Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204229
T. Sakaki, K. Tsuruta, Yong-Kwun Lee, N. Ushimi, K. Murakami, Yoshimi Matsunoo, Y. Ichinose, Tshihiko Shimokawa, Y. Kamiya, Osamu Kikima, K. Aoki, Shinya Morishita, Takehiro Tashiro, H. Nishizono
The Human Robotics Research Center at Kyushu Sangyo University was established in 2013 as a practical center for the study of robots designed for rehabilitation and care-support. The HRRC seeks to implement robots intended for the medical and care fields to address problems in those fields. We have focused on the development of rehabilitation robots for spinal cord injury patients. Here, we present three different robots we have developed for standing-motion training, primary-walking-pattern training, and practical-walking training.
{"title":"Concept, results and future topics for the Human Robotics Research Center at Kyushu Sangyo University","authors":"T. Sakaki, K. Tsuruta, Yong-Kwun Lee, N. Ushimi, K. Murakami, Yoshimi Matsunoo, Y. Ichinose, Tshihiko Shimokawa, Y. Kamiya, Osamu Kikima, K. Aoki, Shinya Morishita, Takehiro Tashiro, H. Nishizono","doi":"10.23919/ICCAS.2017.8204229","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204229","url":null,"abstract":"The Human Robotics Research Center at Kyushu Sangyo University was established in 2013 as a practical center for the study of robots designed for rehabilitation and care-support. The HRRC seeks to implement robots intended for the medical and care fields to address problems in those fields. We have focused on the development of rehabilitation robots for spinal cord injury patients. Here, we present three different robots we have developed for standing-motion training, primary-walking-pattern training, and practical-walking training.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116759746","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}
Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204477
Valentin Schmidt, Wrer Kraus, C. Martin, XueJun Jin, A. Pott
This paper presents the findings of experiments done to increase the accuracy of a fully constrained cable-driven parallel robot with 8 cables and 6 degrees of freedom. Measurements were conducted using a Laser Tracker in 3 dof and the position accuracy mapped. Measurements were performed in a grid with 1920 points. From the measurement data distortion to the actual desired position is measured and using a linear approximation subsequent trajectories are compensated for any systematic errors. On an example robot, this black box correction brought an average improvement from 10.6 mm distance to the desired point to 2.47 mm distance from the desired point. This is a significant improvement m accuracy.
{"title":"Black-box accuracy compensation for a cable-driven parallel robot","authors":"Valentin Schmidt, Wrer Kraus, C. Martin, XueJun Jin, A. Pott","doi":"10.23919/ICCAS.2017.8204477","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204477","url":null,"abstract":"This paper presents the findings of experiments done to increase the accuracy of a fully constrained cable-driven parallel robot with 8 cables and 6 degrees of freedom. Measurements were conducted using a Laser Tracker in 3 dof and the position accuracy mapped. Measurements were performed in a grid with 1920 points. From the measurement data distortion to the actual desired position is measured and using a linear approximation subsequent trajectories are compensated for any systematic errors. On an example robot, this black box correction brought an average improvement from 10.6 mm distance to the desired point to 2.47 mm distance from the desired point. This is a significant improvement m accuracy.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"160 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121611925","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}
Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204245
Zhenlong Wu, Wangying Shi, Donghai Li, T. He, Yali Xue, Minfang Han, Song Zheng
The output voltage control of the Solid Oxide Fuel Cell (SOFC) is challenging due to the strong nonlinearity, modelling uncertainty, the dramatic change of the external current load and constraints on the amplitudes and change rates of the actuator. Besides, the desired range of the fuel utilization is another difficult for the control strategy. In this paper, Active disturbance rejection control (ADRC) is proposed to handle the nonlinearity, uncertainty and the external disturbance, and physical feedforward is designed to speed up the response of the whole system and keep the fuel utilization in the desired range. Instead of the SOFC model, the design of physical feedforward is based on the definition of fuel utilization which is featured by simplicity, generality and effectiveness. Simulation results show that the proposed control strategy has smaller variation range of the fuel utilization, shorter time of the changing process of the output voltage and better robustness than others control strategies.
