2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)最新文献

Design and control of an upper arm exoskeleton using Fuzzy logic techniques 基于模糊逻辑技术的上臂外骨骼设计与控制

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847838

M. Tageldeen, N. Perumal, I. Elamvazuthi, T. Ganesan

引用次数: 7

Facial emotion recognition under partial occlusion using Empirical Mode Decomposition 基于经验模态分解的局部遮挡下面部情绪识别

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847818

H. Ali, M. Hariharan, S. Yaacob, A. H. Adom, S. K. Za'ba, M. Elshaikh

{"title":"Facial emotion recognition under partial occlusion using Empirical Mode Decomposition","authors":"H. Ali, M. Hariharan, S. Yaacob, A. H. Adom, S. K. Za'ba, M. Elshaikh","doi":"10.1109/ROMA.2016.7847818","DOIUrl":"https://doi.org/10.1109/ROMA.2016.7847818","url":null,"abstract":"One of the challenges in automatic facial emotion recognition nowadays is the ability to handle with complicated environment conditions such as in the presence of partial occlusions of facial images. To address this issue, therefore this paper proposed to investigate the effect of facial emotion recognition in the presence of partially occluded images using empirical mode decomposition (EMD). EMD a multi-resolution technique which is adaptively decomposed non-stationary and nonlinear data into a small set of frequency component known as intrinsic mode functions (IMFs). In this work, the face image is firstly projected into 1D signal using the Radon transform. The projected 1D signal is subjected to EMD to extract the significant features based on IMFs. The obtained IMFs features are further reduced using PCA plus LDA to reduce the dimension of the features. Then, the reduced feature vector is used as input to Support Vector Machines (SVM) classifier for recognizing seven facial emotions. A series of experiments has been conducted on the CK database under four different modes of occlusion such as right face occlusion, left face occlusion, upper face occlusion and lower face occlusion. The experimental results show that the upper face occlusion contributes the highest recognition rate which is 93.91%, thus the proposed method demonstrates the promising results.","PeriodicalId":409977,"journal":{"name":"2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128736546","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: 7

Mobile robot structure design, modeling and simulation for confined space application 密闭空间移动机器人结构设计、建模与仿真

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847808

A. A. Razak, A. Abdullah, K. Kamarudin, F. Saad, S. Shukor, H. Mustafa, M. Bakar

{"title":"Mobile robot structure design, modeling and simulation for confined space application","authors":"A. A. Razak, A. Abdullah, K. Kamarudin, F. Saad, S. Shukor, H. Mustafa, M. Bakar","doi":"10.1109/ROMA.2016.7847808","DOIUrl":"https://doi.org/10.1109/ROMA.2016.7847808","url":null,"abstract":"The atmospheric hazards that may be present in confined space pose serious threat to human while carrying special task in the respective location. Among the areas that are considered as confined space are utility tunnel, boiler, storage tank, sewage lines, man holes and underground electrical fault. Currently, there is no specific technique to replace worker for task such as collecting air sample in the confined space for monitoring the hazards. A mobile robot integrated with an electronic nose (e-nose) (i.e also called mobile olfaction) can be used to maneuver through the environment and at the same time monitor the hazards. In this paper a mobile robot structure is designed, modeled and simulated for confined space application. The mobile robot is designed to adopt four wheels skid-steering driving mechanism to allow immediate and sharp turning. The mathematical description of the robot is represented by static kinematic model. The robot's rectangular structure is built using hollow rectangular mild steel bars. Simulation is done to analyse the structure's stress and displacement. The analysis of the results indicates that the structure is suitable to be used for the confined space application.","PeriodicalId":409977,"journal":{"name":"2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132193524","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: 6

Potential use of Social Assistive Robot based rehabilitation for children with Cerebral Palsy 社交辅助机器人在脑瘫儿童康复中的潜在应用

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847820

Norjasween Abdul Malik, H. Yussof, F. A. Hanapiah

引用次数: 7

HRI observation with My Keepon robot using Kansei Engineering approach 使用感性工学方法观察My Keepon机器人的HRI

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847831

A. Azmin, S. Shamsuddin, H. Yussof

引用次数: 9

Development of a 3D virtual platform for an upper arm robotic exoskeleton 上臂机器人外骨骼三维虚拟平台的开发

