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2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)最新文献

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Investigation of ground effect on aerodynamic forces and three-dimensional flow structures for a flapping wing 地面效应对扑翼气动力和三维流动结构的影响
2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2013-12-02 DOI: 10.1109/URAI.2013.6677442
T. Truong, K. Yoon, H. Park, D. Byun
{"title":"Investigation of ground effect on aerodynamic forces and three-dimensional flow structures for a flapping wing","authors":"T. Truong, K. Yoon, H. Park, D. Byun","doi":"10.1109/URAI.2013.6677442","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677442","url":null,"abstract":"The aim of the present work is to provide an insight into the aerodynamic performances of the beetle during take-off which had been estimated in previous investigations. We employed a scaled-up electromechanical model flapping wing to measure the aerodynamic forces and the three-dimensional flow structures on the flapping wing. The ground effect on the unsteady forces and the flow structures was also characterized. The present dynamically-scaled wing model could replicate the general stroke pattern of the beetle's hind wing kinematics during take-off flight. The instantaneous aerodynamic forces for four strokes during beetle's take-off were measured by the force sensor attached at the wing base. Flow visualization provided the general picture of the evolution of the three-dimensional leading edge vortex (LEV) on the beetle hind wing model. The LEV is stable during each stroke and increases radically with the distance from the root to the tip, forming a leading-edge spiral vortex. The force measurement results show that the vertical force generated by hind wing is large enough to lift the beetle up. For the beetle hind wing kinematics, the total vertical force production increases 18.4% and 8.6 % for the first and the second stroke, respectively, due to the ground effect.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133958902","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
Simulation based design for position estimation of small robotic fish 基于仿真的小型机器鱼位置估计设计
2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2013-12-02 DOI: 10.1109/URAI.2013.6677306
Sang-Cheol Lee, Youn Tae Kang, S. Hong, Y. Ryuh
{"title":"Simulation based design for position estimation of small robotic fish","authors":"Sang-Cheol Lee, Youn Tae Kang, S. Hong, Y. Ryuh","doi":"10.1109/URAI.2013.6677306","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677306","url":null,"abstract":"This paper presents the position estimation for small robotic fish using GPS(Global Positioning System)/INS (Inertial Navigation System) and USBL (Ultra-Short Baseline). The main purpose of the paper is divided in to two parts: 1) to minimize the drift error that is inevitable in the double integration process in INS. 2) to enhance accuracy and update rates on the small robotic fish's position estimates. The simulation results show the efficiency of this algorithm.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132154594","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
Carbon nano artificial neuron system for flexible tactile sensing 柔性触觉感知碳纳米人工神经元系统
2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2013-12-02 DOI: 10.1109/URAI.2013.6677439
Se-Hoon Park, S. Y. Kim, Jin Ho Kim, I. Kang
{"title":"Carbon nano artificial neuron system for flexible tactile sensing","authors":"Se-Hoon Park, S. Y. Kim, Jin Ho Kim, I. Kang","doi":"10.1109/URAI.2013.6677439","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677439","url":null,"abstract":"This paper introduces an ongoing study to development a novel flexible tactile sensing system. The tactile system is consisted of the array of flexible sensors having piezoresistivity. To achieve flexibility and high sensitivity, the flexible sensors have been developed with smart nanocomposites. The smart nanocomposites are fabricated with multi-walled carbon nanotubes (MWCNTs) and graphene oxide (GO). The piezo-resistive characteristics of the sensors show fairy linear strain sensing with gauge factor range from 1~300 with respect to various strain range (~ 0.4%). The GO based strain sensor shows impact response over 0.09kg m/s which can sufficiently detect small contact forces. The long and flexible sensor can be considered to be a continuous sensor like a dendrite of a neuron in the human body and we named the sensor as a biomimetic artificial neuron. To mimic tactile system, we design ANMS (Artificial Neuron Matrix System) consisting the array of neurons and develop tactile algorithm to localize the contact information with a signal processing system.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129610140","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
A Tethered system to investigate the behavioral changes of the silk moth for chemical plume tracing 一种用于化学羽流追踪的研究蚕蛾行为变化的系留系统
2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2013-12-02 DOI: 10.1109/URAI.2013.6677466
Jouh Yeong Chew, Kotaro Kishi, Yohei Kinowaki, Ryo Minegishi, D. Kurabayashi
