2024 IEEE/SICE International Symposium on System Integration (SII)最新文献

Evaluation of a Finger Dummy with a Built-in Sensor System for Safety Assessment 评估用于安全评估的内置传感器系统手指假人

2024 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2024-01-08 DOI: 10.1109/SII58957.2024.10417308

Fengyu Li

{"title":"Evaluation of a Finger Dummy with a Built-in Sensor System for Safety Assessment","authors":"Fengyu Li","doi":"10.1109/SII58957.2024.10417308","DOIUrl":"https://doi.org/10.1109/SII58957.2024.10417308","url":null,"abstract":"Labor shortages and low productivity demand more collaborative operation systems using industrial robots in the current global manufacturing industry. Injuries will possibly occur due to the closer interaction between the robot system and humans. In the field of skin contact safety, the techniques and methods of quantitative assessment are expected. A human dummy consisting of built-in sensors is a solution to obtain the internal physical field. In this study, a dummy finger equipped with a built-in film sensor for contact safety assessment is proposed and evaluated by experiment. The strain measurement model and strain energy sensing principle, which are the most general assessment indexes, are explained. Two kinds of contact conditions on the finger dummy, press and press with slip, are conducted for evaluation. Shear strain and vibration are both successfully measured and reflected in the signal. Measurement of the strain energy transformed from the strain is validated by comparing it with the work result obtained from the force sensor. This sensor system combined with the human body model is evaluated as potentially feasible for assessing physical contact safety.","PeriodicalId":518021,"journal":{"name":"2024 IEEE/SICE International Symposium on System Integration (SII)","volume":"29 3","pages":"1476-1481"},"PeriodicalIF":0.0,"publicationDate":"2024-01-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140531605","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 Perioperative Medication Suspension Decision Algorithm Based on Bayesian Networks 基于贝叶斯网络开发围手术期暂停用药决策算法

2024 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2024-01-08 DOI: 10.1109/SII58957.2024.10417428

Shuhei Kawaguchi, Osamu Fukuda, Sakiko Kimura, Wen Liang Yeoh, Nobuhiko Yamaguchi, Hiroshi Okumura

引用次数: 0

Automation Concept for the First Adaptive High-Rise Structure D1244 首个自适应高层建筑的自动化概念 D1244

2024 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2024-01-08 DOI: 10.1109/SII58957.2024.10417480

Spasena Dakova, Jonas Stiefelmaier, Amelie Zeller, Philipp Arnold, M. Böhm, Oliver Sawodny

{"title":"Automation Concept for the First Adaptive High-Rise Structure D1244","authors":"Spasena Dakova, Jonas Stiefelmaier, Amelie Zeller, Philipp Arnold, M. Böhm, Oliver Sawodny","doi":"10.1109/SII58957.2024.10417480","DOIUrl":"https://doi.org/10.1109/SII58957.2024.10417480","url":null,"abstract":"Increasing global population and urbanization pose challenges in the construction industry due to limited resources. Adaptive buildings introduce the field of ultra-lightweight structures and promise a 50% resource reduction, while doubling the building's lifespan. They comprise sensors, actuators and a control unit and can actively counteract external disturbances. This paper presents an automation concept for such adaptive high-rise structures. By collecting the measurements of redundant sensors (e.g. strain gauges, position and pressure sensors) as well as of an optical measurement system, reliable estimation of the structural state is ensured, even in case of faults. The sensor information is processed in a cascaded control loop including decentralized programmable logic controllers (PLC). The computed control forces are applied to the structure by multiple hydraulically driven actuators integrated into the structural elements. An Ethernet-based network communication system ensures the reliable transfer of high amounts of data between the PLC units and a wear monitoring system, that continuously monitors the structural wear. The proposed automation concept is implemented exemplary for the first adaptive high-rise building world-wide and shows the potential to actively compensate static loads and damp structural vibrations, while ensuring the continuous and safe operation of the system.","PeriodicalId":518021,"journal":{"name":"2024 IEEE/SICE International Symposium on System Integration (SII)","volume":"20 4","pages":"869-874"},"PeriodicalIF":0.0,"publicationDate":"2024-01-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140531958","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

Latency Improvement Strategy for Temporally Stable Sequential 3DMM-based Face Expression Tracking 基于时序稳定 3DMM 的人脸表情跟踪延迟改进策略

2024 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2024-01-08 DOI: 10.1109/SII58957.2024.10417546

