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2021 IEEE/SICE International Symposium on System Integration (SII)最新文献

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Magnetic-based localization considering robot’s attitude in slopes 考虑机器人姿态的斜坡磁定位
2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382726
A. Fukushima, Renato Miyagusuku, K. Ozaki
{"title":"Magnetic-based localization considering robot’s attitude in slopes","authors":"A. Fukushima, Renato Miyagusuku, K. Ozaki","doi":"10.1109/IEEECONF49454.2021.9382726","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382726","url":null,"abstract":"In this work, we propose a novel approach for robust localization in slopes using inertial sensors and magnetic information. In environments with slopes, as sensors tilt with the robot when it is moving on the slope, accurate sensor data cannot be correctly measured, reducing localization accuracy. To perform localization using magnetic information, we use information from an inertial measurement unit to estimate the robot’s attitude and compute accurate magnetic azimuth information that accounts for attitude changes. Furthermore, pitch information computed from the inertial measuring unit can even be used to enhanced localization, if pitch information from the environment is also collected. By combining these methods with standard geometric landmark localization using 2D laser rangefinders, we have developed a localization system that is robust to the presence of steep slopes, demonstrated by our testing in real environments.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"49 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":"132448583","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
A Robust Strategy of Map Quality Assessment for Autonomous Driving based on LIDAR Road-Surface Reflectance 基于激光雷达路面反射率的自动驾驶地图质量评估策略
2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382712
Mohammad Aldibaja, N. Suganuma, Lu Cao, Reo Yanase, Keisuke Yoneda
{"title":"A Robust Strategy of Map Quality Assessment for Autonomous Driving based on LIDAR Road-Surface Reflectance","authors":"Mohammad Aldibaja, N. Suganuma, Lu Cao, Reo Yanase, Keisuke Yoneda","doi":"10.1109/IEEECONF49454.2021.9382712","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382712","url":null,"abstract":"Automatic map quality assessment is a very important process to bring the mapping modules into levels four and five of autonomous driving. In this paper, we propose a robust framework to check the map quality on behalf of human beings with indicating the possible ghost areas without using ground truth. The essence is to conduct the assessment process in the image domain instead of the point cloud plane. Therefore, the road is described by a set of nodes and each node represents a considerable road texture in Absolute Coordinate System using LIDAR reflectivity. This converts the vehicle trajectory into grayscale images with encoding stationary landmarks and road shapes. In addition, the global position errors are converted into relative position errors between the nodes and transformed into ghosting effects in the image domain. Accordingly, a mechanism to evaluate the map quality at the revisited areas is proposed based on sharpness, luminance and structure factors of the road surface. The framework has been tested in challenging environments including open-sky areas, the world’s second-longest tunnel and courses of dense trees and high buildings. The experimental results have verified the novelty and reliability of the proposed strategy to provide very trustful map quality assessment by relying on map images only. Moreover, the system is scalable to compare the maps and significantly indicates the outperformance in terms of accuracy and quality.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"14 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":"131246981","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 Control Method for Active Ball Joint Mechanism Considering Singularity of Spherical Gear 考虑球齿轮奇异性的主动球关节机构控制方法研究
2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382684
Kazuki Abe, R. Tadakuma
{"title":"Development of Control Method for Active Ball Joint Mechanism Considering Singularity of Spherical Gear","authors":"Kazuki Abe, R. Tadakuma","doi":"10.1109/IEEECONF49454.2021.9382684","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382684","url":null,"abstract":"This paper presents a control method to avoid the singularity problem in the newly developed active ball joint mechanism. This mechanism is based on gear meshing but allows the driving of three rotational degrees of freedom on a single spherical surface, and it has no theoretical limits in the range of motion. These capabilities were obtained by meshing two innovative gears: Cross Spherical Gear and Monopole Gear. Despite their spherical shape, the gears were able to mesh with each other due to a unique structure ‘Pole’. However, our previous works suggest that in the vicinity of the Cross Spherical Gear poles, there are singularity areas where the velocity of the Monopole Gear changes rapidly. This paper describes the modelling and formulation of the singularity area and a method to avoid the associated problems. Finally, the developed method was embedded in the prototype’s control system, and the effect was verified by experimental results.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"13 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":"129816794","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
