2018 15th International Conference on Ubiquitous Robots (UR)最新文献_第4页

Navigation Method of AUV to Target Point by Optical and Acoustic Sensor Switching Strategy 基于光声传感器切换策略的水下航行器目标点导航方法

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441786

Seokyong Song, Son-cheol Yu

引用次数: 2

Modeling and position control of a high performance twisted-coiled polymer actuator 高性能扭卷聚合物作动器的建模与位置控制

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441879

T. Luong, Kihyeon Kim, Sungwon Seo, Jae Hyeong Park, Youngeun Kim, S. Yang, K. Cho, J. Koo, Hyoukryeol Choi, H. Moon

引用次数: 4

Incremental Learning of Human Emotional Behavior for Social Robot Emotional Body Expression 社交机器人情感身体表达的人类情感行为增量学习

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441767

Nguyen Tan Viet Tuyen, Sungmoon Jeong, N. Chong

{"title":"Incremental Learning of Human Emotional Behavior for Social Robot Emotional Body Expression","authors":"Nguyen Tan Viet Tuyen, Sungmoon Jeong, N. Chong","doi":"10.1109/URAI.2018.8441767","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441767","url":null,"abstract":"Generating emotional body expressions for social robots has been gaining increased attention to enhance the engagement and empathy in human-robot interaction. In this paper, an enhanced model of robot emotional body expression is proposed which places emphasis on the individual user's cultural traits. Similar to our previous paper, this approach is inspired by social and emotional development of infants interacting with their parents who have a certain cultural background. Social referencing occurs when infants perceive their parents' facial expressions and vocal tones of emotional situations to form their own interpretation. On the other hand, this model replaces the batch learning self-organizing map with the dynamic cell structure, incrementally training a neural network model with a variety of emotional behaviors obtained from the users with whom the robot interacts. We demonstrate the validity of our incremental learning model through a public human action dataset, which will facilitate the acquisition of emotional body expression of socially assistive robots as a reflection of the individual user's culture.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130333152","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

Feasibility Evaluation of Mobile Internet based Robot-assisted Tele-echography System 基于移动互联网的机器人辅助远程超声系统可行性评价

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441922

Joonho Seo, J. Cho, M. Lee, Taeho Kim, H. Par, Sungmin Kim, Changwon Kim, Ohwon Kwon

{"title":"Feasibility Evaluation of Mobile Internet based Robot-assisted Tele-echography System","authors":"Joonho Seo, J. Cho, M. Lee, Taeho Kim, H. Par, Sungmin Kim, Changwon Kim, Ohwon Kwon","doi":"10.1109/URAI.2018.8441922","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441922","url":null,"abstract":"In this paper, we introduce a robot-assisted remote ultrasound imaging system connected to 4G LTE mobile internet. Unlike the wired internet connection with the static IP addresses, mobile internet connection makes it easy to move the slave system and allows a remote connection to wherever mobile communication is available, thus enabling tele-echography even in poorly equipped internet facilities. In order to connect the slave system with the master system through 4G LTE mobile internet, SIP and STUN server were included in the network part of the robot-assisted tele-echography system. In the experiment, the developed system was tested for the network performance between the urban hospital and the remote location separated about 250 km away. In addition, RTT test was performed to measure the speed of data transmission for remote robot control under 4G LTE mobile Internet. Based on the experimental results, the average RTT in the mobile Internet was 45.67 ms and the standard deviation is 7.17 ms, which shows that the communication speed is lower than the wired Internet connections and is also somewhat unstable. In addition, we examined that the tracking error between the slave robot and the master device with respect to different types of network configuration. The average RMSE by mobile internet was increased to 3.8 mm from 3.1 mm by the wired Internet. However, 30Hz of remote ultrasound imaging could be performed, and unidirectional remote control was available at the communication speed of up to 44 Hz. Therefore, there is no problem in utilizing the mobile Internet in the current robot-assisted tele-echography system.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"443 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132931393","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

Recommender System with Artificial Intelligence for Fitness Assistance System 健身辅助系统的人工智能推荐系统

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441895

T. Tran, Jae-Won Choi, Dang Van Chien, Geon SuPark, Jun-Young Baek, Jong-Wook Kim

引用次数: 6

Determination of Injury Rate on Fish Surface Based on Fuzzy C-means Clustering Algorithm and L*a*b* Color Space Using ZED Stereo Camera 基于模糊c均值聚类算法和L*a*b*色彩空间的ZED立体摄像机鱼表面损伤率确定

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441790

M. T. Tran, D. Kim, Chang Kyu Kim, Hak-Kyeong Kim, Sang Bong Kim

{"title":"Determination of Injury Rate on Fish Surface Based on Fuzzy C-means Clustering Algorithm and L*a*b* Color Space Using ZED Stereo Camera","authors":"M. T. Tran, D. Kim, Chang Kyu Kim, Hak-Kyeong Kim, Sang Bong Kim","doi":"10.1109/URAI.2018.8441790","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441790","url":null,"abstract":"Determination of injury rate on fish surface is one of the major cause for increasing quality of fish on the markets. Detecting injury fishes manually is hard work with low efficiently. An image processing method is usually considered to do this work as an online selecting method of injury area. The injury area segmentation of fish image is based on color features with Fuzzy C-means clustering and L*a*b* color space. Although there are many different color spaces. CIE L*a*b* color space of them is most used for detecting fish injury due to its uniform color distribution and is closest to the one human eye. Generally, a fish injury image has overlapped data with fish body image. The K-means clustering algorithm cannot give the good solution to segment whether pixels of the overlapped data belong to fish body or injury area. To solve this problem, this paper is to present the good solution for segmentation of fish injury image with the overlapped data from the fish body image and determine injury rate on fish surface based on Fuzzy C-means clustering and L*a*b* color space using ZED stereo camera. The proposed image processing method is tested on fishes. The experimental results show that the injury rate measured using the proposed image processing method is close to the real injury rate.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133497566","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

