2021 IEEE/SICE International Symposium on System Integration (SII)最新文献_第2页

Gamma-ray Image Noise Generation Using Energy-Image Converter Based on Image Histogram 基于图像直方图的能量-图像转换器伽马射线图像噪声生成

2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382733

Ren Komatsu, Hanwool Woo, Yusuke Tamura, A. Yamashita, H. Asama

引用次数: 1

Stiffness Control of Variable Stiffness Link Using a Conductive Fabric Based Proximity Sensor 基于导电织物接近传感器的变刚度连杆刚度控制

2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382706

Mana Ishihara, Takahiro Matsuno, K. Althoefer, S. Hirai

{"title":"Stiffness Control of Variable Stiffness Link Using a Conductive Fabric Based Proximity Sensor","authors":"Mana Ishihara, Takahiro Matsuno, K. Althoefer, S. Hirai","doi":"10.1109/IEEECONF49454.2021.9382706","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382706","url":null,"abstract":"With an ongoing interest to create solutions allowing for safe physical interaction between humans and robots, new approaches to the design of robot arms are appearing. One example is the recently developed Variable Stiffness Link (VSL) -a new type of inflatable soft robot link made of flexible, yet inextensible fabric sleeves and capable of changing its stiffness. At high stiffness, the VSL can perform comparable to a rigid link within a standard robot arm, e.g., carry out picking and placing tasks in a factory environment. However, by decreasing the air pressure in such links their stiffness also decreases, and the robot arm’s compliance increases. Hence, when a human erroneously intrudes into the robot working area, safety can be ensured by simply reducing the pressure in the robot’s links. In this context, a major challenge is to determine whether a human is within the robot’s range. In this study, we propose to integrate a proximity, capacitance-based sensor made of conductive fabric with a VSL. Since the proposed proximity sensor is made of fabric, it is ideally suited for integration with the VSL: the sensor material is flexible and at the same time inextensible and as such can be used as the outer layer of a VSL without affecting its stiffness controllability. An appropriate control strategy was developed capable of changing the stiffness of the VSL depending on the distance between the VSL and a human or object nearby using the new sensor. The proposed sensor/control system determines the distance to a human or object in the vicinity of the VSL by evaluating the capacitance as measured by the integrated proximity sensor and adjusts the link’s stiffness accordingly to ensure safety. It was experimentally validated that, our new approach was capable of reducing the VSL’s stiffness when a human was approaching, even before contact occurred.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129924721","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

Emergence of Motor Synergy in Multi-directional Reaching with Deep Reinforcement Learning 深度强化学习中多向接触运动协同的出现

2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382755

Jihui Han, Jiazheng Chai, M. Hayashibe

引用次数: 0

Fault-Diagnosing Monocular-SLAM for Scale-Aware Change Detection 基于尺度感知变化检测的单目slam故障诊断

2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382715

Takuma Sugimoto, Yamaguchi Kousuke, Zhongshan Bao, Minying Ye, Hiroki Tomoe, Tanaka Kanji

{"title":"Fault-Diagnosing Monocular-SLAM for Scale-Aware Change Detection","authors":"Takuma Sugimoto, Yamaguchi Kousuke, Zhongshan Bao, Minying Ye, Hiroki Tomoe, Tanaka Kanji","doi":"10.1109/IEEECONF49454.2021.9382715","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382715","url":null,"abstract":"In this paper, we present a new fault diagnosis (FD) -based approach for image change detection (ICD) that can detect significant changes as inconsistencies between different visual experiences of monocular-SLAM. Unlike classical change detection approaches such as pairwise image comparison (PC) and anomaly detection (AD), neither the memorization of each map image nor the maintenance of up-to-date placespecific anomaly detectors are required in this FD approach. A significant challenge that is encountered when incorporating different visual experiences into FD involves dealing with the varying scales of changed objects. To address this issue, we reconsider the bag-of-words (BoW) image representation, and focus on the state-of-the-art BoW-based SLAM paradigm. As a key advantage, the local feature -based representation enables to re-organize the BoW into any different scales without modifying the database entries (i.e., the map). Furthermore, it enables to control discriminative power and expected inconsistencies of local features. Experiments on challenging cross-season ICD using publicly available NCLT dataset, and comparison against state-of-the-art ICD algorithms validate the efficacy of the proposed FD approach with/without combining AD and/or PC.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126850205","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

Application to Biomaterial of a Vibration Exciter for Ultrasonic Controlled Growing Rod System* 超声控制生长棒系统振动激励器在生物材料中的应用*

2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382663

K. Makino, Y. Kitano, N. Taniguchi, Tetsuro Ohba, T. Ishii, Masaki Miyashita, Kento Ota, H. Haro, H. Terada

{"title":"Application to Biomaterial of a Vibration Exciter for Ultrasonic Controlled Growing Rod System*","authors":"K. Makino, Y. Kitano, N. Taniguchi, Tetsuro Ohba, T. Ishii, Masaki Miyashita, Kento Ota, H. Haro, H. Terada","doi":"10.1109/IEEECONF49454.2021.9382663","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382663","url":null,"abstract":"Scoliosis is a symptom of the deformation of the backbone, and a few percentage of teenagers suffer from it. The patient needs to receive the operational surgery, if the curve of backbone is over the certain degrees. In the surgery, pedicle screws are planted in the backbone, and fixed by the straight rod. And the surgical operation is given many times until the patient stops growing up, since the backbone is extension according to growth of the patient. Therefore, a method that the surgical operation is not necessary is desirable. We have developed a growing rod that is able to be controlled using an ultrasonic vibration. In the previous work, the primitive principle of the growing rod was proposed, and were verified by some experiments in an ideal state. It is important to verify the proposed principle using the biomaterial to progress the nextstage (the crinical trials). In this paper, the proposed method is verified using biomaterial that is the meat with bone for food. And, the extension force that occurs in the backbone is discussed, since the length of the gap of the backbone becomes large according to growth of the patient. As a result, it is clear that the extend force of the rod is proportional to the magnitude of the extend force that occurs in spine. Therefore, the extension of the rod stop naturally, if the force in the backbone is released. We confirm that this method has safety.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"206 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116153151","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

