{"title":"Recovery function of target disappearance for human following robot","authors":"M. Ota, H. Hisahara, H. Takemura, H. Mizoguchi","doi":"10.1109/ICIES.2012.6530857","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530857","url":null,"abstract":"This paper presents a human following robot that can continue to follow even when it loses sight of the target human at corner. To realize such robot, the authors propose a human trajectory model of turning the corner. Using the proposed model, the robot can predict trajectory of the target human when he/she turns the corner and disappears from the robot's view. Based upon our observation and intuition of human motion at the corner, we find that the trajectory can be modeled as logarithmic function. In order to confirm effectiveness of the proposed model and the following robot using it, the authors conduct experiment. Experimental result proves the effectiveness and supports our idea successfully.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116497180","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}
H. M. Fekry, M. M. Moustafa Hassan, M. ABD EL- AZIZ
{"title":"The state of charge estimation for rechargeable batteries using Adaptive Neuro Fuzzy Inference System (ANFIS)","authors":"H. M. Fekry, M. M. Moustafa Hassan, M. ABD EL- AZIZ","doi":"10.1109/ICIES.2012.6530870","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530870","url":null,"abstract":"This paper presents an adaptive state of charge estimator for rechargeable batteries using the Adaptive Neuro Fuzzy Inference System (ANFIS). That technique is based on that the charging current for any battery, in un-controlled current charging circuit, changes according to the battery state of charge (SOC). This proposed estimator will use the charging current, battery voltage samples and the time of each sample, from charging start, as ANFIS inputs and SOC as the output. The proposed estimator will be applied on Nickel-Cadmium battery model to test the validity of SOC ANFIS estimator to estimate the state of charge. Also, to know how the proposed estimator will be able to adapt with a new battery behavior such as capacity loss, the estimator will be tested in the case of a loss in capacity for the same Nickel-Cadmium battery model. The paper will depend on ANFIS and simulations tools in MATLAB Program to make all required models, moreover, getting the training and testing data through a charging circuit model.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125123861","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}
T. Fukuda, M. Nakajima, H. Tajima, Yajing Shen, Tao Yue
{"title":"Micro-nanomanipulation system toward biological cell analysis and assembly","authors":"T. Fukuda, M. Nakajima, H. Tajima, Yajing Shen, Tao Yue","doi":"10.1109/ICIES.2012.6530840","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530840","url":null,"abstract":"Micro-nano scale manipulation system is a fundamental technique to measure/control/assemble micro-nano scale objects precisely and arbitrarily. Biological cells are one of the important targets for various bio-medical applications. We have been working on the single cell nanosurgery system based on the micro-nano manipulation system. In this paper, we present our current progress of our micro-nanomanipulation system for biological cell analysis and assembly technologies.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133363614","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}
{"title":"Experimental setup to analyze the relation between resistance and length on SMA wires","authors":"M. Branciforte, F. La Rosa, G. Muscato, A. Fonti","doi":"10.1109/ICIES.2012.6530849","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530849","url":null,"abstract":"This paper describes the characterization process on Shape Memory Alloy (SMA) wires using an experimental setup, in order to identify the relation between the resistance and the stroke of the material. This identification process enables new simplified architectures of driving electronics for using these materials as smart and light actuators.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129245171","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}
G. Trovato, T. Kishi, N. Endo, K. Hashimoto, A. Takanishi
{"title":"Evaluation study on asymmetrical facial expressions generation for Humanoid Robot","authors":"G. Trovato, T. Kishi, N. Endo, K. Hashimoto, A. Takanishi","doi":"10.1109/ICIES.2012.6530858","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530858","url":null,"abstract":"Human-Robot Interaction is one of the biggest challenges in Humanoid Robotics. Interaction can be carried out through different channels, as humans can communicate through complex languages, including the use of non-verbal communication. Specifically, facial expressions are important for conveying emotions and communication intentions. Several humanoid robots can already perform a certain set of expressions, but their capabilities are somewhat limited and as a result, interaction is not natural. One aspect that could help robots being perceived as real is asymmetry. That is why in this paper we perform an evaluation study of symmetrical and asymmetrical facial expressions of the humanoid robot KOBIAN-R These expressions are made by a generator based on relevant studies of facial anatomyand non-verbal communication and on the work of illustrators and cartoonists. Survey results confirmed the effectiveness of the generator and the importance of asymmetry. We conclude that using this system, robot communication capabilities improve, making possible the development of more advanced interaction in the future.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"174 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115302446","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}
{"title":"Operational support for ensuring safety object-removal using dual-arm construction machinery","authors":"M. Kamezaki, Y. Shimada, H. Iwata, S. Sugano","doi":"10.1109/ICIES.2012.6530876","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530876","url":null,"abstract":"This paper describes an operational support system to simplify removing objects from a building structure in demolition work using dual-arm construction machinery. An operator cannot recognize the manipulator movement visually when a target object is strongly restrained in an unmovable environment, so the operator continues large lever-operations for a while after the object has been removed. This could lead to a collision against the surrounding environment. An operational support in construction machinery filed requires the compatibility among efficiency, quality, and safety and the commonality among various operator skill levels. The proposed support system thus identifies the moment when an object has been removed and cancels any operational inputs to ensure safety work when generating intensive force applied to a manipulator, focusing only on the common physical phenomena. An object-removal flag is defined as a situation where force applied to the end-point of a manipulator decrease rapidly in which lever operation and hand load are detected. Demolition experiments are conducted using a hydraulic dual arm system. Result indicates that the displacement of end-effector after removal and the number of error contacts are decreased while decreasing time consumption.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128513815","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}