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847819

M. Tageldeen, Irraivan Elamvazuthi, N. Perumal, Timothy Ganesan, A. Borboni

{"title":"Development of a 3D virtual platform for an upper arm robotic exoskeleton","authors":"M. Tageldeen, Irraivan Elamvazuthi, N. Perumal, Timothy Ganesan, A. Borboni","doi":"10.1109/ROMA.2016.7847819","DOIUrl":"https://doi.org/10.1109/ROMA.2016.7847819","url":null,"abstract":"Robotic rehabilitation is overtaking traditional rehabilitation, since it ensures exercises are practiced accurately with flexibility in the degree of assistance that the patients require. Nevertheless, robotics rehabilitation is automatic and can become monotonous, hence, disengage the patient. Although Serious Games are an excellent approach to engaging the patients in robotics rehabilitation with exoskeletons, the lack of a specialty development platform leads game developer to invest a significant amount of time to produce the basic software functionalities of interfacing the hardware and controlling the communication between the different system components. This paper presents a set of interfacial nodes that makes up virtual 3D gaming environment that is based on but not limited to upper limb exoskeletons. The nodes use a combination of accelerometer, gyro, compass and a variable resistance to measure the joints kinematics and interpolates the dynamics, the framework provides functions that models the sensors input and simplify object generation in 3D Serious Games engines.","PeriodicalId":409977,"journal":{"name":"2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131652082","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

Neural network architecture selection for efficient prediction model of gas metering system 燃气计量系统高效预测模型的神经网络结构选择

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847805

N. Rosli, R. Ibrahim, I. Ismail, S. Hassan, Tran Duc Chung

引用次数: 3

Design of automatic phase-controlled converter based on temperature for microwave drying system 微波干燥系统中基于温度的自动控相转换器的设计

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847829

S. Korkua, S. Chandhaket, Kamon Thinsurat, Komon Pornbandit

{"title":"Design of automatic phase-controlled converter based on temperature for microwave drying system","authors":"S. Korkua, S. Chandhaket, Kamon Thinsurat, Komon Pornbandit","doi":"10.1109/ROMA.2016.7847829","DOIUrl":"https://doi.org/10.1109/ROMA.2016.7847829","url":null,"abstract":"Owing to various advantages over conventional drying systems, microwave drying technology has been widely applied to vast industrial applications. During microwave drying especially in high moisture content products such as fruits and vegetables, temperature will increase dramatically since they are very responsive to microwave absorption. The characteristics of materials may change with the uncontrolled temperature and result in thermal burning and non-uniform temperature distribution in treated materials. To ensure the effective control without the material degradation, in this paper we propose the automatic phase-controlled of magnetron driver based on temperature detection. The low cost and non-contact infrared temperature measurement is implemented and evaluated in microwave environment. The objective of this proposed control is to automatically control the power output of the magnetron according to the actual product temperature. The hardware component selections and software flowchart are described. The feedback control algorithm based on microcontroller Arduino Mega 2560 is also presented in details. Experimental results of the proposed automatic temperature control of microwave drying system are investigated and verified the effectiveness of the proposed control system.","PeriodicalId":409977,"journal":{"name":"2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122276973","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: 6

Enhanced vision algorithm for concurrent assessment of Identification Marks for glass manufacturing 玻璃制造识别标志并行评估的增强视觉算法

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847827

C. Vázquez, Anel Garza, Miguel Arroyo

引用次数: 0

Plantar pressure distribution and gait stability: Normal VS high heel 足底压力分布和步态稳定性:正常VS高跟鞋

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI: 10.1109/ROMA.2016.7847822

Sharvindsing Karia, S. Parasuraman, M.K.A.Ahmed Khan, I. Elamvazuthi, Niranjan Debnath, S. Ali

{"title":"Plantar pressure distribution and gait stability: Normal VS high heel","authors":"Sharvindsing Karia, S. Parasuraman, M.K.A.Ahmed Khan, I. Elamvazuthi, Niranjan Debnath, S. Ali","doi":"10.1109/ROMA.2016.7847822","DOIUrl":"https://doi.org/10.1109/ROMA.2016.7847822","url":null,"abstract":"In this paper, the plantar pressure distribution and the center of pressure movement were studied and gait stability of high heels versus normal heels was observed. A group of ten young female participants without any previous lower limbs injuries were asked to wear shoes of different heel heights, namely, 0cm, 2cm and 4cm and walk at a speed of 3km/hr on a treadmill. The pressure that their body exerts on the ground was recorded and analyzed. A statistical analysis was conducted and observed for the center of pressure (p<0.05), peak pressure (p<0.05) and the gait stability. The center of pressure moved from the heel to toe as heel height was increased and the peak pressure moved to the forefoot region. Tukey post-hoc analysis was performed in order to observe the differences in peak pressure in the forefoot, mid-foot and rear foot region. It was found that as the subjects wore a 4cm heel height shoes, the peak pressure was increased in the rear foot regions of the right foot. This resulted from the fact that they tend to lean on their right foot owing to instability during gait.","PeriodicalId":409977,"journal":{"name":"2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114931035","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