Pub Date : 2015-04-09DOI: 10.1109/ICARA.2015.7081178
J. Nel, Aaron Dalbeth, G. S. Gupta, Ken Mercer
This paper details the design and development of a biofeedback platform. The platform is customizable; it has a load cell slider allowing the user to change the location of the load cells. A 24-bit sigma-delta ADC is used to interface with the load cells, these values are then transmitted to a computer via a microcontroller. The load cell values are extracted and scaled in real-time. The individual load cell weights, total weight and center of pressure is displayed on the computer monitor. Experiments confirm that the load cells and ADC used in the biofeedback platform was highly accurate and responsive. A simple game was then developed, giving the user some physical exercise, also known as exergaming.
{"title":"Towards building an accurate low-cost biofeedback platform using force sensors","authors":"J. Nel, Aaron Dalbeth, G. S. Gupta, Ken Mercer","doi":"10.1109/ICARA.2015.7081178","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081178","url":null,"abstract":"This paper details the design and development of a biofeedback platform. The platform is customizable; it has a load cell slider allowing the user to change the location of the load cells. A 24-bit sigma-delta ADC is used to interface with the load cells, these values are then transmitted to a computer via a microcontroller. The load cell values are extracted and scaled in real-time. The individual load cell weights, total weight and center of pressure is displayed on the computer monitor. Experiments confirm that the load cells and ADC used in the biofeedback platform was highly accurate and responsive. A simple game was then developed, giving the user some physical exercise, also known as exergaming.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"92 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124618715","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081136
Wu Yue, Y. S. Wong, G. Hong
Among techniques used in condition monitoring, those for prognostics are the most challenging. This paper presents a Hidden Markov Model (HMM) based approach for prognostics in TCM. A HMM model usually employs a typical working condition for establishing and verifying the model. However, in tool condition monitoring (TCM), the cutting tool encounters a range of cutting conditions. It is not economical to establish a HMM for every cutting condition. Therefore, an adaptive-Variable Duration Hidden Markov Model (VDHMM) is proposed whereby the training information is adapted to a target test under different cutting conditions to those for establishing the initial model. It is found that with an appropriately selected feature set and state number, the proposed algorithm can significantly reduce the mean absolute percentage error (MAPE).
{"title":"Adaptive-VDHMM for prognostics in tool condition monitoring","authors":"Wu Yue, Y. S. Wong, G. Hong","doi":"10.1109/ICARA.2015.7081136","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081136","url":null,"abstract":"Among techniques used in condition monitoring, those for prognostics are the most challenging. This paper presents a Hidden Markov Model (HMM) based approach for prognostics in TCM. A HMM model usually employs a typical working condition for establishing and verifying the model. However, in tool condition monitoring (TCM), the cutting tool encounters a range of cutting conditions. It is not economical to establish a HMM for every cutting condition. Therefore, an adaptive-Variable Duration Hidden Markov Model (VDHMM) is proposed whereby the training information is adapted to a target test under different cutting conditions to those for establishing the initial model. It is found that with an appropriately selected feature set and state number, the proposed algorithm can significantly reduce the mean absolute percentage error (MAPE).","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129523097","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081191
Jiefei Wang, M. Garratt, S. Anavatti
Dominant plane estimation is an fundamental task not only for trajectory finding problems but also autonomous navigation of mobile robots and MAVs (Micro Air Vehicles). In this paper, we illustrate a novel dominant plane detection approach from a RGB-D camera image sequences. A plane fitting as region growing technique is used in this work, rather than implementing the original algorithm, we modified it and updated to a incremental version, and optimised the plane calculation and mean square error calculation, to improve the accuracy and efficiency. The preliminary experimental results in different scenarios are presented by implementing the algorithm.