{"title":"A Tethered system to investigate the behavioral changes of the silk moth for chemical plume tracing","authors":"Jouh Yeong Chew, Kotaro Kishi, Yohei Kinowaki, Ryo Minegishi, D. Kurabayashi","doi":"10.1109/URAI.2013.6677466","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677466","url":null,"abstract":"We developed a Tethered system which measures the locomotion of the silk moth (Bombyx Mori) upon stimulation. The Bombykol, which is the synthetic pheromone, is used as the stimuli and we investigate the changes in chemical plume tracing (CPT) behavior of the moth. We consider the importance of this study for biomimetic of its CPT behavior. The locomotion observations are classified into elemental motions and used to estimate the stimuli time. The estimation accuracy is then used for CPT behavior analysis. Preliminary results show good estimation accuracy and suggest a declining CPT behavior in the time domain.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132082875","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
Water tank experiment for a robotic fish 机器鱼的水箱实验
2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2013-12-02 DOI: 10.1109/URAI.2013.6677304
D. Yun, J. Kyung, Sang-Yeong Jeong, Chanhun Park, H. Choi, Y. Ryuh
{"title":"Water tank experiment for a robotic fish","authors":"D. Yun, J. Kyung, Sang-Yeong Jeong, Chanhun Park, H. Choi, Y. Ryuh","doi":"10.1109/URAI.2013.6677304","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677304","url":null,"abstract":"In this paper, a water tank experiment was conducted to check the performance of a robotic fish. To view the function of a robotic fish swimming in flowing water, a circulating water tank should be used. 4 types of a caudal fin were made and used in the water tank experiment and the thrust of each case was measured and compared. Through this experiment, it can be identified swimming performance of each caudal fin.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130099369","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 autonomous robotic monitoring vehicle (ARMV) for aerial radiation monitoring 自主机器人监测飞行器(ARMV)的研制
2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2013-12-02 DOI: 10.1109/URAI.2013.6677454
W. Yim, A. Barzilov, G. Friesmuth
{"title":"Development of autonomous robotic monitoring vehicle (ARMV) for aerial radiation monitoring","authors":"W. Yim, A. Barzilov, G. Friesmuth","doi":"10.1109/URAI.2013.6677454","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677454","url":null,"abstract":"Unmanned system is often a critical component in monitoring and maintaining the processes of the nuclear power plant (NPP) to ensure that the plant stays within optimal operating conditions conducive to promote reliable and efficient power generation. Ensuring the safe control of the plant under normal, transient, and accidental conditions over long periods of time would help ensure public confidence and support of future nuclear projects. Implementation of the robust Autonomous Indoor Aerial Monitoring and Sensor Network system can improve plant efficiency and maximize safety, and provide solutions for many challenges existing in maintaining obsolescent or old instrumentation and control components in aging worldwide nuclear power plants. Although conventional temperature, gas, and radioactivity monitoring sensors have been extensively used in many processes, there exist reliability issues of process measurements. Therefore, augmenting the ubiquitous monitoring and sensor system can play an important role in increasing safety and economy of plants in which they are used.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"5 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116510952","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
Design of high speed fish-like robot ‘Ichthus V5.7’ 高速仿鱼机器人Ichthus V5.7的设计
2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2013-12-02 DOI: 10.1109/URAI.2013.6677308
Gi-Hun Yang, Y. Ryuh
{"title":"Design of high speed fish-like robot ‘Ichthus V5.7’","authors":"Gi-Hun Yang, Y. Ryuh","doi":"10.1109/URAI.2013.6677308","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677308","url":null,"abstract":"Until a recent date, bio-inspired robotics has been very challenging issue on robotics area. Among these categories, fish-like underwater robots have been lively investigated, expecting some advantages from mimicking real fish's great maneuverability and high energy efficiency. On the other hand, there are still diverse problems regarding operation of the robotic fish in the real environment such as in the river or ocean for detecting water pollution. In order to use the robot in the real environment, the robot has to have relatively fast speed to overcome the flow rate of the river. In this paper, we mainly describe development of a robotic fish which can provide faster swimming performance than our previous development. The robotic fish `Ichthus V5.7' has a 3-DOF serial link-mechanism for its propulsion, 1-DOF for up and down motion with its pectoral fins. Several sensors to navigate autonomously in the real environment like river are embedded. The developed robotic system can be used as an environmental monitoring system for monitoring pollution or quality of river with higher speed.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134041770","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: 7
