Artificial Life and Robotics最新文献_第3页

Discrimination of structures in plant using deep learning models trained by 3D CAD semantics 利用三维CAD语义训练的深度学习模型识别植物结构

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Artificial Life and Robotics Pub Date : 2024-12-26 DOI: 10.1007/s10015-024-00989-w

Takashi Imabuchi, Kuniaki Kawabata

{"title":"Discrimination of structures in plant using deep learning models trained by 3D CAD semantics","authors":"Takashi Imabuchi, Kuniaki Kawabata","doi":"10.1007/s10015-024-00989-w","DOIUrl":"10.1007/s10015-024-00989-w","url":null,"abstract":"<div><p>This paper describes a 3D point cloud segmentation pipeline that contributes to the efficiency of decommissioning works at the Fukushima Daiichi Nuclear Power Station. For decommissioning works, simulations and calculations for preliminary work planning using 3D structural models are crucial from a safety and efficiency viewpoint. However, 3D modeling works typically require high costs. Therefore, we aim to improve the efficiency of 3D modeling by segmenting geometric shape regions into categories in a 3D point cloud state using deep learning. Our pipeline uses 3D computer-aided design semantics to create a training dataset that reduces annotation costs and helps learn human knowledge. Performance evaluation results show that the discriminator can discriminate major structural categories with high accuracy using deep learning models. However, we confirm that even the state-of-the-art model has limitations in discriminating structures containing similar shapes between categories and structures in categories with a small number of training data. In the analysis of evaluation results, we discuss challenges encountered by our pipeline for practical applications.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"30 1","pages":"184 - 195"},"PeriodicalIF":0.8,"publicationDate":"2024-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143480954","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 SSVEP ratio for efficient ear-EEG SSVEP-BCI development and evaluation 耳-脑SSVEP-脑接口开发与评价中SSVEP比值的提出

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Artificial Life and Robotics Pub Date : 2024-12-25 DOI: 10.1007/s10015-024-01002-0

Sodai Kondo, Hideyuki Harafuji, Hisaya Tanaka

{"title":"Proposal of SSVEP ratio for efficient ear-EEG SSVEP-BCI development and evaluation","authors":"Sodai Kondo, Hideyuki Harafuji, Hisaya Tanaka","doi":"10.1007/s10015-024-01002-0","DOIUrl":"10.1007/s10015-024-01002-0","url":null,"abstract":"<div><p>Ear electroencephalogram (ear-EEG) records electrical signals around the ear, offering a more casual and user-friendly approach to EEG measurement. Steady-state visual evoked potential (SSVEP) are brain responses elicited by gazing at flickering stimuli. Ear-EEG can enhance comfort in SSVEP-based brain–computer interface (SSVEP-BCI), but its performance is typically low behind traditional SSVEP-BCI. Additionally, predicting the performance of ear-EEG SSVEP-BCIs before experimentation is challenging, often increasing design costs. This study proposes the SSVEP ratio as a supplementary index to traditional metrics such as information transfer rate (ITR) and BCI accuracy. Using the SSVEP ratio and the KNN algorithm, we predicted BCI accuracy and ITR, aiming to lower design costs. The developed four-inputs ear-EEG SSVEP-BCI achieved a maximum BCI accuracy of 89.17 ± 3.62% and an ITR of 10.60 ± 0.36 bits/min. Predicted BCI accuracy was 90.21 ± 3.25% and an ITR was 9.43 ± 0.96 bits/min in ear-EEG SSVEP-BCI. Predicted values matched the actual results, demonstrating that the SSVEP ratio can effectively predict BCI accuracy, thereby streamlining the design process for ear-EEG SSVEP-BCI.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"30 1","pages":"32 - 41"},"PeriodicalIF":0.8,"publicationDate":"2024-12-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s10015-024-01002-0.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143480942","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Development of rotary-type electrostatic motor for MEMS microrobot MEMS微型机器人用旋转式静电马达的研制

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Artificial Life and Robotics Pub Date : 2024-12-24 DOI: 10.1007/s10015-024-00996-x

