2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)最新文献

The structures and the energy management strategies in FCHVs fchv的结构与能源管理策略

2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736281

XiaoPeng Lu, W. Jiang

引用次数: 1

Ethical issues for social robots and the trust-based approach 社交机器人的伦理问题和基于信任的方法

2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736246

Tora Koyama

引用次数: 5

High temperature full-field strain measurement based on digital image correlation during arc welding 基于数字图像相关的弧焊高温全场应变测量

2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736282

X. Zhou, H. B. Chen, J. Chen, S. B. Chen, Zhili Feng

引用次数: 1

A novel design of robotic air bridge training system 一种新型的机器人空桥训练系统设计

2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736258

Jie Chen, Yuan Fang, H. Lau

{"title":"A novel design of robotic air bridge training system","authors":"Jie Chen, Yuan Fang, H. Lau","doi":"10.1109/ARSO.2016.7736258","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736258","url":null,"abstract":"With the rapid development of virtual realities, it becomes possible nowadays for industrial practitioners to incorporate these technologies into their own applications. In air cargo industries, operating the air bridge system is of high importance, but due to the limited resources and potential damages to the aircrafts, training every operator in real world systems is difficult. To solve this problem, an air bridge simulator embedded into virtual reality systems will be a very good alternative. In this paper, a four degrees-of-freedom (DOF) robotic motion platform is designed to simulate the movement of an air bridge. The platform is driven by four pairs of motors and ball screws, and we also design a damping system for the proposed platform to avoid sudden shock. The proposed design of the structure has several advantages. Firstly, the structure itself is very simple. Secondly, due to its redundant DOF, many challenging requirements can be easily satisfied, such as singularity avoidance and energy minimization. Thirdly, as the load of the system is shared by many universal ball bull eye bearings, the required driving force of the platform is reduced drastically due to the low friction coefficient, which increases the agility of the system a lot. The inverse kinematic model (IK) of the proposed robotic air bridge simulator is also derived, and the derived IK is then used to drive the platform to perform a trajectory tracking task in simulation environment.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127343781","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

Design of a flexible polishing force control flange 柔性抛光力控制法兰的设计

2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736262

Ting Huang, Chuang Li, Zhenhua Wang, Lining Sun, Guodong Chen

引用次数: 9

Learning adaptive reaching skills with nonlinear dynamical systems directly from human demonstrations 直接从人类演示中学习非线性动力系统的自适应到达技巧

2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736287

Jie Chen, H. Lau

{"title":"Learning adaptive reaching skills with nonlinear dynamical systems directly from human demonstrations","authors":"Jie Chen, H. Lau","doi":"10.1109/ARSO.2016.7736287","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736287","url":null,"abstract":"In this work, we first discuss details about a novel motion planning approach for robot point to point reaching tasks called stable estimator of dynamical systems (SEDS). A human operator first demonstrates reaching movements several times, and Gaussian Mixture Model and Gaussian Mixture Regression are used to roughly encode human demonstrations through a first order ordinary differential equation. Then based on Lyapunov Stability Theorem, a constrained nonlinear optimization problem is formulated to iteratively refine the previously learned differential model and SEDS is derived. Since during human demonstrations, the velocity is usually quite low which heavily restricts the kinetic capability of the robot, and sometimes we expect the robot to move more fast, such as to catch flying objects and to avoid fast moving obstacles. Therefore, it is extremely significant to develop a method to control the velocity and duration of the robot movement. In this paper, we define a nonlinear function based on the distance between the robot and the target to adjust the velocity of the robot. Experiments have been conducted in simulation environments to verify three properties of the proposed method, namely global asymptotical stability, adaptation to spatial perturbations and velocity controllability.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121720579","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

Socializing with robots: Human-robot interactions within a virtual environment 与机器人的社交:在虚拟环境中的人机交互

2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736255

A. Richert, M. Shehadeh, S. Müller, Stefan Schröder, S. Jeschke

{"title":"Socializing with robots: Human-robot interactions within a virtual environment","authors":"A. Richert, M. Shehadeh, S. Müller, Stefan Schröder, S. Jeschke","doi":"10.1109/ARSO.2016.7736255","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736255","url":null,"abstract":"Robots are already physically supporting humans within multiple processes, but as a step further, the robots will be able to identify and adapt to any individual strengths and become the flawless co-workers needed. One of the questions is whether in other fields of social robotics, e.g. in ergonomics, existing knowledge about human teams can be transferred into the design of hybrid teams and the shaping of human-computer interactions. These developments serve the appearance of Industry 4.0, which is directly correlated to the modernization of productions that are directly involved in defining the concept of hybrid human-robot-teams. This is a concept paper that describes the investigation whether the appearance of the robot and its accuracy while fulfilling the task influence the stress level of the human, his cooperation behavior and trust towards the robot, and as an overall result the performance of the cooperative work in a complete virtual environment. The participants will be given a task to accomplish with the aid of their virtual robot partner and rely on their features and abilities, they have to act as efficiently as possible, which gives room to investigate the teamwork over various team development stages, stress, trust, and performance. The study will take place in August 2016, where the results will be published shortly afterwards.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115227625","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: 8

Responsibility in the age of autonomous machines 自主机器时代的责任

2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736249

Minao Kukita

引用次数: 0

Multisensory data fusion technique and its application to welding process monitoring 多传感器数据融合技术及其在焊接过程监测中的应用

2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736298

Zhifen Zhang, G. Wen, Shanben Chen

引用次数: 8

A novel catheter operating robot for vascular interventional surgery 一种新型血管介入手术导管操作机器人

2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI: 10.1109/ARSO.2016.7736300

Cai Meng, Shaoya Guan, Shengnan Sun, Yin Liu, Tianmiao Wang

{"title":"A novel catheter operating robot for vascular interventional surgery","authors":"Cai Meng, Shaoya Guan, Shengnan Sun, Yin Liu, Tianmiao Wang","doi":"10.1109/ARSO.2016.7736300","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736300","url":null,"abstract":"VIS (Vascular Interventional Surgery) is widely used for Cardiovascular and Cerebrovascular disease. Considering conventional VIS has some problems, such as long irradiation time and surgical complexity, a robotic surgical system has been developed to assist surgeon during operation. In this paper, a novel COR (catheter operating robot) is developed to operate catheter, i.e., apply conventional push, pull, and twist of a catheter's shaft. Considering the limitation on the COR volume in clinical operation environment, the design concept of “part reuse” is proposed to realize the miniaturization of the mechanical structure. In order to reduce the number of machine parts, an intermittent gear is used both to realize the clamping/loosening movement and to perform as a slideway to fulfill the twist movement of two bionic fingers. A clamping/loosening module is devised out of the same purpose, so as to dismantle the catheter easily and ensure the catheter operating system can be removed from the catheter rapidly when the robot is out of service unexpectedly. Performance evaluation of the system was assessed by first conducting positioning accuracy experiment to quantify accuracy and precision of both axial (push and pull) and radial (twist) motion of catheter in control of the COR, and then conducting transparent glass vascular model experiment to assess the usefulness of the COR in robot-assisted VIS. Experimental results show that the COR has multiple advantages such as flexible control, and high positioning precision, which facilitate the control of catheter.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123241747","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