Pub Date : 2010-10-01DOI: 10.1109/ARSO.2010.5680049
S. Tadokoro
This paper discusses challenges of rescue robotics for the future research and development on the basis of the state of art of robotics to respond earthquakes and CBRNE (chemical/ biological/radiological/nuclear/explosives) disasters. The result of analysis showed that intelligence of mobility and execution performance, support for teleoperation, stable telecommunications, localization and mapping, cooperative work, reliability, performance metric, and component technologies were particularly important.
{"title":"Rescue robotics challenge","authors":"S. Tadokoro","doi":"10.1109/ARSO.2010.5680049","DOIUrl":"https://doi.org/10.1109/ARSO.2010.5680049","url":null,"abstract":"This paper discusses challenges of rescue robotics for the future research and development on the basis of the state of art of robotics to respond earthquakes and CBRNE (chemical/ biological/radiological/nuclear/explosives) disasters. The result of analysis showed that intelligence of mobility and execution performance, support for teleoperation, stable telecommunications, localization and mapping, cooperative work, reliability, performance metric, and component technologies were particularly important.","PeriodicalId":164753,"journal":{"name":"2010 IEEE Workshop on Advanced Robotics and its Social Impacts","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125554403","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 : 2010-10-01DOI: 10.1109/ARSO.2010.5679632
Seo-Yeon Hwang, Joong-Tae Park, Jae-Bok Song
This paper deals with the autonomous navigation scheme for a mobile robot in indoor environment using an upward-looking camera and sonar sensors. Corner and lamp features are extracted from the sequential ceiling images, and these features are used as landmarks in the SLAM (simultaneous localization and mapping) process. Combining lamp information with the conventional corner feature-based approach provides accurate pose estimation, since lamp features are robustly detected and associated in most indoor environments. The extracted features are used in the EKF (extended Kalman filter) to estimate both robot pose and feature positions. Based on the pose estimation from the SLAM process, autonomous exploration is achieved by applying driving gains to exploration nodes. The sonar sensors are adopted to detect most obstacles including glasses and black surfaces. The proposed scheme is a low-cost solution to autonomous mobile robot navigation since it can be implemented with a web camera and a small number of sonar sensors. Experimental results show that the proposed scheme works successfully in real environments.
{"title":"Autonomous navigation of a mobile robot using an upward-looking camera and sonar sensors","authors":"Seo-Yeon Hwang, Joong-Tae Park, Jae-Bok Song","doi":"10.1109/ARSO.2010.5679632","DOIUrl":"https://doi.org/10.1109/ARSO.2010.5679632","url":null,"abstract":"This paper deals with the autonomous navigation scheme for a mobile robot in indoor environment using an upward-looking camera and sonar sensors. Corner and lamp features are extracted from the sequential ceiling images, and these features are used as landmarks in the SLAM (simultaneous localization and mapping) process. Combining lamp information with the conventional corner feature-based approach provides accurate pose estimation, since lamp features are robustly detected and associated in most indoor environments. The extracted features are used in the EKF (extended Kalman filter) to estimate both robot pose and feature positions. Based on the pose estimation from the SLAM process, autonomous exploration is achieved by applying driving gains to exploration nodes. The sonar sensors are adopted to detect most obstacles including glasses and black surfaces. The proposed scheme is a low-cost solution to autonomous mobile robot navigation since it can be implemented with a web camera and a small number of sonar sensors. Experimental results show that the proposed scheme works successfully in real environments.","PeriodicalId":164753,"journal":{"name":"2010 IEEE Workshop on Advanced Robotics and its Social Impacts","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125588543","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 : 2010-10-01DOI: 10.1109/ARSO.2010.5680025
Changyong Song, Sungchoon Lee, Kyunghwan Kim
During the last five years, we developed two types of humanoid arms called as RoMAN and RAMeX. RAMeX has been developed for imitating human arm motions with low cost, whereas RoMAN is a high-end humanoid arm module with micrometer precision. The authors have noticed that such humanoid arms and the robotic arms for surgery have a close similarity in their functions and structures. All of them imitate motions of human arms in common. In this paper, we try to evolve the humanoid arms(RoMAN) into the surgical robotic arms(called as RoMAN-MD) by modifying kinematic parameters. The surgical robotic arms differ from the humanoid arms in many detailed aspects such as degree of freedom(DOF), workspace, configuration of multiple arms, control scheme, an end effector. In order to evolve RoMAN into the surgical robotic arm(RoMAN-MD) effectively, RoMAN is reconfigured as a form of module. The module includes all the parts for a robotic arm such as motors and controllers. The original version of RoMAN did not take the modular design into account and was attached to a torso with complicacy. The robotic arm module is very convenient to configure a surgical robot system consisting of several robot arms. The purpose of RoMAN-MD is to perform robotic operations in minimally invasive surgery(MIS) or robot assisted surgery.
