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IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation最新文献

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Emotional model for a multi-robot system with emergent behavior 具有突发行为的多机器人系统的情感模型
IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-09-01 DOI: 10.11591/IJRA.V9I3.PP220-232
Angel Gil, J. Aguilar, E. Dapena, R. Rivas
{"title":"Emotional model for a multi-robot system with emergent behavior","authors":"Angel Gil, J. Aguilar, E. Dapena, R. Rivas","doi":"10.11591/IJRA.V9I3.PP220-232","DOIUrl":"https://doi.org/10.11591/IJRA.V9I3.PP220-232","url":null,"abstract":"This article describes an emotional model for a general-purpose robot operating in a multi-robot system with emergent behavior. The model considers four basic emotions: anger, rejection, sadness and joy, plus a neutral emotional state, which affect the behavior of the robot, both individually and collectively. The emotional state of each robot in the system is constructed through the conjunction of a series of factors related to their individual and collective actions, which are: safety, load, acting and interaction, which serve as input to an emotional process that results in an index of satisfaction of the robot that establishes the emotional state in which it is in a certain moment. The emotional state of a robot influences its interactions with the other robots and with the environment, that is, it determines its emergent behavior in the system. This paper presents the design of this model, and establishes some considerations for its implementation.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"220-232"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46990643","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: 1
A weighting system to build physical layer measurements maps by crowdsourcing data from smartphones 通过智能手机众包数据构建物理层测量地图的加权系统
IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-09-01 DOI: 10.11591/ijra.v9i3.pp211-219
Hosam Alamleh, A. A. AlQahtani
{"title":"A weighting system to build physical layer measurements maps by crowdsourcing data from smartphones","authors":"Hosam Alamleh, A. A. AlQahtani","doi":"10.11591/ijra.v9i3.pp211-219","DOIUrl":"https://doi.org/10.11591/ijra.v9i3.pp211-219","url":null,"abstract":"Mobile devices can sense different types of radio signals. For example, broadcast signals. These broadcasted signals allow the device to establish a connection to the access point broadcasting it. Moreover, mobile devices can record different physical layer measurements. These measurements are an indication of the service quality at the point they were collected. These measurements data can be aggregated to form physical layer measurement maps. These maps are useful for several applications such as location fixing, navigation, access control, and evaluating network coverage and performance. In this paper, we propose a method to build physical layer measurements maps by crowdsourcing physical layer measurements, GPS locations, from participating mobile devices. The proposed system gives different weights to each data point provided by the participating devices based on the data source's trustworthiness. Our tests showed that the different models of mobile devices return GPS location with different location accuracies. Consequently, when building the RSS maps our algorithm assigns a higher weight to data points coming from devices with higher GPS location accuracy. This allows accommodating a wide range of mobile devices with different capabilities in crowdsourcing applications. Crowdsourcing; physical layer Measurments; Maps; GPS","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"211-219"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44605862","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: 1
Forward kinematic analysis of Dobot using closed-loop method 基于闭环的Dobot正运动学分析
IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-09-01 DOI: 10.11591/IJRA.V9I3.PP153-159
Javier Dario Sanjuan De Caro, M. Rahman, Ivan Rulik
{"title":"Forward kinematic analysis of Dobot using closed-loop method","authors":"Javier Dario Sanjuan De Caro, M. Rahman, Ivan Rulik","doi":"10.11591/IJRA.V9I3.PP153-159","DOIUrl":"https://doi.org/10.11591/IJRA.V9I3.PP153-159","url":null,"abstract":"Dobot is a hybrid robot that combines features from parallel and serial robots. Because of this characteristic, the robot excels for is reliability, allowing its implementation in diverse applications. Therefore, researchers have studied its kinematics to improve its capabilities. However, to the extent of our knowledge, no analysis has been reported taking into consideration the closed-loop configuration of Dobot. Thus, this article presents the complete analytical solution for the forward kinematics of Dobot, considering each link. The results are expected to be utilized in the development of a dynamical model that contemplates the dynamics of each element of the robot.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"153-159"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45431109","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: 1
On Model Checking of a Robotic Mechanism 机器人机构的模型校核
IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-08-12 DOI: 10.36959/673/366
