2018 15th International Conference on Ubiquitous Robots (UR)最新文献_第5页

Automatic fascia extraction and classification for measurement of muscle layer thickness 用于测量肌肉层厚度的自动筋膜提取和分类

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441877

Tsubasa Imaizumi, N. Koizumi, Ryosuke Kondo, Yu Nishiyama, Naoki Matsumoto

引用次数: 0

Force Sensor-less Compliant Control of Robot Based on Position-loon 基于位置定位的机器人无力传感器柔性控制

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441866

Deli Zhang, Jimin Lu, Yubao Chen

引用次数: 1

Safety Control of Automatic Excavator for Swing Collision Avoidance 自动挖掘机回转避碰安全控制

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441774

Ji-Chul Kim, S. Yoo, Mingeuk Kim, Yeong-Jae Kim, Guen-Ho Lee

引用次数: 7

Control of a Space Manipulator Capturing a Rotating Object in the Three-dimensional Space 空间机械臂在三维空间捕捉旋转物体的控制

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441888

Fangli Mou, Shuang Wu, Xuan Xiao, Zhang Tao, O. Ma

{"title":"Control of a Space Manipulator Capturing a Rotating Object in the Three-dimensional Space","authors":"Fangli Mou, Shuang Wu, Xuan Xiao, Zhang Tao, O. Ma","doi":"10.1109/URAI.2018.8441888","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441888","url":null,"abstract":"For space robots accomplishing the overwhelming majority of on-orbit servicing(OOS) missions, capture of a target object is the primary task. Capture of a rotating object in orbit is an especially important and challenging task for OOS such as orbital debris removal. This paper studies the control strategy for capturing a fast rotating object by a space manipulator from a floating spacecraft in the three-dimensional space. First, in order to simulate the real contact condition as much as possible, a contact dynamics model considering the effect of the contact geometry of the capture interfaces is built. Second, the control strategy is proposed by a combination of a resolved motion rate control method and hybrid impedance control technique. The stability is proved by Lyapunov theorem. Finally, a simulation example of a 7-joint manipulator capturing a rotating target object in the unrestricted three-dimensional space is conducted to verify the feasibility and efficiency of the control strategy. In the effect of the control law, relative velocity at the contact spots is reduced, and thus the target object at an initial rotation speed of 12 deg/s (2 rpm) is captured successfully.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"20 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":"125478479","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

Treatment of Alzheimer's, Cognitive, Chronic Pain Rehabilitation, Depression and Anxiety disorders in One System for Elderly Using VR 使用VR在一个系统中治疗老年痴呆症、认知、慢性疼痛康复、抑郁和焦虑障碍

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441897

B. Ahmed, Dae Hwan Kim, Yongwon Hwang, Sung-Jun Park

{"title":"Treatment of Alzheimer's, Cognitive, Chronic Pain Rehabilitation, Depression and Anxiety disorders in One System for Elderly Using VR","authors":"B. Ahmed, Dae Hwan Kim, Yongwon Hwang, Sung-Jun Park","doi":"10.1109/URAI.2018.8441897","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441897","url":null,"abstract":"There is straightforwardly relation between the elderly developing populace and mental disorders all through the world particularly by those effected by Alzheimer's disease, cognitive issues, depression and anxiety and in addition chronic pain and it's turned into a test for medicinal services and social help administrations is also a serious concern for the medical practitioners. On the other hand, taking care of that demand for the serious game industry can essentially profit by the organization of creative, computer-based applications fit for tending to need, especially in the zone of psychological disorders and its recovery. In that specific situation, we have planned to help the restorative faculty, health care specialist and different guardian in enhancing the nature of every life activities people with psychological disorders and we present one 3D game using virtual reality VR tool. In this paper, the authors will talk about the practical idea of serious games for elderly patients. The main task of our study is to merge all other studies previously done and implemented in the form of various games, to bring them under one umbrella. The factors used to gain the retention of elderly in the game play for longtime training are discussed. In addition, efficient productive design criteria and formative methodologies will be discussed by which we made a game using VR tool.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"8 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":"127721588","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

