2023 IEEE/SICE International Symposium on System Integration (SII)最新文献_第10页

Non-Energized Above-Knee Prosthesis Enabling Stair's Walking-New Design Aimed at Practical Usage- 实现楼梯行走的无能量膝上假体——面向实用的新设计

2023 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2023-01-17 DOI: 10.1109/SII55687.2023.10039330

K. Koganezawa, Reo Takahashi, K. Igarashi, Y. Fukuzawa, T. Arakawa, Yasuo Saito

引用次数: 0

Real-Time Software-in-the-Loop Simulation of the OpenAPS System* OpenAPS系统的实时软件在环仿真*

2023 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2023-01-17 DOI: 10.1109/SII55687.2023.10039344

P. Somers, Szilvia Urich, Robin Sauer, Johannes Schüle, O. Sawodny, C. Tarín

引用次数: 0

A Transport Simulation-Based Analysis of Charging Station Occupation for Long-Distance Route Planning of Battery Electric Vehicles 基于交通仿真的纯电动汽车长途路线规划充电站占用分析

2023 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2023-01-17 DOI: 10.1109/SII55687.2023.10039170

Julian Widmann, Matthew Weist, O. Sawodny

引用次数: 0

Reflectance Estimation for Pre-grasping Distance Measurement using RGB and Proximity Sensing 基于RGB和接近感测的预抓距反射估计

2023 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2023-01-17 DOI: 10.1109/SII55687.2023.10039202

G. A. G. Ricardez, Zihan Yue, Yosuke Suzuki, T. Taniguchi

{"title":"Reflectance Estimation for Pre-grasping Distance Measurement using RGB and Proximity Sensing","authors":"G. A. G. Ricardez, Zihan Yue, Yosuke Suzuki, T. Taniguchi","doi":"10.1109/SII55687.2023.10039202","DOIUrl":"https://doi.org/10.1109/SII55687.2023.10039202","url":null,"abstract":"Before grasping an object, robots should determine where is best to grasp it to increase the picking success rate. To search for feasible grasping points, placing proximity sensors based on the reflection of light at the tip of the gripper's fingers can be used to obtain the distance to objects (pre-grasping distance). However, the proximity information output by the sensor is sensitive to the object's reflectance, which leads to an error in the pre-grasping distance. In this study, we use neural network regression to estimate the reflectance of objects based on RGB images so that the pre-grasping distance error is reduced, assuming that the reflectance statistically depends on object category regarding daily objects found in the service robot environments. We created a dataset with images of 40 objects for which we measured the reflectance. Then, we trained two regressors based on well-known architectures. In the experiments, we compare the accuracy in the distance estimation for our proposed method and the conventional fixed reflectance method with both known and unseen objects. The proposed method significantly reduces the pre-grasping distance error for objects with various reflectances compared to the conventional method. The results show that our proposed method can achieve a distance estimation error under 2 [mm] at distances of 20 [mm] or less.","PeriodicalId":421076,"journal":{"name":"2023 IEEE/SICE International Symposium on System Integration (SII)","volume":"T167 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":"125414998","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

Method of Discriminating Wireless Link Status for Safe Operation Architecture of Mobile Robots 移动机器人安全运行体系结构无线链路状态判别方法

2023 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2023-01-17 DOI: 10.1109/SII55687.2023.10039179

Ko Matsuhiro, H. Shinbo, H. Ishii, A. Takanishi

{"title":"Method of Discriminating Wireless Link Status for Safe Operation Architecture of Mobile Robots","authors":"Ko Matsuhiro, H. Shinbo, H. Ishii, A. Takanishi","doi":"10.1109/SII55687.2023.10039179","DOIUrl":"https://doi.org/10.1109/SII55687.2023.10039179","url":null,"abstract":"With the development of wireless communication systems, a variety of different systems have been studied for controlling mobile robots remotely from a cloud service, often called cloud robotics. In cloud robotics, the quality of wireless links in the wireless communication systems is important to control the mobile robots. Since the quality of wireless links changes for a variety of different reasons, such as moving and blockage, such changes may affect robot control. To operate the mobile robots safely with changing wireless link quality, we proposed a safe operation architecture. Our initial proposal realizes the monitoring of the wireless link status using the heartbeat. When the heartbeat detects the disconnection of the wireless link, the mobile robot automatically stops. However, for safer control of mobile robots, an adaptive control method for the safe operation architecture is required to follow the any change in the wireless link quality because the change is not only a disconnection level but also a gradual status. In this paper, we propose a method of discriminating the wireless link status for adaptive control of mobile robots with changes in the wireless link quality. Our method analyzed the trends in the RSSI to determine the wireless link quality, and the wireless link quality is classified into four statuses to judge the safe operation level of the mobile robot. The evaluation of the proposed method based on the experiments with 60 GHz mobile communication system is presented, and the result shows the usefulness of the method.","PeriodicalId":421076,"journal":{"name":"2023 IEEE/SICE International Symposium on System Integration (SII)","volume":"25 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":"121663028","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

Energy Regeneration System for Quasi-Direct Drive Actuated Knee Exoskeleton 准直接驱动驱动膝关节外骨骼的能量再生系统

2023 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2023-01-17 DOI: 10.1109/SII55687.2023.10039116