Turcanu Adrian, Shaikh Talal, Mazilu Cristina Nicoleta
{"title":"On Model Checking of a Robotic Mechanism","authors":"Turcanu Adrian, Shaikh Talal, Mazilu Cristina Nicoleta","doi":"10.36959/673/366","DOIUrl":"https://doi.org/10.36959/673/366","url":null,"abstract":"Developing robot control systems can get complex even for small number of functions to be carried by the robot. Finite state machines are representing a frequent approach to model complex systems in a formal way. In this paper we are presenting a methodology for modelling the kinematics of a robotic mechanism represented by a sequence of bodies linked by joints. Each movement is decomposed as a sequence of rotations and translations and a finite state machine modelling the behavior of each of these is built. The general methodology is applied on a case study: A 2 joints manipulator. An Event-B model of each machine is implemented in the Rodin platform, then the models are validated and some LTL properties corresponding to the behavior of the robot are verified using ProB, the associated model checker.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46889192","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
Modeling, Simulation and Proof-of-Concept of an Augmentation Ankle Exoskeleton with a Manually-Selected Variable Stiffness Mechanism 手动选择变刚度机构增强踝关节外骨骼的建模、仿真和概念验证
IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-08-11 DOI: 10.17352/ara.000004
Shaikha F Abdulmajeed, Khaled S Al-Kaabi, Mohammad I. Awad, D. Gan, K. Khalaf
{"title":"Modeling, Simulation and Proof-of-Concept of an Augmentation Ankle Exoskeleton with a Manually-Selected Variable Stiffness Mechanism","authors":"Shaikha F Abdulmajeed, Khaled S Al-Kaabi, Mohammad I. Awad, D. Gan, K. Khalaf","doi":"10.17352/ara.000004","DOIUrl":"https://doi.org/10.17352/ara.000004","url":null,"abstract":"Despite its inherent complexity and wide dynamic variability, healthy human gait is distinguished by smoothness, stability and flexibility with minimal energy consumption.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"4 1","pages":"013-017"},"PeriodicalIF":0.0,"publicationDate":"2020-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47146079","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
Protein Concentration Determination in Latex Glove Using Biocompatibility Morphological Mean Test 生物相容性形态学平均试验测定乳胶手套中的蛋白质浓度
IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-08-05 DOI: 10.33093/ijoras.2020.2.3
C. Toa, K. S. Sim, Y. Chan
{"title":"Protein Concentration Determination in Latex Glove Using Biocompatibility Morphological Mean Test","authors":"C. Toa, K. S. Sim, Y. Chan","doi":"10.33093/ijoras.2020.2.3","DOIUrl":"https://doi.org/10.33093/ijoras.2020.2.3","url":null,"abstract":"Latex gloves are seen as an indispensable item in the healthcare field because it offers superior protection for both the medical staff and patient against harmful substances. However, latex gloves with high protein concentration have a high possibility to induce latex allergy which in the worst case can lead to a life-threatening condition. To minimize the occurrence of an allergy reaction, the computerized Biocompatibility Morphological Mean (BMM) test for protein detection is proposed. This test initially goes through the chemical process to determine the protein that resides in the glove sample. After that, the sample is electronically converted into a digital image. Finally, the image undergoes color image processing for calculating the color difference values. These values are then plotted on a standard curve. A high correlation coefficient (R2>0.97) of the standard curve gives better accuracies. The proposed method only takes about 40 minutes to complete the test, while existing methods need at least 6 hours.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"2 1","pages":"18-24"},"PeriodicalIF":0.0,"publicationDate":"2020-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45179097","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 Visual-based Rehabilitation Using Sensors for Stroke Patient 基于传感器的脑卒中患者视觉康复的开发
IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-08-05 DOI: 10.33093/ijoras.2020.2.4
Choon Chen Lim, K. S. Sim, C. Toa
{"title":"Development of Visual-based Rehabilitation Using Sensors for Stroke Patient","authors":"Choon Chen Lim, K. S. Sim, C. Toa","doi":"10.33093/ijoras.2020.2.4","DOIUrl":"https://doi.org/10.33093/ijoras.2020.2.4","url":null,"abstract":"This project concerns on the development of applications using sensors for the rehabilitation of stroke patients. Thus, the leap motion sensor is employed for the finger motor rehabilitation training while the Microsoft Kinect sensor is utilized for the upper limb motor rehabilitation. Two applications which are named ‘Pick and Place’ and ‘Stone Breaker’ are developed. For the first application, the patient is required to pick up the virtual blocks and stack it up. The ‘Stone Breaker’ game requires the patient to move the upper limb in controlling the paddle movement in the game. At the end of the project, it is able to achieve the dominant objective of the project when the tested patient shows significant improvement in both the application.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"2 1","pages":"25-30"},"PeriodicalIF":0.0,"publicationDate":"2020-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43334743","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: 1