Foreground Extraction Algorithm for Monocotyledonous Plants based on CNN and CRF 基于CNN和CRF的单子叶植物前景提取算法

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441803

Sang-Wook Lee, Jun-Sik Kim

{"title":"Foreground Extraction Algorithm for Monocotyledonous Plants based on CNN and CRF","authors":"Sang-Wook Lee, Jun-Sik Kim","doi":"10.1109/URAI.2018.8441803","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441803","url":null,"abstract":"We aim at developing a foreground extraction method for automatic leaf identification in a monocotyledon image. In order to identify accurately all leaves in a two-dimensional plant image, it is critical to extract an exact plant region because accidental holes or breaks in the extracted foreground image may lead to wrong structural results in subsequent analysis steps. However, because monocotyledonous plants such as rice, wheat, and barley have many thin leaves and complex morphology, it is highly possible that their plant images have a lot of holes by self-occlusion between the leaves or by color change and image blurring. In addition, plant images usually have extremely thin regions caused by its thin shape. We propose a foreground extraction algorithm based on a fully convolutional neural network (CNN) and a dense conditional random field (CRF) to retain holes and breaks made by morphological characteristics of monocotyledonous plants and to eliminate the accidental holes and breaks. In our algorithm, a CNN plays a role in labeling pixels as foreground or not and a CRF strengthens connection between foreground pixels. By synergistic integration of both models, our proposed algorithm achieve a better foreground extraction accuracy for plant images. Experiments show that our proposed method effectively extracts foreground regions from a single 2-dimensional monocotyledonous plant image and is fast enough for high-throughput phenotyping.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"21 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":"127610405","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

Development of a Performance Test Platform of Direct-Drive Servo Valve Linear Force Motor 直驱伺服阀直线力电机性能测试平台的研制

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441779

Hua-Chao Guo, Yuefeng Li, Xiang Zhang

引用次数: 2

A FastSLAM Based on the Smooth Variable Structure Filter for UAVs 基于光滑变结构滤波器的无人机快速slam

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441876

Yang Liu, Congqing Wang

引用次数: 4

Circular Path Based Trajectory Blending Algorithm Considering Time Synchronization of Position and Orientation Trajectories 考虑位置和方向轨迹时间同步的基于圆路径的轨迹混合算法

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441777

Ho-Sang Kwon, Kuk‐Hyun Ahn, Jae-Bok Song

引用次数: 2

Variable Topology Truss: Hardware Overview, Reconfiguration Planning and Locomotion 可变拓扑桁架:硬件概述，重构规划和运动

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441880

Seongjae Jeong, Byung-Gak Kim, Sumin Park, Eugene Park, Alexander Spinos, Devin Carroll, Thulani Tsabedze, Yulai Weng, Taewon Seo, Mark H. Yim, F. Park, Jongwon Kim

{"title":"Variable Topology Truss: Hardware Overview, Reconfiguration Planning and Locomotion","authors":"Seongjae Jeong, Byung-Gak Kim, Sumin Park, Eugene Park, Alexander Spinos, Devin Carroll, Thulani Tsabedze, Yulai Weng, Taewon Seo, Mark H. Yim, F. Park, Jongwon Kim","doi":"10.1109/URAI.2018.8441880","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441880","url":null,"abstract":"The variable topology truss (VTT) system is a new type of modular platform that enables control over both the shape and topology of a truss, bringing both the efficiency of variable geometry trusses and the flexibility of self-reconfigurable robots. A VTT has the capability to enter a disaster site and shore damaged structures to assist with rescue work. This paper presents a revised overview of the VTT hardware design, enhanced from our previous works. We propose an active VTT spherical joint, which can address the hardware-related issues and also simplify the VTT software. Additionally, reconfiguration and locomotion planning algorithms for VTT are presented. We propose a retraction-based RRT method especially suitable for VTT and show our algorithm is superior to basic RRT in a practical 21-member VTT scenario. The locomotion algorithm implements a rolling gait under kinematic constraints; simulation results for a 21-member VTT show our algorithm yields accurate trajectory tracking.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"14 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":"115525160","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