Artificial Life and Robotics最新文献_第4页

Estimated camera trajectory-based integration among local 3D models sequentially generated from image sequences by SfM–MVS 通过 SfM-MVS 对图像序列依次生成的局部三维模型进行基于相机轨迹的估计整合

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Artificial Life and Robotics Pub Date : 2024-04-01 DOI: 10.1007/s10015-024-00949-4

Taku Matsumoto, Toshihide Hanari, Kuniaki Kawabata, Keita Nakamura, Hiroshi Yashiro

{"title":"Estimated camera trajectory-based integration among local 3D models sequentially generated from image sequences by SfM–MVS","authors":"Taku Matsumoto, Toshihide Hanari, Kuniaki Kawabata, Keita Nakamura, Hiroshi Yashiro","doi":"10.1007/s10015-024-00949-4","DOIUrl":"10.1007/s10015-024-00949-4","url":null,"abstract":"<div><p>This paper describes a three-dimensional (3D) modeling method for sequentially and spatially understanding situations in unknown environments from an image sequence acquired from a camera. The proposed method chronologically divides the image sequence into sub-image sequences by the number of images, generates local 3D models from the sub-image sequences by the Structure from Motion and Multi-View Stereo (SfM–MVS), and integrates the models. Images in each sub-image sequence partially overlap with previous and subsequent sub-image sequences. The local 3D models are integrated into a 3D model using transformation parameters computed from camera trajectories estimated by the SfM–MVS. In our experiment, we quantitatively compared the quality of integrated models with a 3D model generated from all images in a batch and the computational time to obtain these models using three real data sets acquired from a camera. Consequently, the proposed method can generate a quality integrated model that is compared with a 3D model using all images in a batch by the SfM–MVS and reduce the computational time.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"29 2","pages":"358 - 371"},"PeriodicalIF":0.8,"publicationDate":"2024-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142409197","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

A CPG-based gait planning method for bipedal robots 基于 CPG 的双足机器人步态规划方法

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Artificial Life and Robotics Pub Date : 2024-03-30 DOI: 10.1007/s10015-024-00947-6

Wang Jianyuan, Lu Siyu, Chen Jinbao

引用次数: 0

Development of a rimless wheel robot with telescopic legs for step adaptability 开发带可伸缩支腿的无轮辋轮式机器人，实现步进适应性

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Artificial Life and Robotics Pub Date : 2024-03-26 DOI: 10.1007/s10015-024-00943-w

Yuta Hanazawa, Yuhi Uchino, Shinichi Sagara

引用次数: 0

Analysis of spatial distribution characteristics of facial skin temperature on stress coping 分析面部皮肤温度的空间分布特征对压力应对的影响

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Artificial Life and Robotics Pub Date : 2024-03-25 DOI: 10.1007/s10015-024-00942-x

Shiori Oyama, Kosuke Oiwa, Akio Nozawa

{"title":"Analysis of spatial distribution characteristics of facial skin temperature on stress coping","authors":"Shiori Oyama, Kosuke Oiwa, Akio Nozawa","doi":"10.1007/s10015-024-00942-x","DOIUrl":"10.1007/s10015-024-00942-x","url":null,"abstract":"<div><p>Individuals exhibit two types of responses when exposed to external stimuli. These are called stress-coping responses, or active and passive coping responses, respectively. These stress-coping responses are discriminated by differences in the fluctuations of hemodynamic parameters, such as cardiac output (CO), total peripheral resistance (TPR), and mean blood pressure (MBP), and others. However, the existing method for measuring hemodynamic parameters is contact measurement, which involves wearing a continuous blood pressure cuff; thus, a remote measurement method is required. Therefore, we focused on facial thermal imaging, remotely measurable indicator of the cardiovascular system. We constructed a model to estimate stress-coping responses from the spatial characteristics of facial thermal images using a CNN and sparse coding. However, the standard spatial distribution of facial thermal images of stress-coping response states has not yet been examined. Therefore, in this study, we analyzed the standard spatial distribution of facial thermal images of stress-coping response states. To elicit each stress-coping response, a cold pressure task and a game task were performed. Facial thermal images and hemodynamic parameters were recorded during the experiments. The measured hemodynamic parameters confirmed the elicitation of a stress-coping response. Additionally, using the measured facial thermal images, we evaluated the deviation of the stress-coping response states from a person’s normal state and the standard spatial distribution of each stress-coping response. The results showed that the stress-coping response states deviated from a person’s normal state. In addition, the standard spatial distribution differed for each stress-coping response.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"29 2","pages":"259 - 265"},"PeriodicalIF":0.8,"publicationDate":"2024-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140381482","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

