2018 15th International Conference on Ubiquitous Robots (UR)最新文献_第9页

A System to Generate Robot Emotional Reaction for Robot-Human Communication 一种用于人机交流的机器人情感反应生成系统

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441885

Zehra Nur Olgun, Yu-Jung Chae, Changhwan Kim

引用次数: 2

A Study on Force Generated by Gymnotiform Undulating Fin 裸子形波浪鳍产生力的研究

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441812

V. Nguyen, C. T. Pham, Van Dong Nguyen, Dae Hwan Kim, T. Nguyen

引用次数: 3

Numerical Study for Surface-breaking Crack Detection on a Cylinder Using Laser-generated Ultrasound 激光超声检测圆柱体表面破裂裂纹的数值研究

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441815

Xuekun Liu, Shixi Yang, Yong-qiang Liu

引用次数: 2

Research on over modulation response and demodulation method of motor current signals for rolling bearing faults 滚动轴承故障时电机电流信号的过调制响应及解调方法研究

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441819

Xianjiang Shi, Jian Zhang, Xiangdong Zhu, Junshan Si

{"title":"Research on over modulation response and demodulation method of motor current signals for rolling bearing faults","authors":"Xianjiang Shi, Jian Zhang, Xiangdong Zhu, Junshan Si","doi":"10.1109/URAI.2018.8441819","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441819","url":null,"abstract":"In order to solve the over modulation frequency aliasing problem caused by high frequency mechanical fault in the analysis of stator current signals, the over modulation phenomenon and the reason of frequency aliasing are analyzed by digital simulation technology. A single-sideband modulation frequency-shift demodulation method is proposed by reference the principle of single-sideband Weaver modulation and demodulation in carrier communication. The local impact fault detection in rolling bearings outer ring is taken as an example, the mechanical model of the impact torque is established when the rolling element passes through the local fault of the outer ring. On the basis of this, it is carried out that the fault model simulation analysis of motor driven rolling bearing, and comparing with the actual motor stator current signal measured by rolling bearing fault analog test bench. The results show that although the motor stator current signal can effectively modulate the high frequency impact signal such as the rolling bearing local defect, spurious aliasing frequency components tend to exist due to over modulation phenomenon. The modulation single-sideband signal frequency-shift demodulation spectrum proposed in this paper can effectively solve these problems, which provides a new solution to extract high frequency modulated signals for the stator current analysis diagnosis method.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"25 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":"121193503","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

Decision-Level Fusion Method for Emotion Recognition using Multimodal Emotion Recognition Information 基于多模态情感识别信息的决策级情感识别融合方法

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441795

Kyu-Seob Song, Young-Hoon Nho, Ju-Hwan Seo, D. Kwon

引用次数: 15

Design of Isometric and Isotonic Soft Hand for Rehabilitation Combining with Noninvasive Brain Machine Interface 结合无创脑机接口的康复等距等张软手设计

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441816

Yue Li, Jinhua Zhang, Cheng Zhang, Yanqing Xiao, Jun Hong, M. Y. Wang, Yanyi Li

{"title":"Design of Isometric and Isotonic Soft Hand for Rehabilitation Combining with Noninvasive Brain Machine Interface","authors":"Yue Li, Jinhua Zhang, Cheng Zhang, Yanqing Xiao, Jun Hong, M. Y. Wang, Yanyi Li","doi":"10.1109/URAI.2018.8441816","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441816","url":null,"abstract":"Comparing with the traditional way for hand rehabilitation, such as simple trainers and artificial rigid auxiliary, this paper presents an isometric and isotonic soft hand for rehabilitation supported by the soft robots theory which aims to satisfy the more comprehensive rehabilitation requirements. Salient features of the device are the ability to achieve higher and controllable stiffness for both isometric and isotonic contraction. Then we analyze the active control for isometric and isotonic movement through electroencephalograph (EEG) signal. This paper focuses on three issues. The first is using silicon rubber to build a soft finger which can continuously stretch and bend to fit the basic action of the fingers. The second is changing stiffness of the finger through the coordination between variable stiffness cavity and actuating cavity. The last is to classify different EEG states based on isometric and isotonic contraction using common spatial pattern feature extraction (CSP) methods and support vector machine classification methods (SVM). On this basis, an EEG-based manipulator control system was set up.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"47 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":"122446441","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

Identifying Gender Differences in Information Processing Style, Self-efficacy, and Tinkering for Robot Tele-operation 机器人远程操作中信息加工风格、自我效能与修补的性别差异研究

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441766

Dilruba Showkat, C. Grimm

引用次数: 17

Development of a wall-climbing drone with a rotary arm for climbing various-shaped surfaces 具有旋转臂的爬壁无人机的研制，用于爬各种形状的表面

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441807

W. Myeong, Seungwon Song, H. Myung

{"title":"Development of a wall-climbing drone with a rotary arm for climbing various-shaped surfaces","authors":"W. Myeong, Seungwon Song, H. Myung","doi":"10.1109/URAI.2018.8441807","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441807","url":null,"abstract":"In this paper, a novel wall-climbing drone installed with a rotary arm is proposed for climb operation on various shaped walls. Robots that can climb the wall are applicable to many operations such as structural health monitoring of high-rise buildings, bridges, nuclear power plants; maintenance of solar panels and glass walls; and visual inspection of the aircraft and vessels. Traditional wall-climbing robots use magnetic, vacuum, or bioinspired methods mimicking gecko foot for those purposes. However, those methods cannot be applied to various-shaped walls like inclined, and an obstacle existing walls such as window frames. To solve this problem, unmanned aerial vehicle (UAV)-type wall-climbing robots have recently been developed, but those types have disadvantages in terms of energy efficiency and impact in attaching and detaching processes. Therefore, in this paper, a wall-climbing drone with a rotary arm is proposed. The angle of the rotary arm is controlled depending on the slope angle of the wall to achieve energy efficiency. The drone was prototyped and tested in indoor environment to verify the feasibility of the mechanism.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"31 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":"124052935","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

Allowable Maximum Safe Velocity Control based on Human-Robot Distance for Collaborative Robot 基于人机距离的协作机器人允许最大安全速度控制

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441887

Heonseop Shin, Kwangmo Seo, S. Rhim

引用次数: 14

Deep blood vessel visualization over 10-mm depth using NIR light 使用近红外光观察深度超过10毫米的深血管

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441817

B. Shin, Deukhee Lee

{"title":"Deep blood vessel visualization over 10-mm depth using NIR light","authors":"B. Shin, Deukhee Lee","doi":"10.1109/URAI.2018.8441817","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441817","url":null,"abstract":"Administering intravenous injection is a common procedure in the medical field. However, it is sometimes difficult even for professionals to administer it owing to the deep subcutaneous blood vessels of some patients. Although several devices have been developed to overcome this problem, there still exist limitations when visualizing deep blood vessels within the subcutaneous tissue. In this paper, we propose a new blood vessel visualization method using near-infrared (NIR) light. The NIR light source module of the proposed method has the shape of a picture frame with an open middle and is placed on the patient's skin just above the target vessel and firmly fastened. Then, NIR beams, which are well-absorbed by blood, are emitted from four sides of the light source module to just below the target vessel; these NIR beams penetrate through the target vessel and an image can be acquired using an NIR camera. The image is enhanced through a series of image processing methods proposed by us to more clearly show the vessel. Through a phantom study, it is demonstrated that blood vessels up to a depth of 15 mm can be visualized. In addition, an in vivo test shows that our proposed method performs well on curved or branchy blood vessels.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"13 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":"117098882","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