Galileo Aid Drone: A System Integration for Autonomous Wildfire Assistants 伽利略援助无人机:自主野火助手的系统集成
2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382777
Diego Calderón, Rodrigo Cordero, Ariel González, Ali Lemus, Julio Fajardo
{"title":"Galileo Aid Drone: A System Integration for Autonomous Wildfire Assistants","authors":"Diego Calderón, Rodrigo Cordero, Ariel González, Ali Lemus, Julio Fajardo","doi":"10.1109/IEEECONF49454.2021.9382777","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382777","url":null,"abstract":"Mobile robots are playing an important role as monitoring and immediate response services supporting risk management systems for natural or artificial disasters. In this work, an integration of systems based on a Unmanned Aerial Vehicle collects relevant information and show the status of a wildfire through an interactive dashboard, which can be accessed by the risk and disaster management systems through any computer. In addition, the system can identify people and communities at risk by presenting their estimated geolocation on a map, as well as the spread of the fire. In this way, it will be possible to understand the magnitude of the disaster, and thus develop better rescue and monitoring strategies.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"4 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":"130274666","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
A 3-Dimensional Printing System Using an Industrial Robotic Arm 基于工业机械臂的三维打印系统
2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382645
Quang Khanh Luu, Hung M. La, V. A. Ho
{"title":"A 3-Dimensional Printing System Using an Industrial Robotic Arm","authors":"Quang Khanh Luu, Hung M. La, V. A. Ho","doi":"10.1109/IEEECONF49454.2021.9382645","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382645","url":null,"abstract":"This paper describes the development of a three-dimensional (3D) printing system that integrates a six-degree-of-freedom industrial robot into a fused deposition modeling process. By using the robot-based 3D printing system, printing on inclined planes became possible, which cannot be achieved by a conventional 3D printer. Moreover, the robotic 3D printing is supposed to achieve faster and smoother motion compared to its counterpart under the same temporal settings, thanks to a knowledge-based strategy to re-plan printing trajectories from a set of G-commands. The accurate execution of the printing trajectories and other necessary components for the printing process (for example, an extruder) are regulated by the robot operating system (ROS). The efficiency of the printing system was evaluated by 3D printing a couple of simple 3D models using a six-axis Denso robot. The preliminary results revealed great potential for rapid prototyping and printing in close contact with humans, especially in the field of interactive manufacturing, or human-robot collaboration.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"20 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":"115115412","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
The Flatworm-like Pedal Locomotory Robot WORMESH-I: Locomotion Based on the Combination of Pedal Waves 仿扁虫式脚踏运动机器人worm- i:基于脚踏波组合的运动
2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382769
G. Rasanga, R. Hodoshima, S. Kotosaka
{"title":"The Flatworm-like Pedal Locomotory Robot WORMESH-I: Locomotion Based on the Combination of Pedal Waves","authors":"G. Rasanga, R. Hodoshima, S. Kotosaka","doi":"10.1109/IEEECONF49454.2021.9382769","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382769","url":null,"abstract":"Flatworms are dorsoventrally flattened, bilaterally symmetrical, and soft-bodied. They can move on rough terrain, swim, and climb a shore reef using pedal locomotion and continuous gliding propulsion along the bottom of the body. Inspired by the flatworm, we have been developing the flatworm-like robot, which consisted of the same modules connected via multi degree of freedom (DOF) joints. The pedal locomotion is the primary locomotor mode, however, motion generation is highly complex. Therefore, this research focused on locomotion of flatworm-like pedal locomotory robot for the translational, spinning, omnidirectional motions. We proposed a new method of generating various locomotion combining multiple pedal waves. The proposed method was verified with a simulator with a physics engine. After this verification, we analyzed locomotion characteristics considering 1) the parameters of pedal wave based on the serpenoid curve; initial winding angle $alpha$ and temporal frequency of the traveling wave $omega, 2$) number of robot modules arranged in a matrix form; 3, 4 and 8. The similation results showed the relationship between translational and angular velocity of COG and the parameters of pedal wave.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"131 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":"114687260","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: 4
