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2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)最新文献

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Laparoscopic interaction learning model: Decomposing expert surgeon knowledge to develop novice surgeon knowledge comprehension 腹腔镜交互学习模型:分解专家外科知识，培养新手外科知识理解能力
2013 13th International Conference on Control, Automation and Systems (ICCAS 2013) Pub Date : 2013-10-01 DOI: 10.1109/ICCAS.2013.6704024
Nurmaya, Lisa Wiyartanti, G. Kwon
{"title":"Laparoscopic interaction learning model: Decomposing expert surgeon knowledge to develop novice surgeon knowledge comprehension","authors":"Nurmaya, Lisa Wiyartanti, G. Kwon","doi":"10.1109/ICCAS.2013.6704024","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704024","url":null,"abstract":"Transferring experts' surgical procedure knowledge is required to improve novices' surgical skill in laparoscopic environment. As surgeons have different level of expertise, this differentiation becomes one of the obstacles to the construction of novices' knowledge comprehension by utilizing experts' knowledge. To overcome this problem, we decompose experts' knowledge presentation while aiming to build knowledge comprehension in novices' surgeon using surgery task model as a knowledge representation of laparoscopic suturing task. The proposed laparoscopic interaction learning model is a mediator of learning that adapts cognitive apprenticeship method. This laparoscopic interaction learning model can be a solution to overcome the problem when delivering experts' knowledge in laparoscopic environment.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131976434","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
Practical distributed coordinated tracking of second order heterogeneous linear agents: Relative measurement feedback 实用的二阶非均匀线性主体分布协调跟踪:相对测量反馈
2013 13th International Conference on Control, Automation and Systems (ICCAS 2013) Pub Date : 2013-10-01 DOI: 10.1109/ICCAS.2013.6704196
J. Back, Jung-Su Kim, Kunhee Ryu
{"title":"Practical distributed coordinated tracking of second order heterogeneous linear agents: Relative measurement feedback","authors":"J. Back, Jung-Su Kim, Kunhee Ryu","doi":"10.1109/ICCAS.2013.6704196","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704196","url":null,"abstract":"This paper considers the coordinated tracking problem for second order linear agents. Each agent is to follow the trajectory of a virtual leader which is a double integrator. It is assumed that the agents may have different dynamics from each other and may have external disturbances. Moreover, we consider the case where the systems are allowed to exchange only outputs rather than all states. A dynamic output feedback controller is presented to guarantee that the trajectories of agents practically synchronize to that of virtual leader.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"2005 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130886127","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 mechanism design of waist power assist suit for a caregiver by using torsion springs 一种利用扭力弹簧的护理员腰部助力服的机构设计
2013 13th International Conference on Control, Automation and Systems (ICCAS 2013) Pub Date : 2013-10-01 DOI: 10.1109/ICCAS.2013.6704035
Mitsuhiro Tsuzura, T. Nakakuki, D. Misaki
{"title":"A mechanism design of waist power assist suit for a caregiver by using torsion springs","authors":"Mitsuhiro Tsuzura, T. Nakakuki, D. Misaki","doi":"10.1109/ICCAS.2013.6704035","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704035","url":null,"abstract":"We currently develop a motor-driven power assist suit for a caregiver that helps his/her waist strain in heaving a load Since the total weight is about 15 kg of which dominant elements are the actuators, any lightweight solution is required toward a practical use in a hospital or at home. Especially, a torque requirement to assist waist muscular power in typical personal care tasks is over 100 Nm, and a weight of high-torque motor tends to be large for a wearable robot suit. Then, we consider a mechanism design with torsion springs as an additional torque supplier to reduce torque requirement for motors. As a first step, in this paper, we design a prototype with torsion springs to investigate which location and how many springs are appropriate. The performance is evaluated with surface EMG in which the activities of some muscles including erector spinae muscles that are used in a lifting motion are observed.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"2008 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130950644","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
Human computer interface using the recognized finger parts of hand depth silhouette via random forests 人机界面利用随机森林识别手指部位的手部深度轮廓
2013 13th International Conference on Control, Automation and Systems (ICCAS 2013) Pub Date : 2013-10-01 DOI: 10.1109/ICCAS.2013.6704043
D. D. Luong, Sungyoung Lee, Tae-Seong Kim