{"title":"The disturbance rejection design based on physical feedforward for solid oxide fuel cell","authors":"Zhenlong Wu, Wangying Shi, Donghai Li, T. He, Yali Xue, Minfang Han, Song Zheng","doi":"10.23919/ICCAS.2017.8204245","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204245","url":null,"abstract":"The output voltage control of the Solid Oxide Fuel Cell (SOFC) is challenging due to the strong nonlinearity, modelling uncertainty, the dramatic change of the external current load and constraints on the amplitudes and change rates of the actuator. Besides, the desired range of the fuel utilization is another difficult for the control strategy. In this paper, Active disturbance rejection control (ADRC) is proposed to handle the nonlinearity, uncertainty and the external disturbance, and physical feedforward is designed to speed up the response of the whole system and keep the fuel utilization in the desired range. Instead of the SOFC model, the design of physical feedforward is based on the definition of fuel utilization which is featured by simplicity, generality and effectiveness. Simulation results show that the proposed control strategy has smaller variation range of the fuel utilization, shorter time of the changing process of the output voltage and better robustness than others control strategies.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129982862","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}
Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204201
Ajmal Shahbaz, K. Jo
This paper proposes optimal color space based probabilistic foreground detector. The intuition is to employ two most widely used color spaces (RGB and YCbCr) one at a time to model background. A decision criteria to select optimal color space is based on mean squared error (MSE). Initial frames (say 100) without any foreground information are used to compute MSE for both color spaces. Color space with minimum MSE is selected as optimal color space (OCS). Afterwards, OCS is used to model background and detect moving information. Gaussian Mixture Models (GMM) based foreground detector is used for the purpose. Furthermore, foreground mask is cleaned from undesirable noise using morphological operations. The proposed method is tested using change detection dataset. It shows promising results and outperforms conventional GMM.
{"title":"Exploiting color spaces for the task of foreground detection","authors":"Ajmal Shahbaz, K. Jo","doi":"10.23919/ICCAS.2017.8204201","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204201","url":null,"abstract":"This paper proposes optimal color space based probabilistic foreground detector. The intuition is to employ two most widely used color spaces (RGB and YCbCr) one at a time to model background. A decision criteria to select optimal color space is based on mean squared error (MSE). Initial frames (say 100) without any foreground information are used to compute MSE for both color spaces. Color space with minimum MSE is selected as optimal color space (OCS). Afterwards, OCS is used to model background and detect moving information. Gaussian Mixture Models (GMM) based foreground detector is used for the purpose. Furthermore, foreground mask is cleaned from undesirable noise using morphological operations. The proposed method is tested using change detection dataset. It shows promising results and outperforms conventional GMM.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129991635","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}
Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204294
J. Jeon, Jong-Moon Kim
The new cylindrical magnetic levitation stage is presented in this paper. This stage can move the cylinder to rotations and translations as well as magnetic levitations with high precision. This stage can be rotated with 360° and can be moved to translational directions within few millimeters. A Lead-PI control algorithm is used for the position control and a PI control algorithm is used for the current control. A system identification method from input and output experimental data is used for 2nd-order State-space dynamic modeling. Parameters of Lead-PI control is decided properly with this model. The new cylindrical mag-lev stage is experimented with in-positioning and rotations with nano-scale precisions.
{"title":"A cylindrical magnetic levitation stage for high-precision rotations","authors":"J. Jeon, Jong-Moon Kim","doi":"10.23919/ICCAS.2017.8204294","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204294","url":null,"abstract":"The new cylindrical magnetic levitation stage is presented in this paper. This stage can move the cylinder to rotations and translations as well as magnetic levitations with high precision. This stage can be rotated with 360° and can be moved to translational directions within few millimeters. A Lead-PI control algorithm is used for the position control and a PI control algorithm is used for the current control. A system identification method from input and output experimental data is used for 2nd-order State-space dynamic modeling. Parameters of Lead-PI control is decided properly with this model. The new cylindrical mag-lev stage is experimented with in-positioning and rotations with nano-scale precisions.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130118509","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}
Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204304
Abdulhafiz Chesof, S. Panaudomsup, T. Cheypoca
The objective is to evaluate the performance of an explicit model predictive control for controlling the room temperature actuated by the on-off air conditioner to minimize the energy usage by reducing the working time of a compressor. There are a lot of on-off air conditioners already installed in the educational building in Thailand. To replace all of those by the inverter air conditioner or HVAC system, the high investment cost is required. Therefore, the on-off air conditioners continue to work in such building. The effective solution may be the low cost control unit which is simple like a remote control. The method is to design the remote control embedded by the temperature sensor and the explicit model predictive control that is based on the off-line optimization. The experiment is performed in the laboratory room with dimension 4×7×3.5 m (WxLxH) actuated by Saijo Denki 18,320 Btu on-off air conditioner. The experimental results reveal that the temperature reaches the desired value 25 degree Celsius within 10 minute and keeps fluctuating between 23 and 26 degree Celsius. The working time of compressor is reduced 33.33 %. The result shows that the explicit model predictive control is effective for the remote control application in terms of the implementation and energy saving.