{"title":"Effect of chitosan addition on the structure and capacitive characteristics of electrodeposited manganese oxides","authors":"S. Hassan, M. Suzuki, A. El‐Moneim","doi":"10.1109/ICIES.2012.6530846","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530846","url":null,"abstract":"Nano-structured MnO2-chitosan hybrid composite electrodes containing low and high chitosan's Mw were synthesized by one-step cathodic electrodeposition on nickel foam substrate for electrochemical capacitors (ECs) application. The effect of chitosan molecular weight (Mw) on the structure and capacitive behaviour of the tailored electrodes was examined. The electrodes have been characterized using X-ray diffraction (XRD), scanning electron microscopy (SEM), Fourier transform infrared (FTIR) spectroscopy, cyclic voltammetry, galvanostatic charge-discharge, and electrochemical impedance spectroscopy. The presence of CH promotes both ion and electron transport in the matrix of MnO2. Furthermore, the use of CH with its inherent binding properties allowed the formation of adherent and cracks free deposits. The MnO2-chitosan hybrid nanocomposite electrodes showed better specific capacitance and rate capability than MnO2 electrode. The highest specific capacitance of 424 F/g was obtained for the MnO2-chitosan composite electrode with low chitosan's Mw at a current density of 1 mA/cm2. The electrode retained a very stable capacitance over 400 cycles by charging and discharging at 3 mA/cm2, as the capacity loss is only 3%, indicative of long term electrochemical cycling stability.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125403220","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}
{"title":"ANFN controller based on differential evolution for Autonomous Underwater Vehicles","authors":"O. Hassanein, S. A. Salman, S. Anavatti, T. Ray","doi":"10.1109/ICIES.2012.6530867","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530867","url":null,"abstract":"The Autonomous Underwater Vehicles (AUVs) dynamics have six degrees of freedom and are highly nonlinear and time varying and the hydrodynamic coefficients of vehicles are difficult to estimate accurately because of the variations of these coefficients with different navigation conditions and external disturbances such as currents and waves. The path controller of the AUV is a challenging problem due to the nonlinearities and uncertainties of the AUV dynamics. Thus, the controller should be adaptive to handle variations in the dynamics of the AUV at different maneuvering regimes and disturbances arising from both the internal and external sources. In the present paper Adaptive Neural Fuzzy Network (ANFN) controller is designed and applied to guide and control the AUV. Initially, the controller parameters are generated randomly and tuned by Differential Evolution algorithm (DE). The back propagation algorithm based upon the error between the actual outputs of the plant and the desired values is then used to adopt the controller parameters online. The proposed ANFN controller adopts a functional link neural network (FLNN) as the consequent part of the fuzzy rules. Thus, the consequent part of controller is a nonlinear combination of input variables. The results show that the performance of the AUV with the ANFN controller is having better dynamic performance as compared to the conventional PID, even in the presence of noise and parameter variations.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"225 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114596949","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}
{"title":"A novel design of a MEMS solar cell based on microcantilever-photoinduced bending","authors":"M. Tayel, Y. Ragab","doi":"10.1109/ICIES.2012.6530842","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530842","url":null,"abstract":"Solar energy is one of the major sources of green renewable energy. Photovoltaic (PV) cells have the focus in researches for long time to improve its efficiency and reducing cost. This paper introduces a novel design of a micro solar cell based on MEMS device harvesting thermal and quantum components of solar energy converted into mechanical energy that converted into electrical energy. Even it is a double energy conversion process, the micro solar cell has simple design structure and less expensive compared to the conventional micro PV cell. This device can be used to power wireless micro sensors or as micro battery charger, while arrays of this device can be used for small scale generation.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122400058","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}
{"title":"The construction of autonomous electric vehicle for Land mine detection and localization","authors":"A. El-Shenawy","doi":"10.1109/ICIES.2012.6530851","DOIUrl":"https://doi.org/10.1109/ICIES.2012.6530851","url":null,"abstract":"This paper presents the hardware system integrating of an electric vehicle for Land mine detection. The Vehicle is fully automated to fulfill three main objectives: 1) Detect the Land mines 2) Drive through the landmines and 3) store the landmines location. The vehicle consists of two main robotics configurations. Firstly a car like robot to provide the maneuverability in desert environment, where the landmines are found. Secondly, a robotic arm with 2 Degrees of Freedom (2DOF) to provide the scanning for Landmines on the surface of 50 cm length and rotation of 180 degrees. The kinematics modeling description is provided along with the overall control structure. The hardware implementation is also explained in addition to the demonstration of experimental results to illustrate the system performance.","PeriodicalId":410182,"journal":{"name":"2012 First International Conference on Innovative Engineering Systems","volume":"72 7","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131771610","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}