hoang Minh Tri","doi":"10.1109/RiiSS.2013.6607932","DOIUrl":"https://doi.org/10.1109/RiiSS.2013.6607932","url":null,"abstract":"This paper proposes a new method based on reinforcement learning to design robust adaptive tracking control laws with optimality for multi-wheeled mobile robots synchronization in communication graph without requiring knowledge of drift tracking terms in node dynamics. Wheeled mobile robots are controlled by integrated kinematic and dynamic laws. Actor critic structures in the control scheme for every node is proposed such as only single NN is used to reduce computational cost and storage resources, but parameters of critic and actors are updated synchronously. Novel tuning laws for the NNs are designed not only to learn online adaptive solutions of cooperative Hamilton-Jacobi-Isaacs (HJI) equation on purpose of approximating optimal cooperative tracking performance index functions and robust direct adaptive tracking control inputs as well as worst case disturbances but also to guarantee closed-loop stability in real-time. The convergence and stability of the overall system are proven by Lyapunov techniques. The simulation results on multi-wheeled mobile robots systems verify the effectiveness of the proposed controller.","PeriodicalId":337659,"journal":{"name":"2013 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiSS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129427640","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

EMG-EMG correlation analysis for human hand movements 手部运动的肌电图-肌电图相关分析

2013 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiSS) Pub Date : 2013-04-16 DOI: 10.1109/RiiSS.2013.6607927

Zhaojie Ju, G. Ouyang, Honghai Liu

引用次数: 6

Developing an information giving system for supporting community society 发展支援社区社会的资讯传递系统

2013 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiSS) Pub Date : 2013-04-16 DOI: 10.1109/RiiSS.2013.6607935

R. Tachibana, Shun Nomura, Jiguo Zhen, Yihsin Ho, Y. Fujimoto, Toru Yamaguchi

{"title":"Developing an information giving system for supporting community society","authors":"R. Tachibana, Shun Nomura, Jiguo Zhen, Yihsin Ho, Y. Fujimoto, Toru Yamaguchi","doi":"10.1109/RiiSS.2013.6607935","DOIUrl":"https://doi.org/10.1109/RiiSS.2013.6607935","url":null,"abstract":"In this paper, we developed an information giving system for supporting community society. The design concept of the system includes the concept of QOL (quality of life). The system includes a user model-based application, which is able to help group users depending on user models constructing by mining life logs, for providing appropriate service to user accordance with their needs. Moreover, the research focus on using data from users directly, thus here collect user's life logs from sensors user carry. The user model-based application use life logs to construct user models. Thus, we collected the motion data from acceleration sensors users carry, get motion logs from the motion data for obtaining Life logs. And then, user models are obtained by mining the life logs. The information giving system is able to provides different services depending on user models. The paper shows the method of constructing user models, and uses the data of user models to support individuals, families and communities. Especially for providing the community information, we develop two applications. These are the application using gesture recognition and the application using area recognition.","PeriodicalId":337659,"journal":{"name":"2013 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiSS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130455687","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

Biological inspired human action recognition 生物启发的人类行为识别

2013 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiSS) Pub Date : 2013-04-16 DOI: 10.1109/RiiSS.2013.6607930

B. Yousefi, C. Loo, Ali Memariani

引用次数: 12

Adaptive and safe mobile manipulator for human robot interaction 面向人机交互的自适应安全移动机械手

2013 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiSS) Pub Date : 2013-04-16 DOI: 10.1109/RiiSS.2013.6607926

A. Meddahi, R. Chellali

{"title":"Adaptive and safe mobile manipulator for human robot interaction","authors":"A. Meddahi, R. Chellali","doi":"10.1109/RiiSS.2013.6607926","DOIUrl":"https://doi.org/10.1109/RiiSS.2013.6607926","url":null,"abstract":"Mobile robotic manipulators will be more and more present in our daily life. Many applications use already these platforms such as for homecare, industrial logistics, etc. and most of the time with in vicinity of humans, within dynamic and unknown environments. This poses the problem of adaptability and safety: robots should adapt to support a wide range of human users behaviors, with a strong guaranty of users' safety. In addition, such functions should take place with environments that are dynamic and not known a priori. This contribution reports on the mobile manipulator we are developing. We focus on solving the safe path planning problem for both the robot base and the robot manipulator in the presence of humans and dynamic obstacles: a safety distance should be strictly maintained by the robot with regard to the person involved in the interactive task as well as with any other person or moving object potentially colliding with the robot while performing the assigned task. These two requirements are achieved in real time by a multi-objective optimization that controls the base and the manipulator based on the task definition and the sensing data provided by the embedded sensors. Simulated scenarios have been tested and the obtained results are presented and discussed.","PeriodicalId":337659,"journal":{"name":"2013 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiSS)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126550450","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

Maritime space understanding using multiple radar systems by iterative image reconstuction algorithm 基于迭代图像重建算法的多雷达系统海洋空间理解

2013 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiSS) Pub Date : 2013-04-16 DOI: 10.1109/RiiSS.2013.6607936

Syoji Kobashi, Hokuto Mita, Kazuya Nakagawa, Kohji Nishiyama, Hitoshi Maeno, Kei Kuramoto, Y. Hata

{"title":"Maritime space understanding using multiple radar systems by iterative image reconstuction algorithm","authors":"Syoji Kobashi, Hokuto Mita, Kazuya Nakagawa, Kohji Nishiyama, Hitoshi Maeno, Kei Kuramoto, Y. Hata","doi":"10.1109/RiiSS.2013.6607936","DOIUrl":"https://doi.org/10.1109/RiiSS.2013.6607936","url":null,"abstract":"Understanding a space where autonomous robots work is an open problem. In case of maritime space, it is also very important. For this purpose, marine radar has been used to acquire images around the maritime vehicles. However, radar images are easily distorted by signal attenuation with distance, blurring due to antenna directivity, reflection by obstructs, etc. There are some conventional methods to improve the image quality. However, there is a limitation due to the acquisition mechanism of radar systems. To overcome the limitation, this study shows a novel approach, which uses multiple radar images to understand the maritime space. The method estimates radar cross section (RCS) from multiple radar images by iterative image reconstruction algorithm. Performance of the proposed method is validated using actual radar images taken by marine radar system equipped on a ship. The experimental results showed that the proposed method presents a maritime space map with high image quality and without distance attenuation, sidelobe diffusion.","PeriodicalId":337659,"journal":{"name":"2013 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiSS)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125333003","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