A Perpendicular Direction Gauge Using a Lenticular Lens* 使用透镜的垂直方向计*
2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382711
Hideyuki Tanaka
{"title":"A Perpendicular Direction Gauge Using a Lenticular Lens*","authors":"Hideyuki Tanaka","doi":"10.1109/IEEECONF49454.2021.9382711","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382711","url":null,"abstract":"There are level gauges that measure the level with respect to the direction of gravity, but there are no compact devices like level gauges that measure the perpendicular direction to a line or a plane. The author has developed a lenticular angle gauge (LEAG) to visualize the relative orientation using a lenticular lens, and a “perpendicular gauge” to identify the perpendicular direction with respect to a line or plane using a LEAG. This paper describes the principle and structure of the perpendicular gauge and the results of a performance test using a prototype. The author will also discuss the various uses and future prospects for the perpendicular gauge.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"24 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":"134286029","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
Scope of human manipulability sharing with VR device and EMG sensor for online motion analysis 与虚拟现实设备和肌电传感器共享人体操作范围，用于在线运动分析
2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382727
Shunya Narukiyo, Yoshiyuki Tanaka, T. Aoyama, M. Shiokawa
{"title":"Scope of human manipulability sharing with VR device and EMG sensor for online motion analysis","authors":"Shunya Narukiyo, Yoshiyuki Tanaka, T. Aoyama, M. Shiokawa","doi":"10.1109/IEEECONF49454.2021.9382727","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382727","url":null,"abstract":"The research described in this paper presents a new scope of human manipulability sharing (SoHMS) using a head-mounted VR system and wireless EMG sensor. An application of the new SoHMS is developed in the Unity platform so that a high-quality computer mannequin can be presented in a 3D virtual space. The computer mannequin is controlled through the motion data of a player, which is measured using a KINECT v2 sensor in real time. A set of manipulability ellipsoids for the measured human body form is attached at the hand(s) and/or foot(feet) of the computer mannequin. The new SoHMS can provide two sports-like motor tasks with the upper limbs, which were designed based on the manipulability theory, so that a player can study how manipulability can be regulated at will.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"91 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":"133397206","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
IEEECONF 2021 Publication Information ieee econf 2021出版信息
2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/ieeeconf49454.2021.9382773
{"title":"IEEECONF 2021 Publication Information","authors":"","doi":"10.1109/ieeeconf49454.2021.9382773","DOIUrl":"https://doi.org/10.1109/ieeeconf49454.2021.9382773","url":null,"abstract":"","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"1 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":"121839829","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 and Demonstration of the Mission Control System for Artificial Meteor Generating Micro-satellites 人造流星微卫星任务控制系统的研制与验证
2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382604
Y. Shibuya, Yuji Sato, Hannah Tomio, T. Kuwahara, S. Fujita, K. Kamachi, H. Watanabe
{"title":"Development and Demonstration of the Mission Control System for Artificial Meteor Generating Micro-satellites","authors":"Y. Shibuya, Yuji Sato, Hannah Tomio, T. Kuwahara, S. Fujita, K. Kamachi, H. Watanabe","doi":"10.1109/IEEECONF49454.2021.9382604","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382604","url":null,"abstract":"The Space Robotics Laboratory of Tohoku University and ALE Co., Ltd. have developed the micro-satellites “ALE-I” and “ALE-2” to demonstrate the generation of artificial meteors. These meteors will be created by the ejection of meteor particles on orbit. This mission necessitates strict safety requirements to prevent the released particles from colliding with other satellites and spacecraft. In this project, we constructed a ground system for the operation of these satellites and established an operation plan to meet their safety requirements. The ground system uses a virtual ground station interface to operate multiple ground stations around the world via an antenna sharing service. A meteor particle release simulation was conducted with ALE-2 on orbit to demonstrate and validate the ground system and operation plan. The results of this test, presented here, show that the ground system can be successfully used to conduct the artificial meteor mission and these operations meet the safety requirements.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"5 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":"121841619","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
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