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A health care robot for patients 为病人服务的医疗保健机器人
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262523
H. Yamamoto, H. Endo, Koichi Kitajima, Shingo Ohashi, Isao Kondoh, Michiyoshi Kuwahara
{"title":"A health care robot for patients","authors":"H. Yamamoto, H. Endo, Koichi Kitajima, Shingo Ohashi, Isao Kondoh, Michiyoshi Kuwahara","doi":"10.1109/IROS.1990.262523","DOIUrl":"https://doi.org/10.1109/IROS.1990.262523","url":null,"abstract":"Describes a health care robot for patients in hospitals. It is important and helpful in health cares to visualize and recognize the conditions of patients. The authors developed a health care robot for patients. This robot has an audio announcement system and a vision system. When the patient's condition becomes worse, the robot calls doctors or nurses. In this manner, this robot can assist doctors and nurses in their patients care.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116767709","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: 5
Constructing maps for indoor navigation of a mobile robot by using an active 3D range imaging device 利用有源三维距离成像装置构建移动机器人室内导航地图
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262380
F. Freyberger, P. Kampmann, G. Schmidt
{"title":"Constructing maps for indoor navigation of a mobile robot by using an active 3D range imaging device","authors":"F. Freyberger, P. Kampmann, G. Schmidt","doi":"10.1109/IROS.1990.262380","DOIUrl":"https://doi.org/10.1109/IROS.1990.262380","url":null,"abstract":"Presents the related mapping algorithm starting from acquisition of geometrical knowledge from the environment by using a 3D range imaging device. From 3D range images an abstract and compact description of available free motion space is extracted (free space polygon). Subsequent free space polygons are merged into a common map. The effectiveness and correct operation of the presented algorithm is demonstrated by a mapping experiment with the mobile robot MACROBE.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122844740","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: 20
Pyramid-based estimation of 2-D motion for object tracking 基于金字塔的二维运动目标跟踪估计
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262484
K. Wohn, S. Maeng
{"title":"Pyramid-based estimation of 2-D motion for object tracking","authors":"K. Wohn, S. Maeng","doi":"10.1109/IROS.1990.262484","DOIUrl":"https://doi.org/10.1109/IROS.1990.262484","url":null,"abstract":"An algorithm capable of estimating the image motion of a moving object in real-time is presented. The method is based on the image correlation technique applied to the multi-resolution image of two successive frames. Unlike previous approaches on the intensity correlation, the method estimates the normal motion vector by establishing the correlation along the direction of intensity gradient only. This approach allows one to avoid difficulties often arise due to the multiple matching. Normal flow vectors are used to estimate the actual flow vector (called the full flow vector) by assuming that 2-D motions of the object and the background are constant. This entire process operates uniformly on several spatial resolutions of image sequence. Each resolution is tuned to a specific range of image motion, and the correct resolution is determined by comparing the estimation error which has been accumulated in the course of full flow estimation. The algorithm has been implemented on off-the-shelf vision hardware, as a subsystem for real-time visual tracking.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128960521","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: 3
A fingertip sensor with proximity, tactile and force sensing capabilities 具有接近、触觉和力感应能力的指尖传感器
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262509
P. Dario, A. Sabatini, B. Allotta, M. Bergamasco, G. Buttazzo
{"title":"A fingertip sensor with proximity, tactile and force sensing capabilities","authors":"P. Dario, A. Sabatini, B. Allotta, M. Bergamasco, G. Buttazzo","doi":"10.1109/IROS.1990.262509","DOIUrl":"https://doi.org/10.1109/IROS.1990.262509","url":null,"abstract":"Discusses the motivations for designing a novel tactile device incorporating different sensing elements for detecting a range of information, including proximity, force/torque and tactile. The fabrication and calibration of some of the sensors, which make use of three different transducer technologies, namely strain gauges, semiconductive polymers and piezoelectric polymers, are also described.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121425063","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: 26
A motion planner for car-like robots based on a mixed global/local approach 基于全局/局部混合方法的类车机器人运动规划器
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262494
J. Laumond, M. Taïx, Paul E. Jacobs
{"title":"A motion planner for car-like robots based on a mixed global/local approach","authors":"J. Laumond, M. Taïx, Paul E. Jacobs","doi":"10.1109/IROS.1990.262494","DOIUrl":"https://doi.org/10.1109/IROS.1990.262494","url":null,"abstract":"Deals with the problem of motion planning for a car-like robot (i.e. nonholonomic mobile robot whose turning radius is lower bounded). The main contribution is the introduction of a new metric in the configuration space R/sup 2/*S/sup 1/ of such a system. This metric is defined from the length of the shortest paths in the absence of obstacles. The authors study the relations between the new induced topology and the classical one. This study leads to new theoretical issues about sub-Riemannian geometry and to practical results for motion planning. In particular they prove an inclusion relation of neighbourhoods in both topologies, which is the basis of an efficient obstacle avoidance local method.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124092350","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: 70
Collision avoidance for a 6-DOF manipulator based on empty space analysis of the 3-D real world 基于三维空间分析的六自由度机械臂避碰研究
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262449
H. Onda, T. Hasegawa, T. Matsui