{"title":"Dominant plane detection using a RGB-D camera for autonomous navigation","authors":"Jiefei Wang, M. Garratt, S. Anavatti","doi":"10.1109/ICARA.2015.7081191","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081191","url":null,"abstract":"Dominant plane estimation is an fundamental task not only for trajectory finding problems but also autonomous navigation of mobile robots and MAVs (Micro Air Vehicles). In this paper, we illustrate a novel dominant plane detection approach from a RGB-D camera image sequences. A plane fitting as region growing technique is used in this work, rather than implementing the original algorithm, we modified it and updated to a incremental version, and optimised the plane calculation and mean square error calculation, to improve the accuracy and efficiency. The preliminary experimental results in different scenarios are presented by implementing the algorithm.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130318334","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081124
Christina Georgiou, S. Anderson, T. Dodd
Accurate robot mapping, localisation and navigation remains an unsolved problem for challenging real-life indoor environments. Many approaches to Simultaneous Localisation And Mapping (SLAM) have been proposed but few attempts have been made to improve performance by using appropriate prior maps. Information such as floor plans or architectural drawings is available and there is a rich literature of processing floor plans to extract information. However, the problem of converting drawings to an appropriate SLAM prior format has not been addressed. This paper addresses this problem and proposes a way to process such plans using a simple set of geometric constraints to extract useful information and construct appropriate SLAM priors. It also proposes a set of criteria and a method to assess the quality of constructed SLAM priors.
{"title":"Constructing contextual SLAM priors using architectural drawings","authors":"Christina Georgiou, S. Anderson, T. Dodd","doi":"10.1109/ICARA.2015.7081124","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081124","url":null,"abstract":"Accurate robot mapping, localisation and navigation remains an unsolved problem for challenging real-life indoor environments. Many approaches to Simultaneous Localisation And Mapping (SLAM) have been proposed but few attempts have been made to improve performance by using appropriate prior maps. Information such as floor plans or architectural drawings is available and there is a rich literature of processing floor plans to extract information. However, the problem of converting drawings to an appropriate SLAM prior format has not been addressed. This paper addresses this problem and proposes a way to process such plans using a simple set of geometric constraints to extract useful information and construct appropriate SLAM priors. It also proposes a set of criteria and a method to assess the quality of constructed SLAM priors.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130803883","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081184
Alex Ryker, E. Matson, Sangho Kim, Seokjun Lee, Insu Jang
As robotic technology advances, robots become increasingly ubiquitous in the lives of humans. To facilitate this ubiquity, systems must be created that allow robots to interact easily with human beings. These systems must provide for communication between an arbitrary number of agents; for example, a home automation system with half a dozen environment sensors or a city-wide fire prevention system with hundreds of firefighting robots. In addition, these systems must support agents of varying complexity levels which could range from simple temperature sensors to database systems to autonomous robots. In this paper, we present the results of an experimental implementation of a HARMS-based system, the model for which has been proposed by Lewis et al [1].
{"title":"Implementing a HARMS-based software system for use in collective robotics applications","authors":"Alex Ryker, E. Matson, Sangho Kim, Seokjun Lee, Insu Jang","doi":"10.1109/ICARA.2015.7081184","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081184","url":null,"abstract":"As robotic technology advances, robots become increasingly ubiquitous in the lives of humans. To facilitate this ubiquity, systems must be created that allow robots to interact easily with human beings. These systems must provide for communication between an arbitrary number of agents; for example, a home automation system with half a dozen environment sensors or a city-wide fire prevention system with hundreds of firefighting robots. In addition, these systems must support agents of varying complexity levels which could range from simple temperature sensors to database systems to autonomous robots. In this paper, we present the results of an experimental implementation of a HARMS-based system, the model for which has been proposed by Lewis et al [1].","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"25 7","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113984686","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081120
Z. Qi, Xu Zhao, Kuang Ma, Matthew King, Wei-chen Lee, Ji-Wei Lin, Shao-Min Lee
This paper presents a safety analysis method based on mass re-distribution experiment of the novel 4-Wheel Independent in-wheel-motor Drive and Independent Steering Electrical Vehicle (4WIDIS EV), which has four independent wheel units with the central engine, gearbox and steering mechanism all removed, as each independent unit has an in-wheel motor with its own steering control system. A central control unit is used to coordinate the 4 wheels and translate the driver's input to the wheels so that there is no mechanical link between these wheel units. In such a design, as compare to traditional vehicle, the mass distribution could be more flexible. Based on this flexibility and extra space, the method is proposed to experiment the distribution of mass by re-arranging the battery pack(s) in the vehicle to improve the safety.