Design of a haptic environment to study the effect of loading on resting and action tremors 设计触觉环境，研究负载对静息和动作震动的影响
2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2013-12-02 DOI: 10.1109/URAI.2013.6677312
K. Sajith, S. Chaudhuri
{"title":"Design of a haptic environment to study the effect of loading on resting and action tremors","authors":"K. Sajith, S. Chaudhuri","doi":"10.1109/URAI.2013.6677312","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677312","url":null,"abstract":"We propose a novel design of haptic virtual environments for the quantification of both resting and action tremor. To quantify the resting tremor, a haptic virtual environment simulating the movement of hand is subjected to a variable resistance. The subject is asked to rest his/her hand in this environment and the velocity of hand motion (tremor) is captured by the haptic device. The variation of tremor parameters with virtual loading of the hand is estimated. To quantify action tremor, a dynamic virtual haptic environment is designed where a subject is asked to move a rigid body from a starting point to an end point along a specified path. During this manipulation, velocity of hand motion is captured by the haptic device to extract tremor using appropriate signal processing tools. The mass of the rigid body is increased to study the effect of loading on tremor.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133577505","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
Determination of sample size for lifetime test in the inception of robot R&D 机器人研发初期寿命试验样本量的确定
2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2013-12-02 DOI: 10.1109/URAI.2013.6677472
Joel Ryu, Jinwoo Kim, Do-Hyun Ryu
{"title":"Determination of sample size for lifetime test in the inception of robot R&D","authors":"Joel Ryu, Jinwoo Kim, Do-Hyun Ryu","doi":"10.1109/URAI.2013.6677472","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677472","url":null,"abstract":"The authors have studied for how-to-determine appropriate sample size in the stage of research and development of robot. Due to the cost and time limit, it is almost impossible to proceed to test many prototypes in the real research and development environment. Testing methods for securing reliability should be devised to be handled in an inexpensive way. Several considerations were discussed for that purpose. Especially, Weibull distribution that provides reasonably accurate analysis for reliability was selected and thereby new method responding to the quantitative target of product reliability was developed. Thus, this research is concluded that the generalized equation on sample size determination is helpful to evaluate lifetime in the inception of robot R&D. And the approximated equation can be easily utilized for developing and selecting test method adequate to real test fields. Application study on the establishment of durability test method for robot actuator through parametric ALT was conducted.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116762132","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
Face identification using affine simulated dense local descriptors 基于仿射模拟密集局部描述符的人脸识别
2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2013-12-02 DOI: 10.1109/URAI.2013.6677383
Bong-Nam Kang, Daijin Kim
{"title":"Face identification using affine simulated dense local descriptors","authors":"Bong-Nam Kang, Daijin Kim","doi":"10.1109/URAI.2013.6677383","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677383","url":null,"abstract":"In this paper, we propose a method for pose and facial expression invariant face identification using the affine simulated local descriptors. Although the currently studied approaches present the higher recognition rate for face verification, the performance of face identification are still low. The proposed method consist of four step, we first normalize the face image using the face detector and eye detector. In second step, we apply the affine simulation for synthesizing various viewed face images. In third step, we make a descriptor on the overlapping block-based grid keypoints. In final step, a probe image is compared with the reference images in a gallery by calculating the number of nearest neighbor keypoints. To improve the recognition performance, we use also the keypoint distance ratio and false matched keypoint ratio. The proposed method using the affine simulated local descriptors showed the better performance than that of cosine similarity metric learning (CSML) method in terms of true acceptance rate, false rejection rate, false acceptance rate, and Rank-1 recognition rate.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124810303","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: 7
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