{"title":"Collision avoidance for a 6-DOF manipulator based on empty space analysis of the 3-D real world","authors":"H. Onda, T. Hasegawa, T. Matsui","doi":"10.1109/IROS.1990.262449","DOIUrl":"https://doi.org/10.1109/IROS.1990.262449","url":null,"abstract":"Describes an efficient method that finds collision-free paths for a multiple-degree-of-freedom manipulator with rotational joints and grasped object. The method first analyzes the structure of empty space in the 3D workspace. Based on this space analysis, the path search is divided and a most promising direction for path search is determined in the 3D workspace. Finally the path search is done systematically in the joint space in the direction equivalent to the promising direction. This method is applicable to various problems regardless of the number of degrees of freedom on the manipulator, its structure, and the presence of grasped object.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126544576","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: 11
Distributed computing problems in cellular robotic systems 细胞机器人系统中的分布式计算问题
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262501
Jing Wang, G. Beni
{"title":"Distributed computing problems in cellular robotic systems","authors":"Jing Wang, G. Beni","doi":"10.1109/IROS.1990.262501","DOIUrl":"https://doi.org/10.1109/IROS.1990.262501","url":null,"abstract":"Cellular robotic systems (CRS) employ a large number of robots operating in cellular spaces under distributed control. In this paper, the relationship between CRS and distributed computing is discussed. Two problems encountered in designing pattern generation protocols for CRS, the n-way intersection problem and the knot detection problem, are related to distributed mutual exclusion problem and distributed deadlock detection problem, respectively. Solutions to these two problems, derived from their counterparts in distributed computing, are presented in the CRS context.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125815354","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: 46
Huge object manipulation in space by vehicles 飞行器在太空中操纵巨大的物体
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262416
H. Kimura, Z. Wang, E. Nakano
{"title":"Huge object manipulation in space by vehicles","authors":"H. Kimura, Z. Wang, E. Nakano","doi":"10.1109/IROS.1990.262416","DOIUrl":"https://doi.org/10.1109/IROS.1990.262416","url":null,"abstract":"Studies about space robots have assumed a relatively small object as a manipulated target. But in space a target object can be relatively huge, for example the spacecraft, the space station, the solar power satellite, etc. In these cases, manipulation by several vehicles which have a thrust engine is superior than that by arms mounted on the spacecrafts. In the manipulation by vehicles, the fuel consumption in a thrust engine is related to the size of force activated by a vehicle and the size of force depends on the positions of contacting points. Therefore, contacting points of the vehicles is important in view of the fuel consumption. In the paper, the authors discuss how to find the optimal contacting points. The optimal contacting points are defined as the points which minimize the norm of force needed for the specified acceleration of a target object and maximize the dynamic manipulability margin. The results of the simulation are indicated.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128079462","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
Artificial intelligence application in carcass beef grading automation 人工智能在胴体牛肉分级自动化中的应用
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262397
Yud-Ren Chen, T. McDonald
{"title":"Artificial intelligence application in carcass beef grading automation","authors":"Yud-Ren Chen, T. McDonald","doi":"10.1109/IROS.1990.262397","DOIUrl":"https://doi.org/10.1109/IROS.1990.262397","url":null,"abstract":"The carcass grading process can be divided into two subprocesses: gathering of relevant information through visual observations and decision-making based on the relevant information to assign the final yield and quality grades. Both subprocesses require expert knowledge in terms of what information is needed and how to use set rules for deducing the final grades. An automated meat grading system simulates the observational and reasoning skills of a human meat grader using a computer vision system operated in a cluttered, relatively unconstrained environment. The automated meat grading system consists of a computer vision subsystem, which obtains the carcass characteristics, and a knowledge-based meat grading subsystem, which uses this information and the set rules to determine the grades for results. This paper presents the technical aspects of developing an automated carcass beef grading system at the US Meat Animal Research Center at Clay Center, NE.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128147064","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: 5
Robot hand with sensor for handling cloth 带有处理布料传感器的机械手
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI: 10.1109/IROS.1990.262526
E. Ono, H. Okabe, H. Ichijo, N. Aisaka, H. Akami
{"title":"Robot hand with sensor for handling cloth","authors":"E. Ono, H. Okabe, H. Ichijo, N. Aisaka, H. Akami","doi":"10.1109/IROS.1990.262526","DOIUrl":"https://doi.org/10.1109/IROS.1990.262526","url":null,"abstract":"A robot hand to handle cloth is presented. In the study carried out, the authors tried to pick up a piece of cloth from a stack of cloth, to judge its thickness and to control the tension of it by the robot hand with a strain gauge sensor. The robot hand has two fingers with two degrees of freedom. One finger's tip was made from balsa wood, the other was made from balsa wood and phosphorus bronze plate with strain gauge sensor. The robot hand was attached to a robot arm and picked up a piece of cloth in cooperative motion with the robot arm. The hand was able to pick up a piece of wool cloth 0.4 mm in thickness. And it was able to pick up a piece of rayon cloth 0.2 mm in thickness in some trials by an automatic adjusting software. Sensor output was nearly in proportion to the thickness of cloth picked up. And sensor output was nearly in proportion to the tension of the cloth too.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128395012","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: 29
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