{"title":"4-Wheel Independent in-wheel-motor Drive and Independent Steering Electric Vehicle safety analysis method based on mass re-distribution experiment","authors":"Z. Qi, Xu Zhao, Kuang Ma, Matthew King, Wei-chen Lee, Ji-Wei Lin, Shao-Min Lee","doi":"10.1109/ICARA.2015.7081120","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081120","url":null,"abstract":"This paper presents a safety analysis method based on mass re-distribution experiment of the novel 4-Wheel Independent in-wheel-motor Drive and Independent Steering Electrical Vehicle (4WIDIS EV), which has four independent wheel units with the central engine, gearbox and steering mechanism all removed, as each independent unit has an in-wheel motor with its own steering control system. A central control unit is used to coordinate the 4 wheels and translate the driver's input to the wheels so that there is no mechanical link between these wheel units. In such a design, as compare to traditional vehicle, the mass distribution could be more flexible. Based on this flexibility and extra space, the method is proposed to experiment the distribution of mass by re-arranging the battery pack(s) in the vehicle to improve the safety.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133538553","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081177
Z. Mo, Weiliang Xu, N. Broderick
The force feedback absence in minimally invasive surgeries (MIS) is a chronic problem. The main obstacle is the intensive magnetic resonance (MR) influence on traditional electronic signals. This paper proposes a miniature and MR compatible optical force sensor based on Fabry-Perot interference (FPI) principle and interferometric-intensity modulation method. The FPI sensor, with 400μm outer diameter, is embedded in the tip of a rigid puncture needle with 1.0mm inner diameter. The sensor is simulated and fabricated, followed by signal processing using Fourier and wavelet transform analysis. Calibration results at 20 °C show that the force sensing range and resolution are 0-5N and 0.1N, respectively. Silicon rubber skin phantom insertion experiments suggest that the FPI sensor could identify clearly the type of tissues during the insertion and extraction procedure.
{"title":"A Fabry-Perot optical fiber force sensor based on intensity modulation for needle tip force sensing","authors":"Z. Mo, Weiliang Xu, N. Broderick","doi":"10.1109/ICARA.2015.7081177","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081177","url":null,"abstract":"The force feedback absence in minimally invasive surgeries (MIS) is a chronic problem. The main obstacle is the intensive magnetic resonance (MR) influence on traditional electronic signals. This paper proposes a miniature and MR compatible optical force sensor based on Fabry-Perot interference (FPI) principle and interferometric-intensity modulation method. The FPI sensor, with 400μm outer diameter, is embedded in the tip of a rigid puncture needle with 1.0mm inner diameter. The sensor is simulated and fabricated, followed by signal processing using Fourier and wavelet transform analysis. Calibration results at 20 °C show that the force sensing range and resolution are 0-5N and 0.1N, respectively. Silicon rubber skin phantom insertion experiments suggest that the FPI sensor could identify clearly the type of tissues during the insertion and extraction procedure.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123493936","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081127
David Gonçalves, A. Arsénio
Robots have been traditionally in operation away from people, for instance in industrial environments. More recently, there has been a trend for bringing robots to market for helping people. In particular, children constitute a challenging group for robot interaction, due to their curiosity and energy, as well as safety concerns. This paper describes the construction process of an external structure for a fleet of mobile robots designed for interactions with children in a hospital environment. We address several challenges on the design process, critical for the robots to be able to operate safely, while interacting socially, among a group of children with specific needs.