Urban scale pedestrian simulation in Kobe City center 神户市中心的城市规模步行模拟

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Artificial Life and Robotics Pub Date : 2024-03-20 DOI: 10.1007/s10015-024-00941-y

Daigo Umemoto, Maiko Kikuchi, Ayako Terui, Koutarou Abe, Ryuushi Shimizu, Katsuki Hirashige, Nobuyasu Ito, Itsuki Noda

引用次数: 0

Regional trends in the number of COVID-19 cases COVID-19 病例数量的地区趋势

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Artificial Life and Robotics Pub Date : 2024-03-12 DOI: 10.1007/s10015-024-00938-7

Keisuke Chujo, Tatsunori Seki, Toshiki Murata, Yu Kimura, Tomoaki Sakurai, Satoshi Miyata, Hiroyasu Inoue, Nobuyasu Ito

引用次数: 0

Online simultaneous localization and mapping with parallelization for dynamic line segments based on moving horizon estimation 基于移动地平线估计的动态线段在线同步定位和并行映射

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Artificial Life and Robotics Pub Date : 2024-03-01 DOI: 10.1007/s10015-024-00937-8

Haziq Muhammad, Yasumasa Ishikawa, Kazuma Sekiguchi, Kenichiro Nonaka

{"title":"Online simultaneous localization and mapping with parallelization for dynamic line segments based on moving horizon estimation","authors":"Haziq Muhammad, Yasumasa Ishikawa, Kazuma Sekiguchi, Kenichiro Nonaka","doi":"10.1007/s10015-024-00937-8","DOIUrl":"10.1007/s10015-024-00937-8","url":null,"abstract":"<div><p>In this paper, to render SLAM robust in dynamic environments, we propose a novel LiDAR SLAM algorithm that estimates the velocity of all objects in the scene while suppressing speed of static objects by moving horizon estimation (MHE). We approximate environment features as dynamic line segments having velocity. To deal with static objects as well, MHE is employed, so that its objective function allows the addition of velocity suppression terms that treat stationary objects. By considering association probability, the SLAM algorithm can track the endpoints of line segments to estimate the velocity along the line segments. Even if it is temporarily occluded, the estimation is accurate, because MHE considers a finite length of past measurements. Parallelization of the robot’s localization with the map’s estimation and careful mathematical elimination of decision variables allows online implementations. Post-process modifications remove possible spurious estimates by considering the piercing of LiDAR lasers and integrating maps. Simulation and experiment results of the proposed method prove that the presented algorithm can robustly perform online SLAM even with moving objects present.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"29 2","pages":"311 - 325"},"PeriodicalIF":0.8,"publicationDate":"2024-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140084583","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

Self-adjusting PID control system using a neural network for a binary power plant 使用神经网络的二进制发电厂自调整 PID 控制系统

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Artificial Life and Robotics Pub Date : 2024-02-28 DOI: 10.1007/s10015-024-00940-z

Kun-Young Han, Gee-Yong Park, Myeong-Kyun Lee, Dong-Han Yoo, Hee-Hyol Lee

{"title":"Self-adjusting PID control system using a neural network for a binary power plant","authors":"Kun-Young Han, Gee-Yong Park, Myeong-Kyun Lee, Dong-Han Yoo, Hee-Hyol Lee","doi":"10.1007/s10015-024-00940-z","DOIUrl":"10.1007/s10015-024-00940-z","url":null,"abstract":"<div><p>Proportional–integral–derivative (PID) control systems are typically used in power plants owing to their simple structure and ease of implementation. During industrial power generation, binary power plants using low-grade thermal energy sources experience fluctuations in characteristic values due to the presence of impurities and corrosive components in the hot water used as a heat source. Moreover, the temperature of the hot water depends on environmental conditions. However, fine-tuning the PID controller parameters during the operation of binary power plants is challenging, with unmodeled dynamics and uncertainties in parameters arising from changes in the characteristic values. In this study, a novel neural network-based self-adjusting PID control system is proposed, establishing a design strategy for effective control of binary power plants. A comparative analysis of simulation results from control systems with fixed conventional PID parameters, a back-propagation neural network, and the proposed method demonstrates that the proposed self-adjusting PID control approach effectively operates the investigated binary power plant.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"29 2","pages":"274 - 285"},"PeriodicalIF":0.8,"publicationDate":"2024-02-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140417175","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 a hardware CPG model for controlling both legs of a musculoskeletal humanoid robot with gait and gait cycle change by higher center and sensory information 开发用于控制肌肉骨骼仿人机器人双腿的硬件 CPG 模型，通过高级中心和感官信息改变步态和步态周期