Soft Inflatable Robotic Sleeves for Actuation and Shock Absorption 用于驱动和减震的软充气机器人套筒

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441791

Jaehyun Yi, Yong‐Lae Park

{"title":"Soft Inflatable Robotic Sleeves for Actuation and Shock Absorption","authors":"Jaehyun Yi, Yong‐Lae Park","doi":"10.1109/URAI.2018.8441791","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441791","url":null,"abstract":"As robots are becoming compact and autonomous, they are more frequently deployed to disaster sites for various activities, such as search, rescue, and transportation. However, hazardous environments in disaster areas (e.g. cluttered, unstructured and highly constrained spaces) bring harm not only to humans but also to robots. Without a mechanism of physical protection, robots can be vulnerable to ongoing and potential dangers, such as piles of debris and falling objects. In order to prevent the system failure from physical damages, we proposed a shock absorption (or reduction) mechanism using soft inflatable sleeves [1]. The proposed inflatable sleeve can be actively inflated and deflated depending on the surroundings, not degrading the mobility of the robot. For example, the robot can inflate itself when falling from height but deflate when passing through narrow and low pathways. Heat sealable materials are used for the proposed sleeves. Depending on the sealing patterns, the inflated shape of the sleeve can make different shapes. In order to make various patterns, a three-axis translation stage, equipped with a roller-tip with a heating element was built, shown in Fig. 1, which is similar to the system described in [2]. This system facilitates repetitive work, sealing complex patterns, and allows rapid fabrication. Also, it enables the tip to maintain uniform normal force to the materials during fabrication. Using this system, multi-chambered inflatable structures can be made with various heat sealable materials.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133420695","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

Design of a Passive Weight-Support Exoskeleton of Human-Machine Multi-Link 被动式人机多连杆重量支撑外骨骼的设计

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441899

Aibin Zhu, Zhitao Shen, Huang Shen, Hongling Wu, Xiaodong Zhang

{"title":"Design of a Passive Weight-Support Exoskeleton of Human-Machine Multi-Link","authors":"Aibin Zhu, Zhitao Shen, Huang Shen, Hongling Wu, Xiaodong Zhang","doi":"10.1109/URAI.2018.8441899","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441899","url":null,"abstract":"Due to working conditions, workers, teachers, doctors and other occupations need to stand or squat work, while maintaining a long standing or squatting position can lead to muscle soreness and trigger a series of health problems. In response to such problems, we designed a passive, lightweight, easy-to-wear weight-supported exoskeleton. The exoskeleton based on human gait characteristics and sitting characteristics, the use of bionic curve modeling and human-machine multi-link design, to achieve coordination between the exoskeleton, the human body and the environment. At the same time, the design of a three-position sitting slider mechanism, through the adjustment of sitting position to adapt to the needs of different conditions. Finally, we measured the surface electromyography (SEMG) for muscles in the legs to verify that the exoskeleton can reduce the leg muscle activity of the user, improve the comfort of squatting operation, and solve the problem of muscle soreness to some extent. Our work provides a method, a model and an experimental verification for solving the problem of muscle fatigue in squat work, which has certain potential application value.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"233 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133754074","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

Object-sensitive potential fields for mobile robot navigation and mapping in indoor environments 室内环境中移动机器人导航与测绘的目标敏感势场

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441896

Jingdao Chen, Pileun Kim, Y. Cho, J. Ueda

{"title":"Object-sensitive potential fields for mobile robot navigation and mapping in indoor environments","authors":"Jingdao Chen, Pileun Kim, Y. Cho, J. Ueda","doi":"10.1109/URAI.2018.8441896","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441896","url":null,"abstract":"Mobile robots may be deployed in indoor environments for numerous tasks such as object manipulation, search and rescue, and infrastructure mapping. To be safely deployed in unknown and cluttered environments, mobile robots should be able to recognize both static and dynamic obstacles in its surroundings to determine its navigable paths. Current methods for navigating a mobile robot while avoiding obstacles do not consider the semantic categorization of objects when deciding how to move around them. This study proposes an obj ect-sensitive potential field method for mobile robot navigation and mapping in indoor environments. The mobile robot uses laser scanners to sense the 3D geometry of its surroundings. Next, a point-cloud based object detector is trained using deep learning techniques to semantically parse the laser scan data. The object detection output is used to create potential fields with varying strengths corresponding to the types of obj ects. This allows the path planning routine to strongly weigh immobile obstacles such as walls while weakly weighing potentially mobile obstacles such as chairs. The proposed algorithm was implemented and tested with a custom-designed mobile robot platform, Ground Robot for Mapping Infrastructure (GRoMI), in an indoor corridor environment. Overall, the proposed algorithm allowed for more intelligent navigation of mobile robots in cluttered environments by taking into account the categorization of obstacles.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130251703","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: 10

Design of a Truss Body Parallel Manipulator to Avoid the Stress Concentration 避免应力集中的桁架体并联机械臂设计

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441894

B. Kang, Jin Hun Kim, K. Choi, K. Gwak

引用次数: 1