Shuxin Lyu, Yuya Tamaki, Katsuyuki Morishita, Ken Saito

{"title":"Development of rotary-type electrostatic motor for MEMS microrobot","authors":"Shuxin Lyu, Yuya Tamaki, Katsuyuki Morishita, Ken Saito","doi":"10.1007/s10015-024-00996-x","DOIUrl":"10.1007/s10015-024-00996-x","url":null,"abstract":"<div><p>Recently, many researchers have expected millimeter-sized microrobots to work in narrow spaces. However, it is challenging to integrate the actuators, controllers, sensors, and energy sources into millimeter-sized microrobots. A small actuator with low power consumption is required to realize millimeter-sized microrobots. Previously, the authors developed a new linear electrostatic motor for microrobots. However, most microrobots rely on rotary actuators to expand their application scenarios and enhance adaptability. In this paper, the authors designed and developed a rotary-type electrostatic motor to provide a low-power drive solution for microrobots to address the limitations of linear motors and broaden their range of applications. Through experimentation, we identified an issue with reverse rotation in the electrostatic motor and analyzed its causes. To address the reverse-rotation issue, we proposed improvements, including optimizing the electrode structure and adjusting the drive waveform, which significantly enhanced the stability of forward rotation. The author plans to refine the motor's design further and integrate it into a microrobot system.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"30 1","pages":"148 - 155"},"PeriodicalIF":0.8,"publicationDate":"2024-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143480970","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

Actuator for endoscope-connected microrobot driven by compressed gas 用于内窥镜连接微型机器人的压缩气体驱动驱动器

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Artificial Life and Robotics Pub Date : 2024-12-21 DOI: 10.1007/s10015-024-00994-z

Takamichi Funakoshi, Yuya Niki, Koki Takasumi, Chise Takeshita, Minami Kaneko, Fumio Uchikoba

引用次数: 0

Enhancing the rigidity of robot skin through the incorporation of plant growth 通过加入植物生长，增强机器人皮肤的刚性

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Artificial Life and Robotics Pub Date : 2024-12-19 DOI: 10.1007/s10015-024-00999-8

Kodai Ochi, Mitsuharu Matsumoto

{"title":"Enhancing the rigidity of robot skin through the incorporation of plant growth","authors":"Kodai Ochi, Mitsuharu Matsumoto","doi":"10.1007/s10015-024-00999-8","DOIUrl":"10.1007/s10015-024-00999-8","url":null,"abstract":"<div><p>Robot skin plays a crucial role in shaping both the appearance and physical properties of robots. While various types of robot skins have been developed in recent years, their physical performance tends to degrade with use despite being optimal during manufacture. In contrast, plants and animals naturally adapt and change their physical properties as they grow. In this research, we explore a novel concept of robot skin by incorporating plants and leveraging their growth capabilities. We focused on the rapid growth of sprouts, cultivating them hydroponically on soft materials. Through experiments using a compression tester on composite samples of the grown sprouts and soft materials, we observed an increase in compressive stress due to plant growth. Our findings demonstrate that plant-symbiotic skin has the potential to enhance rigidity through specific plant growth. Furthermore, we examined the relationship between the number of plants and Young’s modulus, which was calculated by linearly approximating the compression curve, and discovered that plant roots significantly affect Young’s modulus, particularly in the later stages of compression.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"30 2","pages":"208 - 218"},"PeriodicalIF":0.8,"publicationDate":"2024-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143925653","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

Gait and cost of transport analysis for quadruped robot with neuromorphic integrated circuit 基于神经形态集成电路的四足机器人步态与运输成本分析

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Artificial Life and Robotics Pub Date : 2024-12-19 DOI: 10.1007/s10015-024-00992-1

