2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)最新文献

List of Session Chairs 会议主席名单

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ismcr47492.2019.8955709

引用次数: 0

Analysis of Magnetoelectric Robot for Biological Cell Poration 生物细胞穿孔磁电机器人分析

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955698

S. Hossain, Brandon D. Young, A. Bhalla, R. Guo

{"title":"Analysis of Magnetoelectric Robot for Biological Cell Poration","authors":"S. Hossain, Brandon D. Young, A. Bhalla, R. Guo","doi":"10.1109/ISMCR47492.2019.8955698","DOIUrl":"https://doi.org/10.1109/ISMCR47492.2019.8955698","url":null,"abstract":"Targeted drug delivery has been the focus of medical millimeter and nanometer sized-robots along with its other biomedical applications. Magneto-electric (ME) robots uses the coupling of the magnetostrictive and piezoelectric properties to generate electric pulses. A CFO-BTO (Cobalt Iron Oxide and Barium Titanate), ferromagnetic core and ferroelectric shell is modelled using COMSOL Multiphysics simulation of 2.5mm and 5mm spherical radius that produced an electric pulse of 0.625µV of 8.33ms time scale when exposed to an external magnetic field of intensity 50 Oe at 60Hz. The ME can be externally controlled via a magnetic navigation system (MNS) and the magnetic force accounts for the ME robot to align and propel in the direction of the Human Epithelial cell (HEP). The ME robot on reaching the HEP can generate electric pulses due to its magnetoelectric property and hence create nano-sized pores on the cell membrane. The focus of this paper is to understand the real time changes occurring in the conductivity and induced transmembrane potential of the cell when the CFO-BTO is brought in the vicinity of the HEP cell. The low magnitude of a single CFO-BTO that produced 0.625V of electric field can cause an induced transmembrane potential of approximately 7µV but the synchronized ME robot can produce a higher potential change that can allow for the pore creation. An estimation in the change in the conductivity of the cell is performed using an analytical -equivalent conductivity of a permeabilized cell approach and shown an increased conductivity due to the creation of nanopores and its correlation with the induced transmembrane potential. This real time theoretical analysis allows scope for future designing and understanding the application of the CFO-BTO robot in the drug delivery procedure in a cell.","PeriodicalId":423631,"journal":{"name":"2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"134 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122980982","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: 4

A Deep Learning Technique for Modeling Fluid Moments of Swimming Robots 游泳机器人流体力矩建模的深度学习技术

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955733

Rozie Zangeneh, S. Musa

引用次数: 0

Progress in Human-Robot Collaboration for Object Handover 面向对象切换的人机协作研究进展

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955665

Daniel Leal, Yimesker Yihun

{"title":"Progress in Human-Robot Collaboration for Object Handover","authors":"Daniel Leal, Yimesker Yihun","doi":"10.1109/ISMCR47492.2019.8955665","DOIUrl":"https://doi.org/10.1109/ISMCR47492.2019.8955665","url":null,"abstract":"This paper reviews the experimental work being accomplished in the broad field of human-robot collaboration (HRC) for object handover. Three fields of research are reviewed: sensor integration and interfacing, robot feedback communications with noise reduction, and how safety can be incorporated into these systems. In various stuides, methods of robot sensing are achieved through sensors, such as physical, visual/audible, and wearable. A robot can be initiated to complete a desired physical task such as object handover according to the sensors information. Once a robot is initiated for a handover, the robot should interpret the handover variables through compatible communication devices. These devices must be equipped with maximum data noise suppression capabilities. Noise will change the signal pattern and the encoded information which reduces the credibility of the data. This leads to environments that are potentially unsafe for both the human and the robot. With appropriate sensors, adequate communication, and safety concerns combined, an efficient object-handover may be implemented to increase workstation performance.","PeriodicalId":423631,"journal":{"name":"2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"1996 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125575850","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