Hai Liang Liew, I. Mizuuchi

{"title":"Energy Regeneration System for Quasi-Direct Drive Actuated Knee Exoskeleton","authors":"Hai Liang Liew, I. Mizuuchi","doi":"10.1109/SII55687.2023.10039116","DOIUrl":"https://doi.org/10.1109/SII55687.2023.10039116","url":null,"abstract":"Exoskeletons are limited by the amount of electrical energy on board which limits operating duration. A possible solution to increase the operating duration of exoskeletons is energy regeneration through regenerative braking. Existing exoskeletons with regenerative braking are limited by high transmission ratios and low backdrivability. This paper presents a novel energy regeneration system to enable regenerative braking using quasi-direct drive actuators at low speeds during human locomotion through the use of a reconfigurable battery management system and boost conversion technique. This enables the design of a knee exoskeleton actuated using quasi-direct drive actuators which have increased torque capability, higher backdrivability, and higher control bandwidth in comparison to conventional actuators. The exoskeleton provides assistive torque during uphill walking and stair ascent while performing energy regeneration during downhill walking and stair descent, which is charged back to the portable battery to elongate the operating duration of the exoskeleton. Using this system, harvesting energy during regenerative braking at low rotational speeds into a single-cell battery while enabling full battery access during the active mode is successfully achieved.","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":"121765978","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

Data-driven-based Stable Object Grasping for a Triple-fingered Under-actuated Robotic Hand 基于数据驱动的三指欠驱动机器人手稳定物体抓取

2023 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2023-01-17 DOI: 10.1109/SII55687.2023.10039475

Hackley Doan, K. Tahara

引用次数: 0

Development of Shoulder Mechanism for a Wearable Upper Limb Force-Feedback Device with Pneumatic Artificial Muscles and MR Brakes 基于气动人工肌肉和MR制动器的可穿戴上肢力反馈装置肩部机构的研制

2023 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2023-01-17 DOI: 10.1109/SII55687.2023.10039212

Jonah Komatsu, Ryunosuke Sawahashi, Taiki Masuda, M. Okui, Taro Nakamura

{"title":"Development of Shoulder Mechanism for a Wearable Upper Limb Force-Feedback Device with Pneumatic Artificial Muscles and MR Brakes","authors":"Jonah Komatsu, Ryunosuke Sawahashi, Taiki Masuda, M. Okui, Taro Nakamura","doi":"10.1109/SII55687.2023.10039212","DOIUrl":"https://doi.org/10.1109/SII55687.2023.10039212","url":null,"abstract":"We have been developing a wearable force-feedback device using pneumatic artificial muscles and magnetorheological fluid brakes. In a previous study, we confirmed that this device can present the stiffness of a virtual object. However, based on the results of a questionnaire administered during the experiment, we considered that the subjects' awareness of the device's weight suppressed the reality of the VR experience. Therefore, we redesigned the device to reduce the physical burden on the user. From simulation results, we confirmed that this redesign reduced the shoulder joint torque required for flexion and increased the workspace of the force-feedback device. In addition, the torque transmission characteristics of the link mechanism involved in horizontal shoulder motion was tested. We also measured the vertical load applied to the user's hand during horizontal shoulder motion. The results show that the device transmits torque close to the target value in the horizontal flexing direction but does not reach the target value in the horizontal extending direction. We also confirmed that the vertical load during horizontal motion could be reduced by redesigning the device.","PeriodicalId":421076,"journal":{"name":"2023 IEEE/SICE International Symposium on System Integration (SII)","volume":"308 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":"124382834","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

Basic Study on Transmission Side Impedance Matching in MRC-WPT MRC-WPT传输侧阻抗匹配的基础研究

2023 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2023-01-17 DOI: 10.1109/SII55687.2023.10039107

Taiga Hashi, Takahiro Miyaura, Katsuki Baba, Sousuke Nakamura

引用次数: 0

DNN Based Camera Attitude Estimation Using Aggregated Information from Camera and Depth Images 基于深度神经网络的相机姿态估计，利用相机和深度图像的聚合信息

2023 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2023-01-17 DOI: 10.1109/SII55687.2023.10039292

Hibiki Kawai, Y. Kuroda

{"title":"DNN Based Camera Attitude Estimation Using Aggregated Information from Camera and Depth Images","authors":"Hibiki Kawai, Y. Kuroda","doi":"10.1109/SII55687.2023.10039292","DOIUrl":"https://doi.org/10.1109/SII55687.2023.10039292","url":null,"abstract":"In this paper, we propose a camera attitude estimation network that features aggregated information extracted from camera and depth images. When robots estimate attitude, the estimation method using IMU or gyro-sensors like robots widely used is affected by noise generated from the ground, which makes the attitude estimation difficult. Although there are several methods for estimating the attitude of ground robots, a camera image-based estimation method using deep learning has been studied in recent years. Previous studies have improved the accuracy of the attitude estimation in a known environment, but that in an unknown environment remains low. When making an attitude estimation in an unknown environment, it is important to have an assumption of the terrain, such as that walls are approximately vertical to the ground. Our research uses as input two types of images: a camera image for landscape information and a depth image for terrain information. We propose a network that incorporates a feature extractor that uses cross-reference information of different modalities obtained from these two types of images and a classification type output layer. This network aims to improve the accuracy of attitude estimation in unknown environments. Source code of proposed method is available at https://github.com/Hibiki1020/camera_and_depth_image_attitude_estimator","PeriodicalId":421076,"journal":{"name":"2023 IEEE/SICE International Symposium on System Integration (SII)","volume":"7 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":"127084886","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