Tri Tung Nguyen Nguyen, D. Tran, Joo-Ho Lee

引用次数: 0

Study on Wearable Gaze-Based Communication System for Patients with Amyotrophic Lateral Sclerosis (ALS) 关于肌萎缩侧索硬化症 (ALS) 患者可穿戴凝视式通信系统的研究

2024 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2024-01-08 DOI: 10.1109/SII58957.2024.10417526

Sawada Nonoka, Akira Uehara, Hiroaki Kawamoto, Yoshiyuki Sankai

{"title":"Study on Wearable Gaze-Based Communication System for Patients with Amyotrophic Lateral Sclerosis (ALS)","authors":"Sawada Nonoka, Akira Uehara, Hiroaki Kawamoto, Yoshiyuki Sankai","doi":"10.1109/SII58957.2024.10417526","DOIUrl":"https://doi.org/10.1109/SII58957.2024.10417526","url":null,"abstract":"This study centers its attention on communication among ALS patients with severe symptoms, which is essential to daily life and the part that remains a difficulty. Also, communication is important to promote social participation and ability of independence. To promote social participation and improve the ability of independence without the restrictions for patients, the purpose of this study is to develop a wearable interface that enables communication based on the patient's voluntary intent, without temporal, spatial, or physical restrictions, and to confirm the feasibility of intention transmission using a new text entry algorithm. The developed interface utilized a see-through type head-mounted display (HMD) with a gaze estimation sensor to enable patients themselves to transition between cyberspace and physical space and to communicate by the system without restrictions of posture or usage environment during daily life activities. The letter selection is triggered by a change in the direction of the gaze trajectory. This method of letter selection reduces the burden on the user by avoiding the effects of dwell time and other factors associated with gazing input. The key layout for text input UI considers the characteristics of human eye movements, to minimize key selection errors and allows for quick viewpoint movement. To confirm the feasibility of the basic performance, we conducted the experiment with three able-bodied participants using the developed system and a conventional system as a comparison system, respectively. As a result, the developed system was able to input sentences in the same amount of time as the conventional system. The results show that the developed system has the basic performance of a communication interface with a new character input method based on eye movement functions. Therefore, we confirmed the feasibility of transmitting intention using a new text entry algorithm to enable communication without the restrictions.","PeriodicalId":518021,"journal":{"name":"2024 IEEE/SICE International Symposium on System Integration (SII)","volume":"9 1","pages":"165-171"},"PeriodicalIF":0.0,"publicationDate":"2024-01-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140532002","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

Spatiotemporal Motion Profiles for Cost-Based Optimal Approaching Pose Estimation 基于成本的最佳接近姿态估计时空运动剖面图

2024 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2024-01-08 DOI: 10.1109/SII58957.2024.10417396

Trung-Tin Nguyen, T. Ngo

{"title":"Spatiotemporal Motion Profiles for Cost-Based Optimal Approaching Pose Estimation","authors":"Trung-Tin Nguyen, T. Ngo","doi":"10.1109/SII58957.2024.10417396","DOIUrl":"https://doi.org/10.1109/SII58957.2024.10417396","url":null,"abstract":"Recent public perceptions indicate a positive shift towards a society with human and robot co-existing, especially aged populations. The ability to socially navigate become crucial for mobile robots by enabling them to guarantee not only human physical safety but also psychological comfort, and enhance robots contextual awareness in human-robot interactions (HRI). In this study, we introduce an extended navigation scheme to approach moving target based on the tracking of human spatiotemporal motion, social studies on proxemics, and kino-dynamics of the mobile robot. The strategy utilizes existing multi-layer cost-based navigation mapping for complete integration with plannings and introduce soft social constraints by extending the costmap value range. The primary contributions include (i) spatio-temporal motion profiles (SMPs) of all humans under tracking, (ii) a social navigation cost function (SNCF) for filtering socially-optimal goal poses. The results drawn from simulated testings across three normative social situations, and statistical analysis demonstrate the SMPs effectiveness through measured spatial and temporal coefficients. The driving factors safety and appropriate social construct are determined to be either statistically or practically significant, while also introducing a complete navigation scheme taking into account of socially acceptable behaviours for the robot.","PeriodicalId":518021,"journal":{"name":"2024 IEEE/SICE International Symposium on System Integration (SII)","volume":"35 5","pages":"92-98"},"PeriodicalIF":0.0,"publicationDate":"2024-01-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140531595","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

Robust Localization Approach Using Hybrid Correspondence NDT and Real-Time Uncertainty Estimation 使用混合对应无损检测和实时不确定性估计的稳健定位方法

2024 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2024-01-08 DOI: 10.1109/SII58957.2024.10417343