{"title":"Human computer interface using the recognized finger parts of hand depth silhouette via random forests","authors":"D. D. Luong, Sungyoung Lee, Tae-Seong Kim","doi":"10.1109/ICCAS.2013.6704043","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704043","url":null,"abstract":"Hand gesture recognition provides an attractive option for Human Computer Interaction (HCI). In particular, vision-based recognition of finger and hand gestures can help humans to communicate with a computer more efficiently. In this paper, we present a novel approach of recognizing finger and hand parts from a hand depth silhouette using Random Forests (RFs), a multi-class classifier, and its use for a hand gesture HCI. We present how to train the RFs using our own database. Then, the trained RFs are used to recognize finger and hand parts, which are used to recognize hand gestures. We also present an HCI application of finger mouse in which the computer cursor is controlled with a recognized finger.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131298326","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
Concurrent estimation of robot pose and landmark locations in underwater robot 水下机器人姿态和地标位置的并行估计
2013 13th International Conference on Control, Automation and Systems (ICCAS 2013) Pub Date : 2013-10-01 DOI: 10.1109/ICCAS.2013.6703891
Tae Gyun Kim, Hyun-Taek Choi, N. Ko
{"title":"Concurrent estimation of robot pose and landmark locations in underwater robot","authors":"Tae Gyun Kim, Hyun-Taek Choi, N. Ko","doi":"10.1109/ICCAS.2013.6703891","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703891","url":null,"abstract":"This paper describes a concurrent mapping and localization(CML) for an underwater robot where mapping indicates location estimation of landmarks. The proposed method extends Kalman filter approach of CML in 2 dimensional area to that in 3 dimensional underwater environment. The method uses measurement of range and bearing from a robot and the landmarks. The method uses linearized relationship between the robot motion velocity and locations of robot and landmarks. Also, the measurements are assumed to be linearly dependent on the robot motion. Simulation results show the feasibility of the method. The method can improve the IMU based navigation to confine the location error into a limited range and prevent the growth of error with time.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"s3-20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125306152","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
Real time adaptive step length estimation for smartphone user 智能手机用户的实时自适应步长估计
2013 13th International Conference on Control, Automation and Systems (ICCAS 2013) Pub Date : 2013-10-01 DOI: 10.1109/ICCAS.2013.6703929
Jung Ho Lee, B. Shin, Chulki Kim, Jaehun Kim, Seok Lee, Taikjin Lee
{"title":"Real time adaptive step length estimation for smartphone user","authors":"Jung Ho Lee, B. Shin, Chulki Kim, Jaehun Kim, Seok Lee, Taikjin Lee","doi":"10.1109/ICCAS.2013.6703929","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703929","url":null,"abstract":"An indoor positioning with a high accuracy is still a challenging research area. The error of pedestrian dead reckoning (PDR) is usually caused from both heading and step length error. In this paper, we focus on the reducing of step length estimation. We apply a linear combination consisted of 4 parameters obtained from an acceleration, an angular velocity, and a pedestrian average step length. For an in-flight calibration of step length estimation, we utilize map information and calculate constants for linear combination. We conduct a field test and its result suggests that the proposed algorithm is more accurate than the fixed step length method.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125434521","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: 9
Coordinates tracking and augmented reality system using bipolar X-ray fluoroscopy and stereo vision for image-guided neurosurgery 坐标跟踪和增强现实系统使用双极x射线透视和立体视觉图像引导神经外科
2013 13th International Conference on Control, Automation and Systems (ICCAS 2013) Pub Date : 2013-10-01 DOI: 10.1109/ICCAS.2013.6703872
Y. Chae, Seung Hyun Lee, H. Oh, M. Y. Kim
{"title":"Coordinates tracking and augmented reality system using bipolar X-ray fluoroscopy and stereo vision for image-guided neurosurgery","authors":"Y. Chae, Seung Hyun Lee, H. Oh, M. Y. Kim","doi":"10.1109/ICCAS.2013.6703872","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6703872","url":null,"abstract":"In this paper multiple optic sensor system and algorithms to match coordinate systems for neurosurgery robot is proposed for O-arm or C-arm fluoroscopy. As a specific device mounted on fluoroscopy we make the optical axis of X-ray source and the optical sensor identical. This makes it capable of achieving simultaneously X-ray vision and camera vision of the same area without any other complex mapping between two images. This can be used to make augmented vision to show X-ray vision to surgeons under operation. Also because of the characteristic of neurosurgery the required measurement area is relatively small but neurosurgery is very demanding in terms of accuracy, so the measurement should be within small numbers of micrometers. For accurate measurement specially designed stereo vision is implemented with IR illumination and retro-reflective marker spheres. With a pair of stereo images from the sensor system the three-dimensional coordinates and pose of the markers are calculated. By attaching these markers to patient, surgical instruments, and robot each set of the coordinate systems can be tracked with the proposed sensor system.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126846360","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
