发布求助
文献互助 智能选刊 最新文献

2023 IEEE/SICE International Symposium on System Integration (SII)最新文献

筛选
英文 中文
Pose Measurement and Contact Training of a Fabric-Reinforced Inflatable Soft Robot
2023 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2023-01-17 DOI: 10.1109/SII55687.2023.10039331
P. D. Bui, Joshua A. Schultz
{"title":"Pose Measurement and Contact Training of a Fabric-Reinforced Inflatable Soft Robot","authors":"P. D. Bui, Joshua A. Schultz","doi":"10.1109/SII55687.2023.10039331","DOIUrl":"https://doi.org/10.1109/SII55687.2023.10039331","url":null,"abstract":"This paper proposes a new method to measure the pose and localize the contacts with the surrounding environment for an inflatable soft robot by using optical sensors (photocells), inertial measurement units (IMUs), and a pressure sensor. These affordable sensors reside entirely aboard the robot and will be effective in environments where external sensors, such as motion capture, are not feasible to use. The entire bore of the robot is used as a waveguide to transfer the light. When the robot is working, the photocell signals vary with the current shape of the robot and the IMUs measure the orientation of its tip. Analytical functions are developed to relate the photocell signals and the robot pose. Since the soft robot is deformable, the occurrence of contact at any location on its body will modify the sensor signals. This simple measurement approach generates enough information to allow contact events to be detected and classified with high precision using a machine learning algorithm.","PeriodicalId":421076,"journal":{"name":"2023 IEEE/SICE International Symposium on System Integration (SII)","volume":"17 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124360494","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
Distributed Simulation of Encrypted Dynamics via Functional Mockup Units 基于功能模型单元的加密动力学分布式仿真
2023 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2023-01-17 DOI: 10.1109/SII55687.2023.10039150
Xiaofeng Zhao, Shane Kosieradzki, Jun Ueda
{"title":"Distributed Simulation of Encrypted Dynamics via Functional Mockup Units","authors":"Xiaofeng Zhao, Shane Kosieradzki, Jun Ueda","doi":"10.1109/SII55687.2023.10039150","DOIUrl":"https://doi.org/10.1109/SII55687.2023.10039150","url":null,"abstract":"The research presented in this paper aims to establish functional mockup units (FMU) co-simulation methods to simulate and evaluate encrypted dynamic systems using some-what homomorphic encryption (SHE). The proposed approach encrypts the entire dynamic system expressions, including: model parameters, state variables, feedback gains, and sensor signals, and perform computation in the ciphertext space to simulate dynamic behaviors or generate motion commands to servo systems. The developed FMU co-simulation helps analyze the relationship between security parameters and performance. Two illustrative examples are presented and analyzed: 1) encrypted Duffing oscillator and 2) encrypted teleoperation. How the time delay due to FMU co-simulation affects the refresh rate is also reported.","PeriodicalId":421076,"journal":{"name":"2023 IEEE/SICE International Symposium on System Integration (SII)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117163820","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
Proposal of a Fastening Method for Deformable Plastic Parts and Rigid Metal Parts * 可变形塑料件和刚性金属件的紧固方法建议*
2023 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2023-01-17 DOI: 10.1109/SII55687.2023.10039451
G. Endo, Yuta Tsukamoto, Hiroyuki Nabae, T. Takaki
{"title":"Proposal of a Fastening Method for Deformable Plastic Parts and Rigid Metal Parts *","authors":"G. Endo, Yuta Tsukamoto, Hiroyuki Nabae, T. Takaki","doi":"10.1109/SII55687.2023.10039451","DOIUrl":"https://doi.org/10.1109/SII55687.2023.10039451","url":null,"abstract":"Ahstract- Weight reduction is becoming increasingly important to reduce the power consumption of robots. Our ultimate goal is to fabricate practical industrial robot structures using resin 3D printing technology to reduce the robot's weight. In general, 3D printed parts made of resin are soft and deformable; thus, conventional screw fastening does not work well. This paper proposes a method to reduce the stress on a plastic member by inserting a thin-walled metal pipe into a plastic member and subjecting it to the axial force of a screw. The effectiveness of the proposed method was experimentally verified by measuring the thickness of the plastic test specimen and the tightening torque of screws over one month. The maximum torque load test was also conducted to confirm that the fastening force was sufficient for practical use.","PeriodicalId":421076,"journal":{"name":"2023 IEEE/SICE International Symposium on System Integration (SII)","volume":"140 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127328094","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