Performance Evaluation of Capacitive Based Force Sensor for Electroencephalography Head Caps 脑电帽电容式力传感器性能评价
IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-08-05 DOI: 10.33093/ijoras.2020.2.1
I. F. Warsito, A. Hunold, J. Haueisen, E. Supriyanto
{"title":"Performance Evaluation of Capacitive Based Force Sensor for Electroencephalography Head Caps","authors":"I. F. Warsito, A. Hunold, J. Haueisen, E. Supriyanto","doi":"10.33093/ijoras.2020.2.1","DOIUrl":"https://doi.org/10.33093/ijoras.2020.2.1","url":null,"abstract":"Accurate electrode signal measurement using EEG head caps can only be achieved through sufficient contact or force. A flexible force sensor is required to obtain accurate force measurement underneath EEG head caps. In this study, we evaluate the performance of a capacitive based sensor including its accuracy, repeatability, hysteresis, and stability. The result shows that accuracy error and repeatability error were 3.03±2.8 % and 3.84±2.92 %, respectively. The stability errors were 2.37±0.15 % (10 gram), 2.54±0.00 % (50 gram), 2.37±0.15 % (100 gram), 5.07±1.16 % (150 gram), 7.27±0.39 % (200 gram). The hysteresis error of the sensor was 4.48±0.47 %. Based on the results, the capacitive based force sensor provides sufficiently low errors in accuracy, repeatability, stability, and hysteresis and is thus suitable for measuring adduction force in EEG cap applications.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"2 1","pages":"4-8"},"PeriodicalIF":0.0,"publicationDate":"2020-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49164754","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: 1
Testing of Auditory Clinical Alarms in ICU/CCU ICU/CCU临床听觉报警的检验
IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-08-05 DOI: 10.33093/ijoras.2020.2.2
S. Thangavelu, E. Supriyanto, J. Yunus
{"title":"Testing of Auditory Clinical Alarms in ICU/CCU","authors":"S. Thangavelu, E. Supriyanto, J. Yunus","doi":"10.33093/ijoras.2020.2.2","DOIUrl":"https://doi.org/10.33093/ijoras.2020.2.2","url":null,"abstract":"Almost all medical devices in ICU/CCU have a built-in clinical alarm system to alert when there are changes in a patient’s condition. The objective of this study is to investigate the effectiveness of the existing alarm system in ICU/CCU. Two summative usability tests were conducted to test the effectiveness of existing and new alarm signals based on IEC 60601-1-8:2006 standard. Further formative test was conducted to study perception of urgency associated with number of tones in the alarm signals. The findings indicate that the existing auditory alarm signal in ICU/CCU do not indicate the urgency of the alarm conditions. The simulation test indicates that the respondents preferred 282Hz, 500Hz and 800Hz for low, medium and high-risk alarm respectively. The one-sample proportion z test on urgency mapping indicates that the proportion of responses for highest risk is more than 50% for single tone test signal. These results show that single tone test signal being perceived as highest risk regardless of frequency. It can be concluded the auditory alarm designed based on this IEC 60608-1-8:2006 standard is not effective. As such it is proposed that incorporation of the new alarm frequencies and tones will improve the effectiveness of the alarm signal.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"2 1","pages":"9-17"},"PeriodicalIF":0.0,"publicationDate":"2020-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47729955","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
IoT-Based System Monitoring of the Sleep Environment – A Study Aimed at the Elderly 基于物联网的睡眠环境系统监测——一项针对老年人的研究
IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-08-02 DOI: 10.31875/2409-9694.2020.07.1
L. Mano
{"title":"IoT-Based System Monitoring of the Sleep Environment – A Study Aimed at the Elderly","authors":"L. Mano","doi":"10.31875/2409-9694.2020.07.1","DOIUrl":"https://doi.org/10.31875/2409-9694.2020.07.1","url":null,"abstract":"The aging process in our population can cause changes in people’s sleeping patterns, more specifically in the elderly, by impairing their cognitive abilities, quality of life, and autonomy. Advances in Ubiquitous Computing and Internet of Things have contributed to the monitoring of such situations. In particular, the use of sensors to evaluate the environment and aspects related to the health and well-being of individuals, as well as providing event alerts. The main objective of this experiment is to propose a monitoring system based on both the responses of multiple sensors (brightness, microphone, accelerometer, and gyroscope) at runtime to classify the environment for elderly people’s sleep quality. The results show that using embedded devices, and capturing environmental aspects through sensors, can develop solutions that offer more safety and comfort to the individuals’ sleep quality environment.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"7 1","pages":"1-7"},"PeriodicalIF":0.0,"publicationDate":"2020-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42358584","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: 1
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