Pub Date : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.29
Masahiro Yokota, Shohei Kawazoe, D. Chugo, H. Hashimoto
This paper proposes a novel standing assistance robot, which considers the posture tolerance of its user. In previous studies, conventional assistive robots did not require patients to use their own physical strength to stand, which leads to decreased strength in the elderly. Therefore, an assistive robot that allows patients to maximally use the physical strength they possess is required. To realize this objective, it is important that a robot assists patients according to their body movement and by their intentions. However, in previous studies, general assistive robots helped patients by using a xed motion reference path- way in spite of their original intention, and as a result, these robots failed to use the physical strength of the patients. Therefore, we propose a novel standing assistance robot, which allows its user to move their body within a prescribed degree of posture tolerance during the process of moving from a sitting to a standing position. Our key ndings cover two fundamental research topics. One is the investigation into posture tolerance during a standing motion. The other topic is a novel assistance control algorithm that considers the investigated posture tolerance by combining position control and force control. A prototype assistive robot, based on the proposed idea was fabricated to help patients stand up safely using the maximum of their remaining physical strength.
{"title":"Standing assistance that considers user posture tolerance","authors":"Masahiro Yokota, Shohei Kawazoe, D. Chugo, H. Hashimoto","doi":"10.13180/clawar.2018.10-12.09.29","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.29","url":null,"abstract":"This paper proposes a novel standing assistance robot, which considers the posture tolerance of its user. In previous studies, conventional assistive robots did not require patients to use their own physical strength to stand, which leads to decreased strength in the elderly. Therefore, an assistive robot that allows patients to maximally use the physical strength they possess is required. To realize this objective, it is important that a robot assists patients according to their body movement and by their intentions. However, in previous studies, general assistive robots helped patients by using a xed motion reference path- way in spite of their original intention, and as a result, these robots failed to use the physical strength of the patients. Therefore, we propose a novel standing assistance robot, which allows its user to move their body within a prescribed degree of posture tolerance during the process of moving from a sitting to a standing position. Our key ndings cover two fundamental research topics. One is the investigation into posture tolerance during a standing motion. The other topic is a novel assistance control algorithm that considers the investigated posture tolerance by combining position control and force control. A prototype assistive robot, based on the proposed idea was fabricated to help patients stand up safely using the maximum of their remaining physical strength.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126639907","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 : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.37
O. Oumar, S. Dyllon, Perry Xiao, T. Hong
Time series network traffic analysis and forecasting are important for fundamental to many decision-making processes, also to understand network performance, reliability and security, as well as to identify potential problems. This paper provides the latest work at London South Bank University (LSBU) network data traffic analysis by adapting nonlinear autoregressive exogenous model (NARX) based on the Levenberg-Marquardt backpropagation algorithm. This technique can analyze and predict data usage in its current and future states, as well as visualise the hourly, daily, weekly, monthly, and quarterly activities with less computation requirement. Results and analysis proved the accuracy of the prediction techniques.
{"title":"Educational bandwidth traffic prediction using non-linear autoregressive neural networks","authors":"O. Oumar, S. Dyllon, Perry Xiao, T. Hong","doi":"10.13180/clawar.2018.10-12.09.37","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.37","url":null,"abstract":"Time series network traffic analysis and forecasting are important for fundamental to many decision-making processes, also to understand network performance, reliability and security, as well as to identify potential problems. This paper provides the latest work at London South Bank University (LSBU) network data traffic analysis by adapting nonlinear autoregressive exogenous model (NARX) based on the Levenberg-Marquardt backpropagation algorithm. This technique can analyze and predict data usage in its current and future states, as well as visualise the hourly, daily, weekly, monthly, and quarterly activities with less computation requirement. Results and analysis proved the accuracy of the prediction techniques.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"282 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113986963","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 : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.48
Carlos A. Rovetto, E. Cano, K. Ojo, M. Tuñon, Héctor Montes Franceschi
Cardiovascular dysfunction is the main cause of death in the world and several of these incidents have not been detected in time for diverse reasons. Consequently, some research groups, in ICT area, have been developing remote monitoring systems to detect the biosignals of cardiovascular dysfunction patients in the recent years. In this paper, a Coloured Petri Net (CPN) model for the remote healthcare process is presented. This CPN model uses the patient data formalization by means of set theory, providing a simplified perspective of the data transmission among all elements of the system. Using the CPN model, it will be investigated the behavior the system formed by the patients and their biosignals, located in different city zones (e.g., Panama), by means of simulation processes, in a first stage. With obtained simulation results, a remote monitoring system of bio-signals using non-invasive sensors will be developed.
