Artificial Life and Robotics最新文献_第9页

Safety controller based on control barrier functions using quasi-saturation function 基于准饱和控制屏障函数的安全控制器

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Artificial Life and Robotics Pub Date : 2023-09-26 DOI: 10.1007/s10015-023-00899-3

Satoshi Ueki, Takahiro Ikeda, Hironao Yamada

引用次数: 0

Impedance control based on error feedback for the manipulator of an underwater vehicle-manipulator system 基于误差反馈的水下机器人机械手阻抗控制

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Artificial Life and Robotics Pub Date : 2023-09-21 DOI: 10.1007/s10015-023-00896-6

Yuichiro Taira, Shinichi Sagara, Masahiro Oya

{"title":"Impedance control based on error feedback for the manipulator of an underwater vehicle-manipulator system","authors":"Yuichiro Taira, Shinichi Sagara, Masahiro Oya","doi":"10.1007/s10015-023-00896-6","DOIUrl":"10.1007/s10015-023-00896-6","url":null,"abstract":"<div><p>This paper deals with the design of a motion and force control scheme for underwater vehicles, each of which has a manipulator. For a subsea operation that requires a contact between the manipulator’s tip (e.g., the hand) and various types of environments, it is desirable that the mechanical impedance of the manipulator is adjusted according to the contact surface. From this point of view, the paper focuses on the design of an impedance control scheme. Several impedance controllers have been developed. Most of them were designed on the assumption that the control capability of the vehicle is the same as that of the manipulator. However, it has been pointed out in the literature that for a real underwater robot, its vehicle control is more challenging than its manipulator control, because the vehicle has much larger inertia, and many more inaccurate position sensors and actuators than the manipulator. In view of this fact, we develop an impedance control scheme for the manipulator under the condition that the vehicle is independently controlled by a motion controller with poor performance. Moreover, we provide the results of simulations for comparing an existing controller with the proposed one.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":null,"pages":null},"PeriodicalIF":0.9,"publicationDate":"2023-09-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71910068","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

MAES: a ROS 2-compatible simulation tool for exploration and coverage algorithms MAES：一个ROS2兼容的探索和覆盖算法模拟工具

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Artificial Life and Robotics Pub Date : 2023-09-21 DOI: 10.1007/s10015-023-00895-7

Malte Z. Andreasen, Philip I. Holler, Magnus K. Jensen, Michele Albano

引用次数: 0

Design of social navigation quality evaluation model based on combined weight 基于组合权重的社交导航质量评价模型设计

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Artificial Life and Robotics Pub Date : 2023-08-28 DOI: 10.1007/s10015-023-00894-8

Hao Wu, Haipeng Liu, Kun Wang

{"title":"Design of social navigation quality evaluation model based on combined weight","authors":"Hao Wu, Haipeng Liu, Kun Wang","doi":"10.1007/s10015-023-00894-8","DOIUrl":"10.1007/s10015-023-00894-8","url":null,"abstract":"<div><p>Based on the human–robot interaction behavior of mobile robots in social navigation, this paper proposes a social navigation quality evaluation model based on combined weights for the problems of single indicators, rough quantification and non-convergence of information in social navigation quality evaluation. Firstly, three evaluation modules of comfort, naturalness and sociality are designed, and each module is refined into primary and secondary indicators. The robot path navigation data are calculated by the indicator quantification formula. Secondly, the subjective and objective weights of hierarchical analysis method and the entropy weight method are combined to determine the index weights at each level. The weighted sum is used to achieve the fusion of index information and obtain the optimal solution of the evaluation navigation algorithm. Finally, we simulate the social scene through visualization simulation experiments to obtain the trajectory data of the robot in the social scene. The experimental results verify the feasibility of the theoretical model and give the final scores and optimization opinions of the tested algorithms. Through the evaluation of the social navigation quality evaluation model, the path planning algorithm that best suits the comfort perception of pedestrians in the current scenario can be found in the tested algorithms.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":null,"pages":null},"PeriodicalIF":0.9,"publicationDate":"2023-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43826416","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

High-frequency SSVEP–BCI with less flickering sensation using personalization of stimulus frequency 使用个性化刺激频率的高频SSVEP-BCI具有较少的闪烁感

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Artificial Life and Robotics Pub Date : 2023-08-10 DOI: 10.1007/s10015-023-00893-9

Sodai Kondo, Hisaya Tanaka

引用次数: 0

Development of keypads which use colors or shapes to prevent shoulder surfing 开发键盘，使用颜色或形状来防止肩部冲浪

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Artificial Life and Robotics Pub Date : 2023-08-02 DOI: 10.1007/s10015-023-00890-y