Hierarchical probabilistic task recognition based on spatial memory for care support 基于空间记忆的护理支持分层概率任务识别

2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382681

Tappei Katsunaga, Takayuki Tanaka, M. Niitsuma, Saburo Takahashi, T. Abe

引用次数: 0

Rearranging Tasks in Daily-life Environments Using a Monte Carlo Tree Search and a Feasibility Database 使用蒙特卡罗树搜索和可行性数据库在日常生活环境中重新安排任务

2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382688

P. M. U. Eljuri, G. A. G. Ricardez, Nishanth Koganti, J. Takamatsu, T. Ogasawara

{"title":"Rearranging Tasks in Daily-life Environments Using a Monte Carlo Tree Search and a Feasibility Database","authors":"P. M. U. Eljuri, G. A. G. Ricardez, Nishanth Koganti, J. Takamatsu, T. Ogasawara","doi":"10.1109/IEEECONF49454.2021.9382688","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382688","url":null,"abstract":"In this paper, we address the task of rearranging items with a robot. A rearranging task is challenging because one should solve the following issues: to determine how to pick the items and plan how and where to place the items. In this study, we focus on how to obtain a sequence of actions that the robot could execute reducing the failures when the motion planner creates the trajectory to move the robot, such as not finding a solution. To confirm the sequence of instructions before executing them with the robot, we combine a motion planner with a symbolic planner. For that purpose, we propose a Motion Feasibility Checker (MFC), which quickly decides if a given set of pick-and-place poses can be executed with respect to the robot’s kinematics. The MFC uses a database of possible pick and place poses of the target robot; given the initial and target pose of the item, the MFC finds a set of pick-and-place poses to execute that action with the robot. We use the Monte Carlo Tree Search (MCTS) to achieve a high performance of the symbolic planning. In the proposed method, the MCTS searches for the goal while it collaborates with the MFC. We tested the proposed method in a simulation environment doing a sandwich rearranging task in a convenience store setup.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126281932","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

Effects of Video Filters for Learning an Action Recognition Model for Construction Machinery from Simulated Training Data 视频滤波器对工程机械动作识别模型学习的影响

2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382735

Jinhyeok Sim, J. Kasahara, Shota Chikushi, K. Nagatani, Takumi Chiba, K. Chayama, A. Yamashita, H. Asama

{"title":"Effects of Video Filters for Learning an Action Recognition Model for Construction Machinery from Simulated Training Data","authors":"Jinhyeok Sim, J. Kasahara, Shota Chikushi, K. Nagatani, Takumi Chiba, K. Chayama, A. Yamashita, H. Asama","doi":"10.1109/IEEECONF49454.2021.9382735","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382735","url":null,"abstract":"In the construction industry, construction machinery are an important factor in the overall productivity and efficiency of a worksite. Thus, emphasis is put on the monitoring of actions conducted by construction machinery. This was traditionally done manually by humans, which is a timeconsuming and laborious task. Automatic action recognition of construction machinery is therefore needed. The field of action recognition is predominantly occupied by Deep Learning approaches and several previous works focused on adapting such approaches for construction machinery. However, the issue of obtaining training data is particularly troublesome for construction machinery. Our previous work proposed a Deep Learning method for learning an action recognition model from training data generated in a simulator using video filters but the precise contributions of the introduced video filter were unclear. The purpose of this study is therefore to clarify the effects of video filters for learning an action recognition model for construction machinery from simulated training data.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115757504","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

Cooperation between media changing robot system and humans for cell processing 介质变换机器人系统与人之间的细胞处理合作

2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382680

Ryosuke Nonoyama, M. Jinno, Koichiro Yori, Keiichi Sugiura, T. Sameshima

{"title":"Cooperation between media changing robot system and humans for cell processing","authors":"Ryosuke Nonoyama, M. Jinno, Koichiro Yori, Keiichi Sugiura, T. Sameshima","doi":"10.1109/IEEECONF49454.2021.9382680","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382680","url":null,"abstract":"Currently, in the field of regenerative medicine, cell processing is being performed manually. Such process is labor intensive and expensive, and its efficiency still needs to be enhanced. Recently, automatic cell culture apparatuses that are equipped with a vertical articulated robot have been proposed. However, the automation of all cell processing tasks complicates the system. This study aimed to develop a simple and rational cell processing system through the combination of the tasks performed by a robot and those performed by a human. In a previous study, we improved the efficiency of discarding and injecting tasks using a robot arm in the media changing process. In the present study, we report the results of the implementation and evaluation of the prototypes that facilitate in improving the efficiency of the discarding and injecting tasks. Our experimental results revealed the feasibility of discarding and injecting robots that can be used in a safety cabinet. Robots can perform the media changing process more efficiently and more accurately than humans. Moreover, when robots are used, the risk of dripping can be reduced.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"214 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134324936","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

ICP-based SLAM Using LiDAR Intensity and Near-infrared Data* 基于激光雷达强度和近红外数据的icp SLAM *

2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382647

Ryosuke Kataoka, Ryuki Suzuki, Yonghoon Ji, Hiromitsu Fujii, H. Kono, K. Umeda

引用次数: 3