The visual SLAM has been approved that it is extremely useful to obtain robust positions of camera for AR system. However, the traditional initialization of vSLAM will stop it being popular in AR system because the initialization approaches are too complex and inefficiently. For alleviating this limitation, we present a novel initializing method for monocular vSLAM system based on indoor model. In contrast to existing methods, the proposed method can even instantaneously initialize the vSLAM 3D map at the first frame. Given a single frame of the indoor image, the lines and vanishing points can be compiled, as well as the orientation map and a set of indoor model hypothesis, and the best fitting 3D indoor model can be estimated further. We use the indoor model to reliably initialize the vSLAM system. The experimental result on some public dataset proves the robustness and quickness of our initialization approach.
{"title":"Fast initialization method for monocular SLAM based on indoor model","authors":"Jisheng Huang, Ruyu Liu, Jianhua Zhang, Shengyong Chen","doi":"10.1109/ROBIO.2017.8324772","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324772","url":null,"abstract":"The visual SLAM has been approved that it is extremely useful to obtain robust positions of camera for AR system. However, the traditional initialization of vSLAM will stop it being popular in AR system because the initialization approaches are too complex and inefficiently. For alleviating this limitation, we present a novel initializing method for monocular vSLAM system based on indoor model. In contrast to existing methods, the proposed method can even instantaneously initialize the vSLAM 3D map at the first frame. Given a single frame of the indoor image, the lines and vanishing points can be compiled, as well as the orientation map and a set of indoor model hypothesis, and the best fitting 3D indoor model can be estimated further. We use the indoor model to reliably initialize the vSLAM system. The experimental result on some public dataset proves the robustness and quickness of our initialization approach.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133960346","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 : 2017-12-01DOI: 10.1109/ROBIO.2017.8324545
Zeyu Zeng, Yucheng He, Qi Zhang, Ying Hu, Yong Cao
In traditional endoscopic sinus surgery, the doctor has to hold the endoscopy in one hand, doing the surgery in the complicate nasal cavity with another hand holding the surgical instrument. Based on the nasal surgery scene people have developed many robot assisted sinus surgery (RASS) systems, which have provided surgeons stable surgical vision, improved the efficiency of surgery. However, most of these systems acquire operator to select multiple robot path points from the nostril to the surgical area (sinus), which is very time consuming and laborious. In this paper, we develop an improved A-star algorithm that can obtain path automatically only need to select the start point and target point. After registered four work coordinate spaces, we apply traditional A-star path planning algorithm with robot kinematic characteristics. Unlike previous approaches, trying to ensure the Remote Center of Motion (RCM) by design mechanical structure first, the control algorithm makes the endoscopy move in RCM mod, which meets the safety requirements. We have obtained promising results when we test our new approach.
{"title":"Approach and control for robot assisted sinus surgery","authors":"Zeyu Zeng, Yucheng He, Qi Zhang, Ying Hu, Yong Cao","doi":"10.1109/ROBIO.2017.8324545","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324545","url":null,"abstract":"In traditional endoscopic sinus surgery, the doctor has to hold the endoscopy in one hand, doing the surgery in the complicate nasal cavity with another hand holding the surgical instrument. Based on the nasal surgery scene people have developed many robot assisted sinus surgery (RASS) systems, which have provided surgeons stable surgical vision, improved the efficiency of surgery. However, most of these systems acquire operator to select multiple robot path points from the nostril to the surgical area (sinus), which is very time consuming and laborious. In this paper, we develop an improved A-star algorithm that can obtain path automatically only need to select the start point and target point. After registered four work coordinate spaces, we apply traditional A-star path planning algorithm with robot kinematic characteristics. Unlike previous approaches, trying to ensure the Remote Center of Motion (RCM) by design mechanical structure first, the control algorithm makes the endoscopy move in RCM mod, which meets the safety requirements. We have obtained promising results when we test our new approach.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134218417","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 : 2017-12-01DOI: 10.1109/ROBIO.2017.8324494
Zhihao Xu, Xuefeng Zhou, Taobo Cheng, Kezheng Sun, Dan Huang
In this paper, we consider the task-space tracking problem for robot manipulators with uncertain kinematics and dynamics. Imprecise kinematic parameters would cause errors in the solution of inverse kinematics, and the closed-loop system remains nonlinear and coupled. At the same time, task-space velocity or joint acceleration are usually required, which implies an increase of the production cost. Therefore, an adaptive control method is proposed, neither task-space velocity nor joint acceleration are needed. The measurement of task-space velocity is avoided using a low-pass filter, and by defining a second order reference trajectory, the joint acceleration is also eliminated. Using Lyapunov theory, we have proved that the end-effector tracking errors can asymptotically converge to zero. Examples and numeral simulations are provided to validate the effectiveness of the proposed tracking method.