24GHz Doppler radar sensor for robotic applications 用于机器人应用的24GHz多普勒雷达传感器
2013 13th International Conference on Control, Automation and Systems (ICCAS 2013) Pub Date : 2013-10-01 DOI: 10.1109/ICCAS.2013.6704147
Hyun-Seung Lee, Eun-Gyu Lee, Ji-Hoon Kim, H. Ko, Choul‐Young Kim
{"title":"24GHz Doppler radar sensor for robotic applications","authors":"Hyun-Seung Lee, Eun-Gyu Lee, Ji-Hoon Kim, H. Ko, Choul‐Young Kim","doi":"10.1109/ICCAS.2013.6704147","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704147","url":null,"abstract":"A compact 24 GHz quadrature Doppler radar front-end module was fabricated using LTCC packaging technology. A method involving the vertical stacking of a three-dimensional LTCC packaging module and an FR-4 substrate was developed, and a compact 24 GHz quadrature Doppler radar front-end module was fabricated.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126893207","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
Map building and path generation for Indoor mobile robot by using global and local views 基于全局视图和局部视图的室内移动机器人地图生成和路径生成
2013 13th International Conference on Control, Automation and Systems (ICCAS 2013) Pub Date : 2013-10-01 DOI: 10.1109/ICCAS.2013.6704139
H. Ko, Jung Hun Kim
{"title":"Map building and path generation for Indoor mobile robot by using global and local views","authors":"H. Ko, Jung Hun Kim","doi":"10.1109/ICCAS.2013.6704139","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704139","url":null,"abstract":"This paper proposes a novel method to generate an accurate and adaptive path for indoor mobile robots by using the global and local camera views. The three dimensional indoor map is necessary for the robots to navigate in the narrow rooms. Since the previous researches usually used the only camera or the sensors inside the robot, it was not easy to get a global map of the room for navigating. In the proposed system, the cameras with a fish-eye lens, attached along a line of the ceiling or at high-level positions on wall, provide the global views which can show the positions of both the moving robot and the fixed stuffs in the room. Also, the camera installed on the robot can provide the real-time local views, notifying the appearance of unexpected objects on its way and identifying the fixed stuffs like furniture in the room. Combing the global and local views can increase the probability of recognizing the objects around the robotic environment, and can provide more detail information of the three dimensional map for navigating.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123171801","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
Estimation of incident wave of AWS-based wave energy converter using extended Kalman filter 基于扩展卡尔曼滤波的波浪能量转换器入射波估计
2013 13th International Conference on Control, Automation and Systems (ICCAS 2013) Pub Date : 2013-10-01 DOI: 10.1109/ICCAS.2013.6704106
Jae Seung Kim, Jung Yoon Kim, Jin Bae Park
{"title":"Estimation of incident wave of AWS-based wave energy converter using extended Kalman filter","authors":"Jae Seung Kim, Jung Yoon Kim, Jin Bae Park","doi":"10.1109/ICCAS.2013.6704106","DOIUrl":"https://doi.org/10.1109/ICCAS.2013.6704106","url":null,"abstract":"This paper presents a novel method of estimating ocean waves by measuring current outputs from the Archimedes Wave Swing (AWS) wave energy converter (WEC). The wave period and height are crucial information to maximize the power output from the AWS. However, since the AWS is installed on the seabed, additional sensors and buoys are required to obtain the ocean wave information. The extended Kalman filter (EKF) is applied to obtain the states of the ocean wave by measuring the generator current in the α - β domain. As the EKF requires the Jacobian matrix of the system dynamic equations for the system matrix, simplified hydrodynamics of the floater including the Froude-Krylov excitation force and the domain α - β voltage equation of the generator is derived to develop the mathematical model of the AWS. In order to verify the performance of the estimator, a numerical simulation is performed and presented and it shows great agreement with the actual motion.","PeriodicalId":415263,"journal":{"name":"2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)","volume":"1151 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126507475","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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