Koki Aoki, Yuta Takahashi, Tomoya Sato, Yoshiki Ninomiya, Junichi Meguro

{"title":"Robust Localization Approach Using Hybrid Correspondence NDT and Real-Time Uncertainty Estimation","authors":"Koki Aoki, Yuta Takahashi, Tomoya Sato, Yoshiki Ninomiya, Junichi Meguro","doi":"10.1109/SII58957.2024.10417343","DOIUrl":"https://doi.org/10.1109/SII58957.2024.10417343","url":null,"abstract":"This study proposes an approach for robust localization with low computational cost in autonomous vehicles. We introduce EKF localization that combines NDT and DR. To estimate the uncertainty due to the real environment of NDT, we utilize multiple searches from many initial positions. Because multiple searches increase processing time, we limit the arrangement of initial positions based on the Hessian matrix of the NDT score function. The initial position arrangement according to the Hessian matrix is based on the direction in which error is likely to occur. This allows us to achieve real-time uncertainty estimation within a LiDAR period of 10Hz. Moreover, we propose hybrid correspondence NDT (HC-NDT) to reduce the computational cost of each search. HC-NDT reduces unnecessary correspondences between query points and ND voxel in neighbor search. In the convergence evaluation, HC-NDT reduced the processing time and maintained the accuracy compared to NDT with multiple correspondences. In the localization evaluation, our EKF localization with HC-NDT and our real-time uncertainty estimation suppressed errors within 0.3 m in challenging environments for NDT. The execution time of our uncertainty estimation with HC-NDT was reduced by up to 50 % compared to conventional NDT.","PeriodicalId":518021,"journal":{"name":"2024 IEEE/SICE International Symposium on System Integration (SII)","volume":"5 1","pages":"1099-1106"},"PeriodicalIF":0.0,"publicationDate":"2024-01-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140531617","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

Situation-based Proactive Human-Robotic Systems Interaction and Collaboration in Future Convenience Stores 未来便利店中基于情景的主动式人机系统互动与协作

2024 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2024-01-08 DOI: 10.1109/SII58957.2024.10417322

Atsushi Sugimoto, Yuma Sasaki, Takuya Kojima, Otono Uchikawa, Taisei Inaba, Taito Nishikawa, M. Niitsuma

引用次数: 0

Reinforcement Learning-Based Parameter Optimization for Whole-Body Admittance Control with IS-MPC 利用 IS-MPC 实现基于强化学习的全身间歇控制参数优化

2024 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2024-01-08 DOI: 10.1109/SII58957.2024.10417367

Nícolas Figueroa, Julio Tafur, A. Kheddar

{"title":"Reinforcement Learning-Based Parameter Optimization for Whole-Body Admittance Control with IS-MPC","authors":"Nícolas Figueroa, Julio Tafur, A. Kheddar","doi":"10.1109/SII58957.2024.10417367","DOIUrl":"https://doi.org/10.1109/SII58957.2024.10417367","url":null,"abstract":"Maintaining stability in bipedal walking remains a significant challenge in humanoid robotics, largely due to the numerous involved hyperparameters. Traditional methods for determining these hyperparameters, such as heuristic approaches, can be both time-consuming and potentially suboptimal. In this paper, we present an approach aimed at enhancing the stability of bipedal gait, particularly when faced with floor perturbations and speed variations. Our main contribution is the integration of intrinsically stable model predictive control (IS-MPC) and whole-body admittance control within a closed-loop reinforcement learning system. We devised a reinforcement learning plugin, implemented in the mc_rtc framework, that allows the control system to continuously monitor the robot's current states, maintain recursive feasibility, and optimize parameters in real-time. Furthermore, we propose a reward function derived from a combination of changes in single and double support time, postural recovery, divergent control of motion, and action generation grounded in training optimization. In the course of this research, we conducted experiments on a real humanoid robot to validate initial aspects of our work. The integrated module's effectiveness was further assessed through comprehensive simulations.","PeriodicalId":518021,"journal":{"name":"2024 IEEE/SICE International Symposium on System Integration (SII)","volume":"19 10","pages":"1405-1410"},"PeriodicalIF":0.0,"publicationDate":"2024-01-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140531842","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

Experimental Verification of Stabilizing Effect of Double-Row Active Omni Wheel 双排主动全向轮稳定效果的实验验证

2024 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2024-01-08 DOI: 10.1109/SII58957.2024.10417563

Tatsuro Terakawa, Yusuke Hattori, Siying Long, Takumi Ougino, Yugo Nishida, M. Komori

引用次数: 0