{"title":"Adaptive task-space tracking for robot manipulators with uncertain kinematics and dynamics and without using acceleration","authors":"Zhihao Xu, Xuefeng Zhou, Taobo Cheng, Kezheng Sun, Dan Huang","doi":"10.1109/ROBIO.2017.8324494","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324494","url":null,"abstract":"In this paper, we consider the task-space tracking problem for robot manipulators with uncertain kinematics and dynamics. Imprecise kinematic parameters would cause errors in the solution of inverse kinematics, and the closed-loop system remains nonlinear and coupled. At the same time, task-space velocity or joint acceleration are usually required, which implies an increase of the production cost. Therefore, an adaptive control method is proposed, neither task-space velocity nor joint acceleration are needed. The measurement of task-space velocity is avoided using a low-pass filter, and by defining a second order reference trajectory, the joint acceleration is also eliminated. Using Lyapunov theory, we have proved that the end-effector tracking errors can asymptotically converge to zero. Examples and numeral simulations are provided to validate the effectiveness of the proposed tracking method.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133066565","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 : 2017-12-01DOI: 10.1109/ROBIO.2017.8324691
J. Kralik, D. Muldrew, D. Gunasekaran, Richard D. Lange
Human-level performance in robotic systems remains elusive. Therefore, an important complementary approach to developing intelligent systems is to use design principles of the brain. One major design element is the combination of multiple behavioral control systems. Although hierarchical architectures have been used in robotics, they have not closely mimicked those of the primate brain (including humans). We are developing a model of cognitive and action control in the human brain that captures key findings from the cognitive neuroscience literature. Here, we focus on the classic detour problem that requires reaching around barriers. We demonstrate model performance in both simulation and with a humanoid robot and show with the simulations that all levels in the model contribute to successful reaching, provided that the agent's environment poses problems of varying complexity.
{"title":"Cognitive and action control for goal-directed reaching in a humanoid robot","authors":"J. Kralik, D. Muldrew, D. Gunasekaran, Richard D. Lange","doi":"10.1109/ROBIO.2017.8324691","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324691","url":null,"abstract":"Human-level performance in robotic systems remains elusive. Therefore, an important complementary approach to developing intelligent systems is to use design principles of the brain. One major design element is the combination of multiple behavioral control systems. Although hierarchical architectures have been used in robotics, they have not closely mimicked those of the primate brain (including humans). We are developing a model of cognitive and action control in the human brain that captures key findings from the cognitive neuroscience literature. Here, we focus on the classic detour problem that requires reaching around barriers. We demonstrate model performance in both simulation and with a humanoid robot and show with the simulations that all levels in the model contribute to successful reaching, provided that the agent's environment poses problems of varying complexity.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133869896","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 : 2017-12-01DOI: 10.1109/ROBIO.2017.8324761
F. Wan, Zheng Wang, Brooke Franchuk, Xinyao Hu, Zhenglong Sun, Chaoyang Song
We describe a fluidic actuator design that replaces the sealed chamber of a hydraulic cylinder using a soft actuator to provide compliant linear compression with a large force (>100 N) at a low operation pressure (<50 kPa) for lower-limb wearable. The external shells constrain the deformation of the soft actuator under fluidic pressurization. This enables us to use latex party balloons as a quick and cheap alternative for initial design investigation. We found that the forces exerted by the soft material deformation are well-captured by the rigid shells, removing the necessity of explicitly describing the mechanics of the soft material deformation and its interaction with the rigid structure. One can use the classical Force, Pressure and Area formula factored with an efficiency parameter to characterize the actuator performance. Furthermore, we proposed an engineering design of the hybrid actuator using a customized soft actuator placed inside a single shell cavity with an open end for compression force. Our results show that the proposed design can generate a very high force within a short stroke distance. At a low input pressure of 50 kPa, the exerted block force is approaching only about 3% less than the classical equation predicted. The actuator is fitted to a new gait augmentation design for correcting knee alignment, which is usually challenging for actuators made from the purely soft material.