{"title":"RoMAN-MD: 6 DOF humanoid arm for medical applications","authors":"Changyong Song, Sungchoon Lee, Kyunghwan Kim","doi":"10.1109/ARSO.2010.5680025","DOIUrl":"https://doi.org/10.1109/ARSO.2010.5680025","url":null,"abstract":"During the last five years, we developed two types of humanoid arms called as RoMAN and RAMeX. RAMeX has been developed for imitating human arm motions with low cost, whereas RoMAN is a high-end humanoid arm module with micrometer precision. The authors have noticed that such humanoid arms and the robotic arms for surgery have a close similarity in their functions and structures. All of them imitate motions of human arms in common. In this paper, we try to evolve the humanoid arms(RoMAN) into the surgical robotic arms(called as RoMAN-MD) by modifying kinematic parameters. The surgical robotic arms differ from the humanoid arms in many detailed aspects such as degree of freedom(DOF), workspace, configuration of multiple arms, control scheme, an end effector. In order to evolve RoMAN into the surgical robotic arm(RoMAN-MD) effectively, RoMAN is reconfigured as a form of module. The module includes all the parts for a robotic arm such as motors and controllers. The original version of RoMAN did not take the modular design into account and was attached to a torso with complicacy. The robotic arm module is very convenient to configure a surgical robot system consisting of several robot arms. The purpose of RoMAN-MD is to perform robotic operations in minimally invasive surgery(MIS) or robot assisted surgery.","PeriodicalId":164753,"journal":{"name":"2010 IEEE Workshop on Advanced Robotics and its Social Impacts","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130577097","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 : 2010-10-01DOI: 10.1109/ARSO.2010.5680005
T. Fukuda, C. Tercero, S. Ikeda, M. Negoro
Silicone vasculature phantoms built relying on medical imaging data and computer assisted designed were presented in 2005 as an in-vitro simulation environment for endovascular surgery simulation. Due to the realistic recreation of human vasculature morphology and mechanical characteristics, several simulation techniques were created relying on that modeling technology to satisfy different simulation needs. Among those new simulation technologies there are modeling techniques, force sensing methods for intravascular tools, flow control systems for human pressure simulation, Interventional Radiology Environment simulation and image processing for quantitative description of catheter trajectory. A poll was done in a population of heath care specialist, industry and engineering to find their simulation needs. As results their principal needs are the visualization and quantification of the interaction between the endovascular tools and the vasculature phantoms.
{"title":"Social impact of in-vitro endovascular surgery simulation technology","authors":"T. Fukuda, C. Tercero, S. Ikeda, M. Negoro","doi":"10.1109/ARSO.2010.5680005","DOIUrl":"https://doi.org/10.1109/ARSO.2010.5680005","url":null,"abstract":"Silicone vasculature phantoms built relying on medical imaging data and computer assisted designed were presented in 2005 as an in-vitro simulation environment for endovascular surgery simulation. Due to the realistic recreation of human vasculature morphology and mechanical characteristics, several simulation techniques were created relying on that modeling technology to satisfy different simulation needs. Among those new simulation technologies there are modeling techniques, force sensing methods for intravascular tools, flow control systems for human pressure simulation, Interventional Radiology Environment simulation and image processing for quantitative description of catheter trajectory. A poll was done in a population of heath care specialist, industry and engineering to find their simulation needs. As results their principal needs are the visualization and quantification of the interaction between the endovascular tools and the vasculature phantoms.","PeriodicalId":164753,"journal":{"name":"2010 IEEE Workshop on Advanced Robotics and its Social Impacts","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128947244","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 : 2010-10-01DOI: 10.1109/ARSO.2010.5680002
Hyunsin Park, C. Yoo
This paper describes an emotional singing voice synthesis algorithm based on hidden Markov model. To express a particular emotion, the fundamental frequency (F0) contour of singing voice is modified by controlling the parameters consisting of vibrato extent, vibrato rate, overshoot, and preparation. Experimental results on the effectiveness of F0 contour modification in expressing a certain emotion is described. We have found that F0 contour modification is effective in expressing a “sad” emotion but not effective in expressing a “happy” emotion.