{"title":"Coloured petri net model for remote monitoring of cardiovascular dysfunction","authors":"Carlos A. Rovetto, E. Cano, K. Ojo, M. Tuñon, Héctor Montes Franceschi","doi":"10.13180/clawar.2018.10-12.09.48","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.48","url":null,"abstract":"Cardiovascular dysfunction is the main cause of death in the world and several of these incidents have not been detected in time for diverse reasons. Consequently, some research groups, in ICT area, have been developing remote monitoring systems to detect the biosignals of cardiovascular dysfunction patients in the recent years. In this paper, a Coloured Petri Net (CPN) model for the remote healthcare process is presented. This CPN model uses the patient data formalization by means of set theory, providing a simplified perspective of the data transmission among all elements of the system. Using the CPN model, it will be investigated the behavior the system formed by the patients and their biosignals, located in different city zones (e.g., Panama), by means of simulation processes, in a first stage. With obtained simulation results, a remote monitoring system of bio-signals using non-invasive sensors will be developed.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"53 13","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131830901","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 : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.25
Jessica P. M. Vital, N. Ferreira, A. Valente
Over the years robotics has made great progress. Nowadays, robots begin to be part of the life of any person, designated social robotic. Humanoid robots are fascinating and have several advantages, such as they can work in places where there is a risk of contamination, risk of health, danger of life, places that are difficult to access. They also are able to access different types of terrain and to climb stairs. NAO robot is currently the humanoid platform with high sensory capacity that it has lower costs in the market. This robot is similar to human in order to have a more real and natural with society. Using the capabilities of the robot and adding other sensors, we can have a more powerful machine in our society. NAO robot is presented in this paper as a domestic robot.
{"title":"Nao robot as a domestic robot","authors":"Jessica P. M. Vital, N. Ferreira, A. Valente","doi":"10.13180/clawar.2018.10-12.09.25","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.25","url":null,"abstract":"Over the years robotics has made great progress. Nowadays, robots begin to be part of the life of any person, designated social robotic. Humanoid robots are fascinating and have several advantages, such as they can work in places where there is a risk of contamination, risk of health, danger of life, places that are difficult to access. They also are able to access different types of terrain and to climb stairs. NAO robot is currently the humanoid platform with high sensory capacity that it has lower costs in the market. This robot is similar to human in order to have a more real and natural with society. Using the capabilities of the robot and adding other sensors, we can have a more powerful machine in our society. NAO robot is presented in this paper as a domestic robot.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"131 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134088251","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 : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.23
R. Caballero, Aranzazu Berbey
The camera homography estimation involves using complex algorithms. They provide good results after some interactions, however the error model provided for such algorithm seems to be no appropriate for sensorial data fusion in real time. In this work a new methodology is proposed for camera homography and IMU data fusion. The experiment consists in rotate the camera. The experiment is done for frames. Here it is presented results about the error in homography estimation with and without bias compensation. The last section concerns about the experimental results and conclusions about this approach.