Jumpei Yamasaki, Shuxin Lyu, Katsuyuki Morishita, Ken Saito

{"title":"Gait and cost of transport analysis for quadruped robot with neuromorphic integrated circuit","authors":"Jumpei Yamasaki, Shuxin Lyu, Katsuyuki Morishita, Ken Saito","doi":"10.1007/s10015-024-00992-1","DOIUrl":"10.1007/s10015-024-00992-1","url":null,"abstract":"<div><p>Some researchers expect quadruped robots to be a labor force because of their ability to move stably over uneven terrain. However, their control requires a significant computational cost. Therefore, the authors have been studying neuromorphic circuits that mimic biological neurons with analog electronic circuits to implement the flexibility of biological control in robots. We have previously shown that the gait of a normal-type quadruped robot equipped with neuromorphic circuits changes depending on the mechanical structure of the robot. In this study, we conducted walking experiments on a normal-type quadruped robot and a camel-type quadruped robot implemented with neuromorphic integrated circuits. The results showed that the normal-type quadruped robot generated a trot gait, and the camel-type quadruped robot generated a trot and pace gait. Also, we analyzed how the movement costs of the two types of robots and the two gait types change depending on the movement speed. The analysis revealed the camel-type quadruped robot has a wider range of speeds at which it generates gait than the normal-type quadruped robot, but at the same speeds, the cost of transport of the camel-type quadruped robot is higher. Comparing the two gait types of the camel-type quadruped robot, the movement cost of the pace gait was slightly smaller at the same speed.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"30 2","pages":"227 - 235"},"PeriodicalIF":0.8,"publicationDate":"2024-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143925654","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

Research on adaptive visual servo method for circular symmetrical objects 圆形对称物体的自适应视觉伺服方法研究

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Artificial Life and Robotics Pub Date : 2024-12-16 DOI: 10.1007/s10015-024-00995-y

Tingting Wang, Yunlong Zhao, Kui Li, Yanyun Bi

引用次数: 0

Modeling task immersion based on goal activation mechanism 基于目标激活机制的任务沉浸建模

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Artificial Life and Robotics Pub Date : 2024-12-14 DOI: 10.1007/s10015-024-00990-3

Kazuma Nagashima, Jumpei Nishikawa, Junya Morita

引用次数: 0

Design of crowd counting system based on improved CSRNet 基于改进CSRNet的人群统计系统设计

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Artificial Life and Robotics Pub Date : 2024-12-11 DOI: 10.1007/s10015-024-00993-0

Xiaochuan Tian, Hironori Hiraishi

{"title":"Design of crowd counting system based on improved CSRNet","authors":"Xiaochuan Tian, Hironori Hiraishi","doi":"10.1007/s10015-024-00993-0","DOIUrl":"10.1007/s10015-024-00993-0","url":null,"abstract":"<div><p>An advanced crowd counting algorithm based on CSRNet has been proposed in this study to improve the long training and convergence times. In this regard, three points were changed from the original CSRNet: (i) The first 12 layers in VGG19 were adopted in the front-end to enhance the capacity of the extracting features. (ii) The dilated convolutional network in the back-end was replaced with the standard convolutional network to speed up the processing time. (iii) Dense connection was applied in the back-end to reuse the output of the convolutional layer and achieve faster convergence. ShanghaiTech dataset was used to verify the improved CSRNet. In the case of high-density images, the accuracy was observed to be very close to the original CSRNet. Moreover, the average training time per sample was three times faster and average testing time per image was six times faster. In the case of low-density images, the accuracy was not close to that of the original CSRNet. However, the training time was 10 times faster and the testing time was six times faster. However, by dividing the image, the count number came close to the real count. The experimental results obtained from this study show that the improved CSRNet performs well. Although it is slightly less accurate than the original CSRNet, its processing time is much faster since it does not use dilated convolution. This indicates that it is more suitable for the actual needs of real-time detection. A system with improved CSRNet for counting people in real time has also been designed in this study.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"30 1","pages":"3 - 11"},"PeriodicalIF":0.8,"publicationDate":"2024-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143481251","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

Muscle displacement and force related to walking by dynamics studies of musculoskeletal humanoid robot 肌肉骨骼类人机器人与行走相关的肌肉位移和力的动力学研究

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Artificial Life and Robotics Pub Date : 2024-12-11 DOI: 10.1007/s10015-024-00986-z

Kentaro Yamazaki, Tatsumi Goto, Yugo Kokubun, Minami Kaneko, Fumio Uchikoba

引用次数: 0