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Artificial Life and Robotics Pub Date : 2024-02-24 DOI: 10.1007/s10015-024-00939-6

Tatsumi Goto, Rina Okamoto, Takumi Ishihama, Kentaro Yamazaki, Yugo Kokubun, Minami Kaneko, Fumio Uchikoba

{"title":"Development of a hardware CPG model for controlling both legs of a musculoskeletal humanoid robot with gait and gait cycle change by higher center and sensory information","authors":"Tatsumi Goto, Rina Okamoto, Takumi Ishihama, Kentaro Yamazaki, Yugo Kokubun, Minami Kaneko, Fumio Uchikoba","doi":"10.1007/s10015-024-00939-6","DOIUrl":"10.1007/s10015-024-00939-6","url":null,"abstract":"<div><p>Most conventional biped robots process leg movements and information from each sensor by numerical calculation using a CPU. However, to cope with diverse environments, the numerical calculations are enormous, so they must be processed at high speed using a high-performance CPU and high power consumption. On the other hand, focusing on human motor control, it is believed that basic motor patterns such as walking and running are generated by a neural network called the central pattern generator (CPG), which is localized in the spinal cord and is independent of calculation. We previously focused on pulse-type hardware neural networks (P-HNNs), in which the neural network was composed of analog electronic circuits, and developed a hardware CPG model for controlling a single leg of a musculoskeletal humanoid robot. However, to actually move a biped robot, a CPG model that takes into account both legs and sensory information is required. Therefore, this study aims to develop a hardware CPG model for controlling both legs of a musculoskeletal humanoid robot whose gait changes according to the higher center and sensory information. We report on a hardware CPG model configured by circuit simulation confirmed the generation of walking and running patterns.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"29 2","pages":"218 - 229"},"PeriodicalIF":0.8,"publicationDate":"2024-02-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140434373","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

Feasibility study of wearable capillary refill time measurement device 可穿戴式毛细血管再充盈时间测量装置的可行性研究

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Artificial Life and Robotics Pub Date : 2024-02-20 DOI: 10.1007/s10015-024-00936-9

Masayoshi Shinozaki, Daiki Saito, Taka-aki Nakada, Yukihiro Nomura, Toshiya Nakaguchi

{"title":"Feasibility study of wearable capillary refill time measurement device","authors":"Masayoshi Shinozaki, Daiki Saito, Taka-aki Nakada, Yukihiro Nomura, Toshiya Nakaguchi","doi":"10.1007/s10015-024-00936-9","DOIUrl":"10.1007/s10015-024-00936-9","url":null,"abstract":"<div><p>Capillary refill time (CRT) is an internationally accepted indicator of peripheral circulation. The CRT is measured by applying compression to the fingernail for a few seconds, releasing it, and observing the process of refilling of blood at the fingertip. The international guidelines for the management of sepsis and septic shock 2021 contains an additional new recommendation for CRT measurement to determine the peripheral circulation statuses of adult patients with septic shock. However, the current CRT measurement method lacks objectivity. Previous studies have reported the development of measurement devices and video analysis systems, which involve complex measurement environment construction and assume only in-hospital measurements. In addition, since medical workers are limited in the number of carrying medical devices, devices that can be used to obtain multiple biometric indicators in a single measurement are needed. Hence, a prototype wearable CRT measurement device was developed in this study, and its feasibility was evaluated by comparing the agreement, intra-class correlation coefficient, and coefficient of variation with those of a CRT measurement device developed in the past. The results indicated that mean CRTs between measurement methods were agreement, with moderate or better intra-rater reliability and no difference in coefficient of variation. Therefore, the results indicate the feasibility of the proposed wearable CRT device.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":"29 2","pages":"334 - 339"},"PeriodicalIF":0.8,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s10015-024-00936-9.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140449144","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