{"title":"Real time camera homography error modelling for sensorial data fusion","authors":"R. Caballero, Aranzazu Berbey","doi":"10.13180/clawar.2018.10-12.09.23","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.23","url":null,"abstract":"The camera homography estimation involves using complex algorithms. They provide good results after some interactions, however the error model provided for such algorithm seems to be no appropriate for sensorial data fusion in real time. In this work a new methodology is proposed for camera homography and IMU data fusion. The experiment consists in rotate the camera. The experiment is done for frames. Here it is presented results about the error in homography estimation with and without bias compensation. The last section concerns about the experimental results and conclusions about this approach.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132866123","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 : 2018-09-10DOI: 10.13180/clawar.2018.10-12.09.p02
K. Kozlowski, W. Kowalczyk
The article presents overview of authors' results concerning mobile robot con- trol algorithms that use local arti cial potential functions (APF) to avoid colli- sions and global arti cial potential functions, named also navigation functions (NF) used to both collision avoidance and driving robot to a desired goal. All included algorithms assume that the mobile platform is di erentially driven mobile robot with nonholonomic constraints. E ectiveness of presented meth- ods is illustrated by simulation and experimental results. Experimental setup used to demonstrate control algorithms is presented.The article presents overview of authors' results concerning mobile robot con-trol algorithms that use local articial potential functions (APF) to avoid colli-sions and global articial potential functions, named also navigation functions(NF) used to both collision avoidance and driving robot to a desired goal. Allincluded algorithms assume that the mobile platform is dierentially drivenmobile robot with nonholonomic constraints. Eectiveness of presented meth-ods is illustrated by simulation and experimental results. Experimental setupused to demonstrate control algorithms is presented.
{"title":"Local and global artificial potential functions in the control of mobile robots","authors":"K. Kozlowski, W. Kowalczyk","doi":"10.13180/clawar.2018.10-12.09.p02","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.p02","url":null,"abstract":"The article presents overview of authors' results concerning mobile robot con- trol algorithms that use local arti cial potential functions (APF) to avoid colli- sions and global arti cial potential functions, named also navigation functions (NF) used to both collision avoidance and driving robot to a desired goal. All included algorithms assume that the mobile platform is di erentially driven mobile robot with nonholonomic constraints. E ectiveness of presented meth- ods is illustrated by simulation and experimental results. Experimental setup used to demonstrate control algorithms is presented.The article presents overview of authors' results concerning mobile robot con-trol algorithms that use local articial potential functions (APF) to avoid colli-sions and global articial potential functions, named also navigation functions(NF) used to both collision avoidance and driving robot to a desired goal. Allincluded algorithms assume that the mobile platform is dierentially drivenmobile robot with nonholonomic constraints. Eectiveness of presented meth-ods is illustrated by simulation and experimental results. Experimental setupused to demonstrate control algorithms is presented.","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114395611","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 : 2018-09-01DOI: 10.13180/clawar.2018.10-12.09.19
D. A. Gómez, Javier Camilo Torres Vera, H. Rodriguez
This project consists of the development of an electronic system to manipulate a snake like robot in a modular way. The electronic cards were implemented in a master-slave relationship for joint control of each mechanical module. These cards are composed of a DSPic30F4011, microchip 16-bit microcontroller that incorporates the CAN module, essential protocol for communication between cards, PWM outputs for motor control, analogue and digital ports; as well as a socket to connect to an external device through the UART. The firmware has been written in MikroC Pro. Each microcontroller implements the characteristic equation from the Hirose curves to generate a serpentine movement. These moves were simulated using ROS (Robotic Operating System in Rviz).
{"title":"Development the electronic system of continues modular snake-like-robot","authors":"D. A. Gómez, Javier Camilo Torres Vera, H. Rodriguez","doi":"10.13180/clawar.2018.10-12.09.19","DOIUrl":"https://doi.org/10.13180/clawar.2018.10-12.09.19","url":null,"abstract":"This project consists of the development of an electronic system to manipulate a snake like robot in a modular way. The electronic cards were implemented in a master-slave relationship for joint control of each mechanical module. These cards are composed of a DSPic30F4011, microchip 16-bit microcontroller that incorporates the CAN module, essential protocol for communication between cards, PWM outputs for motor control, analogue and digital ports; as well as a socket to connect to an external device through the UART. The firmware has been written in MikroC Pro. Each microcontroller implements the characteristic equation from the Hirose curves to generate a serpentine movement. These moves were simulated using ROS (Robotic Operating System in Rviz).","PeriodicalId":145851,"journal":{"name":"Robotics Transforming the Future","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121765825","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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