{"title":"Human-driven multi-robot design process for social interactions with children on complex environments","authors":"David Gonçalves, A. Arsénio","doi":"10.1109/ICARA.2015.7081127","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081127","url":null,"abstract":"Robots have been traditionally in operation away from people, for instance in industrial environments. More recently, there has been a trend for bringing robots to market for helping people. In particular, children constitute a challenging group for robot interaction, due to their curiosity and energy, as well as safety concerns. This paper describes the construction process of an external structure for a fleet of mobile robots designed for interactions with children in a hospital environment. We address several challenges on the design process, critical for the robots to be able to operate safely, while interacting socially, among a group of children with specific needs.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121968868","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081155
M. Sharifi, Xiaoqi Chen
This paper presents a novel vision based technique for navigation of agricultural mobile robots in orchards. In this technique, the captured color image is clustered by mean-shift algorithm, then a novel classification technique based on graph partitioning theory classifies clustered image into defined classes including terrain, trees and sky. Then, Hough transform is applied to extract the features required to define desired central path for robot navigation in orchard rows. Finally using this technique, mobile robot can change and improve its direction with respect to desired path. The results show this technique classifies an orchard image properly into defined elements and produces optimal path for mobile robot.
{"title":"A novel vision based row guidance approach for navigation of agricultural mobile robots in orchards","authors":"M. Sharifi, Xiaoqi Chen","doi":"10.1109/ICARA.2015.7081155","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081155","url":null,"abstract":"This paper presents a novel vision based technique for navigation of agricultural mobile robots in orchards. In this technique, the captured color image is clustered by mean-shift algorithm, then a novel classification technique based on graph partitioning theory classifies clustered image into defined classes including terrain, trees and sky. Then, Hough transform is applied to extract the features required to define desired central path for robot navigation in orchard rows. Finally using this technique, mobile robot can change and improve its direction with respect to desired path. The results show this technique classifies an orchard image properly into defined elements and produces optimal path for mobile robot.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126273171","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081180
C. Pahl, H. A. Mazle, E. Supriyanto
Temperature measurement in magnetic fields is indispensable for Magnetic Resonance safety studies and for temperature calibrations during Magnetic Resonance applications. A selection of these procedures is subject to the application of MR-compatible robotic systems. The existing problem for the software version NI LabVIEW 2013 is the lack of an instrument to automatically process data from a fiber-optical temperature measurement device. In this work a virtual instrument for this specific software version is designed in order to automatically visualize temperature in magnetic fields. The setup consists of a magnetic field tolerant fiber-optical temperature measurement device being connected to temperature samples and a Microsoft based Computer System. Results show a functional software instrument for automatic temperature measurement with a maximum delay of 0.14 s. We conclude that the developed instrument is highly suitable for automated biomedical applications and can be adapted to future versions of LabVIEW software.
{"title":"Design of virtual instrument for automatic temperature visualization in magnetic fields using LabVIEW in combination with fiber-optical temperature measurement","authors":"C. Pahl, H. A. Mazle, E. Supriyanto","doi":"10.1109/ICARA.2015.7081180","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081180","url":null,"abstract":"Temperature measurement in magnetic fields is indispensable for Magnetic Resonance safety studies and for temperature calibrations during Magnetic Resonance applications. A selection of these procedures is subject to the application of MR-compatible robotic systems. The existing problem for the software version NI LabVIEW 2013 is the lack of an instrument to automatically process data from a fiber-optical temperature measurement device. In this work a virtual instrument for this specific software version is designed in order to automatically visualize temperature in magnetic fields. The setup consists of a magnetic field tolerant fiber-optical temperature measurement device being connected to temperature samples and a Microsoft based Computer System. Results show a functional software instrument for automatic temperature measurement with a maximum delay of 0.14 s. We conclude that the developed instrument is highly suitable for automated biomedical applications and can be adapted to future versions of LabVIEW software.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121111038","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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