Robotic System for Assisting Long-sleeved Shirt Dressing Using Two Manipulators with Different Roles 利用两个不同角色的机械手辅助长袖衬衫穿衣的机器人系统
2023 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2023-01-17 DOI: 10.1109/SII55687.2023.10039410
Keisuke Onda, Takahiro Yamazaki, Yutaka Takase, Kimitoshi Yamazaki
{"title":"Robotic System for Assisting Long-sleeved Shirt Dressing Using Two Manipulators with Different Roles","authors":"Keisuke Onda, Takahiro Yamazaki, Yutaka Takase, Kimitoshi Yamazaki","doi":"10.1109/SII55687.2023.10039410","DOIUrl":"https://doi.org/10.1109/SII55687.2023.10039410","url":null,"abstract":"This study describes a long-sleeved shirt dressing support system, which mainly comprises two robotic manipulators, for people with half-body paralysis. To design a feasible support system, we obtain the opinions of occupational therapists and experimental psychologists. Based on their advices, we propose herein an appropriate dressing procedure that can be supported by robots. We also construct a robotic system to achieve the required assistance and implement some essential functions, including human pose recognition, end-effector trajectory generation for shirt sleeve manipulation, and arm motion support while dressing. Accordingly, we introduce admittance control for the arm motion support. This avoids the trouble of a person getting a large load while putting his/her arm through a shirt sleeve. We present the experimental results of an actual person wearing a long-sleeved shirt to show the usefulness of the proposed system.","PeriodicalId":421076,"journal":{"name":"2023 IEEE/SICE International Symposium on System Integration (SII)","volume":"199 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114924249","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
Development of an Agricultural Arm Support Suit Which Requires No Power Source 一种无需电源的农业臂支撑服的研制
2023 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2023-01-17 DOI: 10.1109/SII55687.2023.10039402
Yoshihiro Kai, Reo Sukejima, Takehiro Nagatsu, Yuma Takenaka, K. Sugawara
{"title":"Development of an Agricultural Arm Support Suit Which Requires No Power Source","authors":"Yoshihiro Kai, Reo Sukejima, Takehiro Nagatsu, Yuma Takenaka, K. Sugawara","doi":"10.1109/SII55687.2023.10039402","DOIUrl":"https://doi.org/10.1109/SII55687.2023.10039402","url":null,"abstract":"Fruit farmers often need to keep their arms raised continuously for cultivating or harvesting fruits, and Japanese fruit farmers are rapidly aging. In this paper, we propose a new agricultural arm support suit. This arm support suit easily locks the user's shoulder joints by pushing the support suit's levers and continues to support the user's arms. To unlock is also easy. This support suit was developed by integrating only passive mechanical elements without batteries, actuators, or controllers. Therefore, this support suit is essentially safe. Since batteries are not required, there are no battery problems such as the limitation of the time to use and the maintenance. First, we describe the features of this arm support suit. Second, we illustrate the structure and mechanism of the support suit. Third, we introduce the developed support suit. Finally, we provide experimental results to evaluate the effectiveness of the developed arm support suit.","PeriodicalId":421076,"journal":{"name":"2023 IEEE/SICE International Symposium on System Integration (SII)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115087614","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
Introduction of spiral coils in wireless charging which enables magnetic field suppression at foreign object location 在无线充电中引入螺旋线圈，可以在异物位置抑制磁场
2023 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2023-01-17 DOI: 10.1109/SII55687.2023.10039466
Kazuki Kawagashira, Sousuke Nakamura