{"title":"Statistical model based emotional singing voice synthesis by F0 contour modification","authors":"Hyunsin Park, C. Yoo","doi":"10.1109/ARSO.2010.5680002","DOIUrl":"https://doi.org/10.1109/ARSO.2010.5680002","url":null,"abstract":"This paper describes an emotional singing voice synthesis algorithm based on hidden Markov model. To express a particular emotion, the fundamental frequency (F0) contour of singing voice is modified by controlling the parameters consisting of vibrato extent, vibrato rate, overshoot, and preparation. Experimental results on the effectiveness of F0 contour modification in expressing a certain emotion is described. We have found that F0 contour modification is effective in expressing a “sad” emotion but not effective in expressing a “happy” emotion.","PeriodicalId":164753,"journal":{"name":"2010 IEEE Workshop on Advanced Robotics and its Social Impacts","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133663908","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 : 2010-10-01DOI: 10.1109/ARSO.2010.5679699
Byoung-gi Lee, Jong-suk Choi, Daijin Kim, Munsang Kim
It is important for intelligent robots to detect the location of user even though the user is not captured by vision cameras. Sound source localization is a technique to detect the direction of sound source using multiple microphones. It enables the robot to respond to the user's call. Sometimes, a robot operates in echoic room, but the performance of sound source localization in echoic room is very poor. In this work, a verification method for reverberation is proposed and tested how much it improves the performance of sound source localization in reverberant environment.
{"title":"Verification of sound source localization in reverberation room and its real time adaptation using visual information","authors":"Byoung-gi Lee, Jong-suk Choi, Daijin Kim, Munsang Kim","doi":"10.1109/ARSO.2010.5679699","DOIUrl":"https://doi.org/10.1109/ARSO.2010.5679699","url":null,"abstract":"It is important for intelligent robots to detect the location of user even though the user is not captured by vision cameras. Sound source localization is a technique to detect the direction of sound source using multiple microphones. It enables the robot to respond to the user's call. Sometimes, a robot operates in echoic room, but the performance of sound source localization in echoic room is very poor. In this work, a verification method for reverberation is proposed and tested how much it improves the performance of sound source localization in reverberant environment.","PeriodicalId":164753,"journal":{"name":"2010 IEEE Workshop on Advanced Robotics and its Social Impacts","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115839146","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 : 2010-10-01DOI: 10.1109/ARSO.2010.5679629
C. Chun, Tae-Bum Kwon, SeungBeum Suh, Sungchul Kang
In urban environment, the Global Positioning System (GPS), including differential variant of it, does not have sufficient accuracy for unmanned autonomous robot to drive along a lane because of tall buildings and trees. It is required to keep the variance of the distance between the robot and the boundary of the road less than 10–20cm to safely follow the road, as human beings drive.
{"title":"Autonomous urban navigation and its application to patrol","authors":"C. Chun, Tae-Bum Kwon, SeungBeum Suh, Sungchul Kang","doi":"10.1109/ARSO.2010.5679629","DOIUrl":"https://doi.org/10.1109/ARSO.2010.5679629","url":null,"abstract":"In urban environment, the Global Positioning System (GPS), including differential variant of it, does not have sufficient accuracy for unmanned autonomous robot to drive along a lane because of tall buildings and trees. It is required to keep the variance of the distance between the robot and the boundary of the road less than 10–20cm to safely follow the road, as human beings drive.","PeriodicalId":164753,"journal":{"name":"2010 IEEE Workshop on Advanced Robotics and its Social Impacts","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121222771","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 : 2010-10-01DOI: 10.1109/ARSO.2010.5679635
M. Han, Chia-How Lin, K. Song
A two-dimensional (2-D) emotional model is proposed to represent the emotional state of a sociable robot. We present a novel design of autonomous robotic emotional state transition based on a fuzzy-neuro network. By using fuzzy Kohonen clustering network (FKCN), a smooth transition of the robotic emotional states is obtained to generate continuous emotional behaviors. Moreover, the robotic emotional character can be specified in this design by assigning weights to the FKCN. In this study, four emotional characters and five primitive emotional behaviors (boring, smiling, crying, angry and relaxed) have been designed for a robotic face. The method has been tested by a graphical simulator to verify the robotic responses to the user's emotional intensity (neutral, happiness, anger and sadness). Computer simulations show that the proposed emotional state transition scheme effectively responds to user's emotional intensity in a continuous manner. Practical experiments on a 16-DOF robotic face validate the proposed design.