目的是评估一种显式模型预测控制的性能，用于控制由开关空调驱动的室温，通过减少压缩机的工作时间来最大限度地减少能源使用。泰国的教育大楼里已经安装了很多开关式空调。如果全部用变频空调或暖通空调系统替代，投资成本高。因此，在这样的建筑中，开关式空调继续工作。有效的解决方案可能是像遥控器一样简单的低成本控制单元。该方法是设计嵌入温度传感器的远程控制和基于离线优化的显式模型预测控制。实验在尺寸为4×7×3.5 m (WxLxH)的试验室中进行，由Saijo Denki 18320 Btu开关空调驱动。实验结果表明，温度在10分钟内达到所需值25℃，并在23 ~ 26℃之间波动。压缩机工作时间缩短33.33%。结果表明，显式模型预测控制在实现和节能方面对远程控制应用是有效的。
{"title":"Evaluation of explicit model predictive temperature control for on-off air conditioner","authors":"Abdulhafiz Chesof, S. Panaudomsup, T. Cheypoca","doi":"10.23919/ICCAS.2017.8204304","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204304","url":null,"abstract":"The objective is to evaluate the performance of an explicit model predictive control for controlling the room temperature actuated by the on-off air conditioner to minimize the energy usage by reducing the working time of a compressor. There are a lot of on-off air conditioners already installed in the educational building in Thailand. To replace all of those by the inverter air conditioner or HVAC system, the high investment cost is required. Therefore, the on-off air conditioners continue to work in such building. The effective solution may be the low cost control unit which is simple like a remote control. The method is to design the remote control embedded by the temperature sensor and the explicit model predictive control that is based on the off-line optimization. The experiment is performed in the laboratory room with dimension 4×7×3.5 m (WxLxH) actuated by Saijo Denki 18,320 Btu on-off air conditioner. The experimental results reveal that the temperature reaches the desired value 25 degree Celsius within 10 minute and keeps fluctuating between 23 and 26 degree Celsius. The working time of compressor is reduced 33.33 %. The result shows that the explicit model predictive control is effective for the remote control application in terms of the implementation and energy saving.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124625200","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}
Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204368
Yong-Ho Na, Hyun-Jun Jo, Jae-Bok Song
In this study, deep learning based grasping using a robot has been discussed. A large amount of training data is required for good performance in deep learning. The training data is usually collected with a real robot. However, it is difficult to collect the data sufficient for training the network in terms of time and cost. Therefore, this study presents a method for collecting the training data based on a robot simulator as well as a real robot. The simulation system is composed of a robot, the work environment, and a 2-finger gripper. The convolutional neural network (CNN) was used for training where its input is the RGB image of the object and its output is the pose of the gripper. Furthermore, the ensemble learning method was used to combine real data and simulation data. It is shown that the ensemble learning method that combines multiple classifiers can lead to a higher grasping success rate than a single classifier.
{"title":"Learning to grasp objects based on ensemble learning combining simulation data and real data","authors":"Yong-Ho Na, Hyun-Jun Jo, Jae-Bok Song","doi":"10.23919/ICCAS.2017.8204368","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204368","url":null,"abstract":"In this study, deep learning based grasping using a robot has been discussed. A large amount of training data is required for good performance in deep learning. The training data is usually collected with a real robot. However, it is difficult to collect the data sufficient for training the network in terms of time and cost. Therefore, this study presents a method for collecting the training data based on a robot simulator as well as a real robot. The simulation system is composed of a robot, the work environment, and a 2-finger gripper. The convolutional neural network (CNN) was used for training where its input is the RGB image of the object and its output is the pose of the gripper. Furthermore, the ensemble learning method was used to combine real data and simulation data. It is shown that the ensemble learning method that combines multiple classifiers can lead to a higher grasping success rate than a single classifier.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130549860","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}
Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204445
Nilesh Suriyarachchi, P. Jayasekara, T. Kubota
Pose tracking for outdoor rovers is generally a complex task which is further complicated in conditions where a Global Positioning System (GPS) signal is denied such as in planetary exploration, underground mines and covered areas. In these conditions the rover's pose needs to be calculated purely based on the rover's current environment observations. However, conventional wheel odometry is not reliable on rough terrain where wheels are prone to slip and the wheels do not have a common plane of motion due to suspension systems. This paper proposes a Fast State Variable Extension (Fast-SVE) method in which 2D state variables (x, y, yaw) are extended to the full 3D state (x, y, z, roll, pitch, yaw) to achieve effective real time 3D pose tracking of the rover. A particle filter implementation incorporating the Fast-SVE method is used to track the 3D pose of the rover with roll and pitch values used for weighting. An Enhanced Motion Model (EMM) is also proposed to further improve the accuracy of 2D pose prediction in the particle filter.