{"title":"Introduction of spiral coils in wireless charging which enables magnetic field suppression at foreign object location","authors":"Kazuki Kawagashira, Sousuke Nakamura","doi":"10.1109/SII55687.2023.10039466","DOIUrl":"https://doi.org/10.1109/SII55687.2023.10039466","url":null,"abstract":"The primary drawback of wireless power transfer (WPT) systems that are used for electric vehicles (EVs) in parking lots is the abnormal heat generation caused by the absorption of magnetic fields by metallic foreign bodies. This paper presents a phased-array wireless power transfer method that suppresses the magnetic field around a metallic object for seamless power transfer. In this approach, it is assumed that the object exists at an arbitrary point on a two-dimensional plane. However, helical coils were used in previous systems, and this increased the physical size of the WPT system, specifically when the coils were arranged in an overlapping configuration. Therefore, in this paper, spiral coils are introduced to make the system compact. Simulation results confirmed that the magnetic field suppression was sufficient.","PeriodicalId":421076,"journal":{"name":"2023 IEEE/SICE International Symposium on System Integration (SII)","volume":"1119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116070897","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
Semantic Segmentation of Strawberry Plants Using DeepLabV3+ for Small Agricultural Robot 基于DeepLabV3+的小型农业机器人草莓植株语义分割
2023 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2023-01-17 DOI: 10.1109/SII55687.2023.10039322
T. Fujinaga, T. Nakanishi
{"title":"Semantic Segmentation of Strawberry Plants Using DeepLabV3+ for Small Agricultural Robot","authors":"T. Fujinaga, T. Nakanishi","doi":"10.1109/SII55687.2023.10039322","DOIUrl":"https://doi.org/10.1109/SII55687.2023.10039322","url":null,"abstract":"This study presents a method for identifying strawberry plants (fruits, flowers, calyxes, and trusses) with the aim of developing a multi-functional agricultural work assist robot for small-scale facilities. We focus on semantic segmentation by deep learning. Some pre-trained CNNs (ResNet-18, ResNet-50, Xception and MobileNetV2) are compared as the initial value of weights for feature extraction in DeepLabV3+. In this study, ResNet-50 is used as the backbone network of DeepLabV3+. In addition, we propose a method of applying post-processing based on the shape characteristics of plants to the results of semantic segmentation. The proposed method is evaluated using the images obtained in the actual strawberry farm, and its accuracy is evaluated by mean IoU. The effectiveness of the proposed method is shown by comparing with and without post-processing. The maximum was 0.731 for fruits and the minimum was 0.294 for trusses (0.643 and 0.199 respectively without post-processing). We discuss the validity of the evaluation method IoU, and evaluate the results using boundary F1 score, which takes contours more carefully into account. If boundary F1 score is sufficient even if IoU is not sufficient, it is possible that the semantic segmentation results are valid depending on the task of the robot.","PeriodicalId":421076,"journal":{"name":"2023 IEEE/SICE International Symposium on System Integration (SII)","volume":"239 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114598837","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
A pilot case study for developing a software for human emotion recognition using multimodal data 使用多模态数据开发人类情感识别软件的试点案例研究
2023 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2023-01-17 DOI: 10.1109/SII55687.2023.10039248
Toshiya Akiyama, Kazuyuki Matsumoto, K. Osaka, Ryuichi Tanioka, Yuko Yasuhara, Hirokazu Ito, Gil P. Soriano, Allan Paulo Blaquera, Yoshihiro Kai, T. Tanioka
{"title":"A pilot case study for developing a software for human emotion recognition using multimodal data","authors":"Toshiya Akiyama, Kazuyuki Matsumoto, K. Osaka, Ryuichi Tanioka, Yuko Yasuhara, Hirokazu Ito, Gil P. Soriano, Allan Paulo Blaquera, Yoshihiro Kai, T. Tanioka","doi":"10.1109/SII55687.2023.10039248","DOIUrl":"https://doi.org/10.1109/SII55687.2023.10039248","url":null,"abstract":"In developing software to analyze the emotions of patients with schizophrenia using multimodal data, a pilot case study was conducted in order to examine its accuracy in a healthy subject. This study shows a low agreement and reliability between the MTCNN and the subjective evaluation of the three examiners based on the result of the ICC and Cronbach's alpha coefficient. However, it can be revealed that the Multi-Task Cascaded Convolutional Networks (MTCNN) facial expression recognition and the Heart Rate Variability (HRV) analysis showed consistent results. Subject who experienced anticipated feelings of happiness when the conversation was focused in the subject's