MFCC-based Houston Toad Call Detection using LSTM 基于mfcc的LSTM休斯顿蟾蜍呼叫检测

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ismcr47492.2019.8955667

Abdullah Al Bashit, Damian Valles

{"title":"MFCC-based Houston Toad Call Detection using LSTM","authors":"Abdullah Al Bashit, Damian Valles","doi":"10.1109/ismcr47492.2019.8955667","DOIUrl":"https://doi.org/10.1109/ismcr47492.2019.8955667","url":null,"abstract":"The Houston Toad (HT) is an endangered amphibian living in the edge of extinction. For their conservation, the localization of their mating call needs to be detected in order to protect the eggs from being hunted by predators. Due to the remote locations of their habitat, solar-powered Automatic Recognizing Device (ARD) has been deployed to identify the distinct HT mating call at Bastrop, Texas. The ARD records environmental sound at prescribed intervals that implements signal processing and trained Multilayer Perceptron (MLP) Neural Network (NN) predictor model to identify the HT onboard. If an HT exists, the ARD sends notification of timestamp via Email and SMS over the GPRS modules to the researcher. The signal processing techniques applied to the audio file are band-pass filtering, framing, windowing, clipping, feature extraction by Mel-Filterbank, and Mel-Frequency Spectral Coefficient (MFCC). The MLP-NN resulted in 66.67% success rate on detecting HT calls. This paper modifies and tunes the signal process techniques by modifying the band-pass filter, frame size, only using MFCC and implements Long Short-Term Memory (LSTM) classifier that results in success rate of 98% on true-positive, and 86% on true-negative over 94% training and 92.6% testing accuracy for HT detection.","PeriodicalId":423631,"journal":{"name":"2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"37 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129973205","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: 4

Pain Mitigation Through Virtual Reality Applications 通过虚拟现实应用减轻疼痛

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955702

M. McFarland, Nathan Zelaya, G. Hossain, David Hicks, L. McLauchlan

{"title":"Pain Mitigation Through Virtual Reality Applications","authors":"M. McFarland, Nathan Zelaya, G. Hossain, David Hicks, L. McLauchlan","doi":"10.1109/ISMCR47492.2019.8955702","DOIUrl":"https://doi.org/10.1109/ISMCR47492.2019.8955702","url":null,"abstract":"In the world of medicine, pain can affect various aspects of the human body. There are many different forms in which pain can be interpreted throughout the body, resulting in either physical or mental trauma. This research project is studying the mitigation of minor acute pain like but not limited to cuts, scrapes, bruises, and soreness through the use of virtual reality (VR) technology and different types of VR games. This research study focuses on a video game genre that is based on puzzle games involving math. Other game genres, including action and relaxing games, will also be looked at. Furthermore, the experimental data will only test puzzle VR games for their pain mitigation effects. VR can be a useful tool to use in the fight against pain strictly because of a known theory called the Gate Theory of Attention. This theory states that by diverting the attention away from the source of the pain, the mind can effectively reduce the perception of that pain [1]. A VR headset called the Oculus Rift is being used to set up pain-related experiments, determining if a puzzle VR game called Math N’ Grab is effective at mitigating pain. With the use of this immersive VR game, currently being developed by the researchers, the user can potentially divert their attention away from their pain with such a degree that it can effectively be mitigated in most circumstances. The results of this experiment could offer up new ways to better manage pain.","PeriodicalId":423631,"journal":{"name":"2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134439844","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

Autonomous Navigation via a Deep Q Network with One-Hot Image Encoding 基于单热图像编码的深度Q网络自主导航

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955697

Will Anderson, Kevin Carey, Eric M. Sturzinger, Christopher J. Lowrance

{"title":"Autonomous Navigation via a Deep Q Network with One-Hot Image Encoding","authors":"Will Anderson, Kevin Carey, Eric M. Sturzinger, Christopher J. Lowrance","doi":"10.1109/ISMCR47492.2019.8955697","DOIUrl":"https://doi.org/10.1109/ISMCR47492.2019.8955697","url":null,"abstract":"Common autonomous driving techniques employ various combinations of convolutional and deep neural networks to safely and efficiently navigate unique road and traffic conditions. This paper investigates the feasibility of employing a reinforcement learning (RL) model for autonomous navigation using a low dimensional input. While many navigation applications generate each individual state as a function of a frame's raw pixel information, we use a deep Q network (DQN) with reduced input dimensionality to train a mobile robot to continuously remain within a lane around an elliptical track. We accomplish this by using a one-hot encoding scheme that assigns a binary variable to each element in a square array. This value is a function of whether the input frame detects the presence of a lane boundary. Our ultimate goal was to determine the minimum number of training samples required to consistently train the robot to complete one cycle around the track, from multiple starting positions and directions, without crossing a lane boundary. We found that by intelligently balancing exploration and exploitation of its environment, as well as the rewards for staying in the lane, the robot was able to achieve its goal with a small number of samples.","PeriodicalId":423631,"journal":{"name":"2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"174 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131885570","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: 4