{"title":"A design for smooth transition of robotic emotional states","authors":"M. Han, Chia-How Lin, K. Song","doi":"10.1109/ARSO.2010.5679635","DOIUrl":"https://doi.org/10.1109/ARSO.2010.5679635","url":null,"abstract":"A two-dimensional (2-D) emotional model is proposed to represent the emotional state of a sociable robot. We present a novel design of autonomous robotic emotional state transition based on a fuzzy-neuro network. By using fuzzy Kohonen clustering network (FKCN), a smooth transition of the robotic emotional states is obtained to generate continuous emotional behaviors. Moreover, the robotic emotional character can be specified in this design by assigning weights to the FKCN. In this study, four emotional characters and five primitive emotional behaviors (boring, smiling, crying, angry and relaxed) have been designed for a robotic face. The method has been tested by a graphical simulator to verify the robotic responses to the user's emotional intensity (neutral, happiness, anger and sadness). Computer simulations show that the proposed emotional state transition scheme effectively responds to user's emotional intensity in a continuous manner. Practical experiments on a 16-DOF robotic face validate the proposed design.","PeriodicalId":164753,"journal":{"name":"2010 IEEE Workshop on Advanced Robotics and its Social Impacts","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123772555","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 : 2010-10-01DOI: 10.1109/ARSO.2010.5679631
Kuan-Ting Yu, C. Lam, Ming-Fang Chang, Wei-Hao Mou, Shih-Huan Tseng, L. Fu
This paper describes a robotic walker, Johnnie, that provides assistance to mobility-challenged people, especially elderly people. Our walker is modified from a conventional unpowered four-wheel walker by equipping motors, sensors and some safety devices, providing mobility and stability to it. In our software system, we provide two modes: (1) autonomous mode in which the walker can autonomously navigate to the user without collision, and (2) rehabilitation mode in which the walker will assist the elderly to walk safely and smoothly. We have done a preliminary test of the two modes in our lab environment and analyzed the result.
{"title":"An interactive robotic walker for assisting elderly mobility in senior care unit","authors":"Kuan-Ting Yu, C. Lam, Ming-Fang Chang, Wei-Hao Mou, Shih-Huan Tseng, L. Fu","doi":"10.1109/ARSO.2010.5679631","DOIUrl":"https://doi.org/10.1109/ARSO.2010.5679631","url":null,"abstract":"This paper describes a robotic walker, Johnnie, that provides assistance to mobility-challenged people, especially elderly people. Our walker is modified from a conventional unpowered four-wheel walker by equipping motors, sensors and some safety devices, providing mobility and stability to it. In our software system, we provide two modes: (1) autonomous mode in which the walker can autonomously navigate to the user without collision, and (2) rehabilitation mode in which the walker will assist the elderly to walk safely and smoothly. We have done a preliminary test of the two modes in our lab environment and analyzed the result.","PeriodicalId":164753,"journal":{"name":"2010 IEEE Workshop on Advanced Robotics and its Social Impacts","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121085238","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 : 2010-10-01DOI: 10.1109/ARSO.2010.5679999
Oh-Hun Kwon, S. Koo, Young-geun Kim, D. Kwon
This paper introduced a telepresence robot system for English tutoring. The system consists of the user system, the server system and the robot system. The robot is controlled by the collision prevention system, direct interface, server interface with assistant teacher and remote interface with native teacher. A remote native teacher had given lessons in English using this system for a month and several issues of telepresence robot system for remote lecture are found from the lecture.
{"title":"Telepresence robot system for English tutoring","authors":"Oh-Hun Kwon, S. Koo, Young-geun Kim, D. Kwon","doi":"10.1109/ARSO.2010.5679999","DOIUrl":"https://doi.org/10.1109/ARSO.2010.5679999","url":null,"abstract":"This paper introduced a telepresence robot system for English tutoring. The system consists of the user system, the server system and the robot system. The robot is controlled by the collision prevention system, direct interface, server interface with assistant teacher and remote interface with native teacher. A remote native teacher had given lessons in English using this system for a month and several issues of telepresence robot system for remote lecture are found from the lecture.","PeriodicalId":164753,"journal":{"name":"2010 IEEE Workshop on Advanced Robotics and its Social Impacts","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126547036","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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