favorite food, which showed an increased in HFnu, indicating increased parasympathetic activity. It was considered that the subject felt that the conversation with the robot was lively and empathetic. Findings suggest that MTCNN can be used in combination with HRV analysis in determining the facial expression of an individual. However, further research should be done involving additional subjects in order to ascertain the validity and reliability of the MTCNN.","PeriodicalId":421076,"journal":{"name":"2023 IEEE/SICE International Symposium on System Integration (SII)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128238129","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
Constructing Earth-Moon Data Relay System: Trajectory Design of Ballistic Lunar Transfer for Nano Spacecraft 构建地月数据中继系统:纳米航天器弹道月球传输轨迹设计
2023 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2023-01-17 DOI: 10.1109/SII55687.2023.10039237
Kodai Nakazawa, Kohei Takeda, Saki Komachi, S. Fujita, T. Kuwahara
{"title":"Constructing Earth-Moon Data Relay System: Trajectory Design of Ballistic Lunar Transfer for Nano Spacecraft","authors":"Kodai Nakazawa, Kohei Takeda, Saki Komachi, S. Fujita, T. Kuwahara","doi":"10.1109/SII55687.2023.10039237","DOIUrl":"https://doi.org/10.1109/SII55687.2023.10039237","url":null,"abstract":"The lunar south pole region is expected to be an active area for future exploration, as a lunar base is planned to be constructed in the Artemis program. However, communication with the Earth is difficult in the lunar south pole region, thus data relay by spacecraft is indispensable. Against this background, the Space Robotics Laboratory (SRL) at Tohoku University has been developing a 6U CubeSat to relay data between a lunar rover and a ground station. The spacecraft is expected to be released from Lunar Orbital Platform-Gateway (Gateway) and inserted into a lunar orbit for communication with the lunar south pole region. Nevertheless, the spacecraft's propulsive power is limited due to its 6U CubeSat size (l00x200x300 mm), so it is required to take a trajectory that reduces transition energy. In this study, a ballistic lunar transfer using solar perturbation, called Weak Stability Boundary (WSB) trajectory, is used to decrease the transition cost. In this paper, we describe the results of the analysis and design of the WSB trajectory and the conditions necessary to insert the nano spacecraft into lunar orbit under limited propulsion capability.","PeriodicalId":421076,"journal":{"name":"2023 IEEE/SICE International Symposium on System Integration (SII)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128970167","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
High-speed cell rotation based on a vibration-induced flow designed by evaluations of vertical flow around microstructures 基于微结构周围垂直流动评价设计的振动诱导流动的高速细胞旋转
2023 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2023-01-17 DOI: 10.1109/SII55687.2023.10039404
Hiroyasu Kobayashi, Yuha Koike, T. Hayakawa
{"title":"High-speed cell rotation based on a vibration-induced flow designed by evaluations of vertical flow around microstructures","authors":"Hiroyasu Kobayashi, Yuha Koike, T. Hayakawa","doi":"10.1109/SII55687.2023.10039404","DOIUrl":"https://doi.org/10.1109/SII55687.2023.10039404","url":null,"abstract":"The techniques of cell rotation benefit various fields. We have proposed a cell rotation method based on a vibration-induced flow. Vibration-induced flow is a localized flow generated when vibrations are applied to microstructures. Proposed method uses a vortex flow generated by the flow around three micropillars. This method also enables to control angular velocity by changing voltages corresponding to amplitudes of vibrations. However, there is a problem that cells stop rotating due to floating when applying high voltage for high-speed cell rotation. Therefore, we aim to design the micropillars that enables high-speed cell rotation. In this study, we analyzed a flow causing cell floating with the various heights of the micropillars. Furthermore, we evaluated rotation of mouse oocytes using the micropillars of different heights. We succeeded in high-speed rotation of mouse oocytes at approximately 802 degrees/s by using low-height structures.","PeriodicalId":421076,"journal":{"name":"2023 IEEE/SICE International Symposium on System Integration (SII)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124230777","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
下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信