{"title":"3D pose tracking for GPS-denied terrain rovers by fast state variable extension and enhanced motion model","authors":"Nilesh Suriyarachchi, P. Jayasekara, T. Kubota","doi":"10.23919/ICCAS.2017.8204445","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204445","url":null,"abstract":"Pose tracking for outdoor rovers is generally a complex task which is further complicated in conditions where a Global Positioning System (GPS) signal is denied such as in planetary exploration, underground mines and covered areas. In these conditions the rover's pose needs to be calculated purely based on the rover's current environment observations. However, conventional wheel odometry is not reliable on rough terrain where wheels are prone to slip and the wheels do not have a common plane of motion due to suspension systems. This paper proposes a Fast State Variable Extension (Fast-SVE) method in which 2D state variables (x, y, yaw) are extended to the full 3D state (x, y, z, roll, pitch, yaw) to achieve effective real time 3D pose tracking of the rover. A particle filter implementation incorporating the Fast-SVE method is used to track the 3D pose of the rover with roll and pitch values used for weighting. An Enhanced Motion Model (EMM) is also proposed to further improve the accuracy of 2D pose prediction in the particle filter.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130873743","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}
Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204289
R. Raha
In recent times adaptive regulation of sampling rates has gained significant attention in research community and researchers has demonstrated it's effectiveness in embedded control applications from different perspectives. In low power embedded control systems, the sampling rate of the control tasks has a direct relationship with control performance and power consumption. In this paper, we investigate the possibility of improving the power efficiency of low power embedded control systems by regulating the sampling rate of the control tasks. On this regard, we present algorithmic approaches for on-line regulation of sampling rates of the control task under some power-performance trade-off. We present elaborative results which demonstrate the efficacy of our proposed approaches.
{"title":"Adaptive regulation of sampling rates for power efficient embedded control system design","authors":"R. Raha","doi":"10.23919/ICCAS.2017.8204289","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204289","url":null,"abstract":"In recent times adaptive regulation of sampling rates has gained significant attention in research community and researchers has demonstrated it's effectiveness in embedded control applications from different perspectives. In low power embedded control systems, the sampling rate of the control tasks has a direct relationship with control performance and power consumption. In this paper, we investigate the possibility of improving the power efficiency of low power embedded control systems by regulating the sampling rate of the control tasks. On this regard, we present algorithmic approaches for on-line regulation of sampling rates of the control task under some power-performance trade-off. We present elaborative results which demonstrate the efficacy of our proposed approaches.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130189991","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}
Pub Date : 2017-10-01DOI: 10.23919/ICCAS.2017.8204352
Ho-Yeon Kim, JongHyeok Park, Sooyong Yun, S. Moon, K. Gwak
CC (Compression Criteria), CTI (combined Thoracic Index), and VC (Viscous Criteria) which measure the AIS (Abbreviated Injury Scale) for chest injuries are examined using the human-robot unconstrained collision experimental data. Experimental data were collected from the facility consists of a dummy of ten year old child, a collision cart, a speed measuring sensor, and a heat insulating foam floor. The unconstrained-collision test was carried out with a collision mass of 80 kg and collision speed 1 m/s and AIS was calculated from the test data.
{"title":"Preliminary experimental results for chest compression in mobile robot-human unconstrained-collision","authors":"Ho-Yeon Kim, JongHyeok Park, Sooyong Yun, S. Moon, K. Gwak","doi":"10.23919/ICCAS.2017.8204352","DOIUrl":"https://doi.org/10.23919/ICCAS.2017.8204352","url":null,"abstract":"CC (Compression Criteria), CTI (combined Thoracic Index), and VC (Viscous Criteria) which measure the AIS (Abbreviated Injury Scale) for chest injuries are examined using the human-robot unconstrained collision experimental data. Experimental data were collected from the facility consists of a dummy of ten year old child, a collision cart, a speed measuring sensor, and a heat insulating foam floor. The unconstrained-collision test was carried out with a collision mass of 80 kg and collision speed 1 m/s and AIS was calculated from the test data.","PeriodicalId":140598,"journal":{"name":"2017 17th International Conference on Control, Automation and Systems (ICCAS)","volume":"1576 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120878555","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}
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