Ryo Masuzawa, Kentaro Aburada, Hisaaki Yamaba, Tetsuro Katayama, Naonobu Okazaki

{"title":"Development of keypads which use colors or shapes to prevent shoulder surfing","authors":"Ryo Masuzawa, Kentaro Aburada, Hisaaki Yamaba, Tetsuro Katayama, Naonobu Okazaki","doi":"10.1007/s10015-023-00890-y","DOIUrl":"10.1007/s10015-023-00890-y","url":null,"abstract":"<div><p>In conventional smart phones and ATMs, a four-digit passcode is entered into a keypad, and the user confirms whether the passcode matches the keypad. However, there is a risk that a third party can easily steal the password by watching the code entry or analyzing the position of fingerprints left on the keypad. There are other solutions, such as biometric authentication or the use of special displays, but both of them are costly and difficult to implement. In this study, we propose a keypad that does not leave fingerprints on the screen, is low cost, and can be used to input passcodes without worry, even if someone is standing next to it. The proposed keypad uses cursors that are moved by directional keys to select numbers, making fingerprint analysis difficult. Because attackers do not know the color that the user has selected, they cannot know which cursor the user is moving. To verify the safety and convenience of this system, we conducted experiments on subjects in their 20 s and 50 s. The results showed that the average difference in authentication time from the conventional method was about 5 s, and the method was generally convenient. We conclude that our keypad system is secure, because no peeping attacks on a subject were successful in guessing the subject’s passcode.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":null,"pages":null},"PeriodicalIF":0.9,"publicationDate":"2023-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42281521","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

Mushroom cultivation and harvesting in media supported by 3D-printed anisotropic elastic structures 3D打印各向异性弹性结构支持的蘑菇培养和收获

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Artificial Life and Robotics Pub Date : 2023-08-01 DOI: 10.1007/s10015-023-00886-8

Kouki Saito, Jun Ogawa, Yosuke Watanabe, M. D. Nahin Islam Shiblee, Masaru Kawakami, Hidemitsu Furukawa

引用次数: 0

Does the Gel Biter create an illusion of food texture perception due to differences in mastication speed ? 凝胶咬器是否会因为咀嚼速度的不同而产生食物质感感知的错觉?

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Artificial Life and Robotics Pub Date : 2023-08-01 DOI: 10.1007/s10015-023-00891-x

Kosuke Hirose, Jun Ogawa, Yosuke Watanabe, M. D. Nahin Islam Shiblee, Masaru Kawakami, Hidemitsu Furukawa

{"title":"Does the Gel Biter create an illusion of food texture perception due to differences in mastication speed ?","authors":"Kosuke Hirose, Jun Ogawa, Yosuke Watanabe, M. D. Nahin Islam Shiblee, Masaru Kawakami, Hidemitsu Furukawa","doi":"10.1007/s10015-023-00891-x","DOIUrl":"10.1007/s10015-023-00891-x","url":null,"abstract":"<div><p>One of the new computational frameworks is physical reservoir computing. Focusing on this method, we have previously developed a soft-matter artificial mouth ”Gel Biter”, which is composed of multiple polymeric materials based on the structure of the human oral cavity. This soft machine can discriminate even subtle differences in food texture with high accuracy. In general, chewing speed differs from person to person. Then, we focus on the result that brittle foods tend to be chewed faster or more finely based on sensory evaluation in some cognitive studies. This study has analyzed the accuracy of the Gel Biter by changing the parameters of its robotic arm and the differences in food texture perceived when the chewing speed is changed. As a result, there is no significant difference in discrimination accuracy for each speed. The cluster analysis shows that the food characteristics are captured and classified. In addition, the estimation results for Fast chewing indicate that the mechanical mouth also generates the illusion that humans perceive different food textures.</p></div>","PeriodicalId":46050,"journal":{"name":"Artificial Life and Robotics","volume":null,"pages":null},"PeriodicalIF":0.9,"publicationDate":"2023-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44181712","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 analog–digital integrated circuit for edge detection based on the vertebrate retina 基于脊椎动物视网膜边缘检测的基本模数集成电路

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Artificial Life and Robotics Pub Date : 2023-07-28 DOI: 10.1007/s10015-023-00892-w

Kimihiro Nishio, Natsumi Kuroda

引用次数: 0

Mass spring model for non-uniformed deformable linear object toward dexterous manipulation 面向灵巧操作的非均匀变形线性物体的质量弹簧模型

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Artificial Life and Robotics Pub Date : 2023-07-27 DOI: 10.1007/s10015-023-00889-5

Kenta Tabata, Hiroaki Seki, Tokuo Tsuji, Tatsuhiro Hiramitsu

引用次数: 0