Circadian Rhythm Light Watch 昼夜节律光表

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955710

R. Castañeda

引用次数: 3

Lessons Learned from the Development of an Affordable Open-Source Based Humanoid Socially Assistive Robot 从一个经济实惠的基于开源的人形社会辅助机器人的发展经验教训

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955724

Pablo Rangel, Kimberly Brotherton, Erika Anderson, Adam Hennad, Aaron Vega, Matt Plotkin

{"title":"Lessons Learned from the Development of an Affordable Open-Source Based Humanoid Socially Assistive Robot","authors":"Pablo Rangel, Kimberly Brotherton, Erika Anderson, Adam Hennad, Aaron Vega, Matt Plotkin","doi":"10.1109/ISMCR47492.2019.8955724","DOIUrl":"https://doi.org/10.1109/ISMCR47492.2019.8955724","url":null,"abstract":"Affordable elderly care has become a motivator for the development of low-cost and efficient healthcare related technologies. Among those technologies, multiple Socially Assistive Robotics (SAR) devices have been implemented as a possible solution on elderly care tasks. More robotic applications have also been implemented in order to monitoring human vitals and motion for those in need. A team of undergraduate students developed a SAR with the express intent to assist those in need of personal care. The Personal Assistance Humanoid Robot (PAR) combined not only the socially assistive capabilities of a SAR, but it also seeks to expand its capabilities into assisting with vitals and motion monitoring. The development of the PAR was crafted from functional open-source technologies. The student team was able to emulate and enhance existing platforms in a cost effective and simplified way, using fundamental academic and hands-on engineering principles. This document describes the process towards the development of an initial prototype PAR platform. It also documents structural and subsystem integration difficulties encountered through the assembly and implementation process. The scope of the prototype included the robot upper body with dynamic limbs, object recognition, object tracking, human gesture emulation, color and depth perception, auditory sensing, and pre-programmed verbal responses for social interaction.","PeriodicalId":423631,"journal":{"name":"2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117217554","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

Structure of wall climbing robot control system 爬壁机器人控制系统结构

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955718

V. Gradetsky, M. Knyazkov, E. Semenov, A. Sukhanov

{"title":"Structure of wall climbing robot control system","authors":"V. Gradetsky, M. Knyazkov, E. Semenov, A. Sukhanov","doi":"10.1109/ISMCR47492.2019.8955718","DOIUrl":"https://doi.org/10.1109/ISMCR47492.2019.8955718","url":null,"abstract":"Structure of control system is presented that intended for wall climbing robot with vacuum contact devices to realize motion along vertical, slope surfaces and ceilings. The principal schemes of vacuum contact devices are adapted to the surfaces by means of force, pressure and tactile sensors as so as feedback loops. Information is transmitted from sensors to microprocessors of control system. Suggested algorithms of discrete control are developed on the base of information parameters about dynamics of vacuum contact devices. Structure of control system permits producing automatic mood of motion, supervision principle of remote control with man-operator participation and combine mood when man-operator can possibilities to include in control in critical points of extreme conditions. Mechanical transport system consists of two platforms and drives intended for performing translation and rotation motions of robot with technological equipment. Essential peculiarities of wall climbing control motion are analyzed, such as non-predicted in advance quality of surfaces, external disturbances, and some kinds of obstacles that is necessary to inspect by sensors of information system and to avoid by means of control and drives systems.","PeriodicalId":423631,"journal":{"name":"2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128229360","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