{"title":"Hybrid actuator design for a gait augmentation wearable","authors":"F. Wan, Zheng Wang, Brooke Franchuk, Xinyao Hu, Zhenglong Sun, Chaoyang Song","doi":"10.1109/ROBIO.2017.8324761","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324761","url":null,"abstract":"We describe a fluidic actuator design that replaces the sealed chamber of a hydraulic cylinder using a soft actuator to provide compliant linear compression with a large force (>100 N) at a low operation pressure (<50 kPa) for lower-limb wearable. The external shells constrain the deformation of the soft actuator under fluidic pressurization. This enables us to use latex party balloons as a quick and cheap alternative for initial design investigation. We found that the forces exerted by the soft material deformation are well-captured by the rigid shells, removing the necessity of explicitly describing the mechanics of the soft material deformation and its interaction with the rigid structure. One can use the classical Force, Pressure and Area formula factored with an efficiency parameter to characterize the actuator performance. Furthermore, we proposed an engineering design of the hybrid actuator using a customized soft actuator placed inside a single shell cavity with an open end for compression force. Our results show that the proposed design can generate a very high force within a short stroke distance. At a low input pressure of 50 kPa, the exerted block force is approaching only about 3% less than the classical equation predicted. The actuator is fitted to a new gait augmentation design for correcting knee alignment, which is usually challenging for actuators made from the purely soft material.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115844555","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 : 2017-12-01DOI: 10.1109/ROBIO.2017.8324751
Jing-Chen Hong, Yuta Fukushima, S. Suzuki, Kazuhiro Yasuda, Hiroki Ohashi, H. Iwata
In the previous work, we developed a dorsiflexion support robotic technology (RT) to help with gait rehabilitation for hemiplegic patients. The RT actively supports dorsiflexion force during swing phase with an artificial muscle. Because of the insufficient support of heel rocker, we consider using a spring for assisting resistive dorsiflexion force during loading response phase. The spring can be changed easily on our developed RT, which contributes to advantage of choosing spring with suitable spring constant. Thus, the ultimate goal for us is to find a way to determine the appropriate spring constant for corresponding individual gait to support full heel rocker in loading response phase. Support amount of dorsiflexion torque is needed for determining the spring constant. Therefore, our aim in this paper is to find out the correlation between ankle torque and individual gait factors, such as walking speed and step length. After selecting these factors, we collected gait data for 9 healthy volunteers and derive the formula to estimate dorsiflexion torque using multiple linear regression analysis. An accuracy evaluation test was also done to prove the availability of derived estimation formula.
{"title":"Estimation of ankle dorsiflexion torque during loading response phase for spring coefficient identification","authors":"Jing-Chen Hong, Yuta Fukushima, S. Suzuki, Kazuhiro Yasuda, Hiroki Ohashi, H. Iwata","doi":"10.1109/ROBIO.2017.8324751","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324751","url":null,"abstract":"In the previous work, we developed a dorsiflexion support robotic technology (RT) to help with gait rehabilitation for hemiplegic patients. The RT actively supports dorsiflexion force during swing phase with an artificial muscle. Because of the insufficient support of heel rocker, we consider using a spring for assisting resistive dorsiflexion force during loading response phase. The spring can be changed easily on our developed RT, which contributes to advantage of choosing spring with suitable spring constant. Thus, the ultimate goal for us is to find a way to determine the appropriate spring constant for corresponding individual gait to support full heel rocker in loading response phase. Support amount of dorsiflexion torque is needed for determining the spring constant. Therefore, our aim in this paper is to find out the correlation between ankle torque and individual gait factors, such as walking speed and step length. After selecting these factors, we collected gait data for 9 healthy volunteers and derive the formula to estimate dorsiflexion torque using multiple linear regression analysis. An accuracy evaluation test was also done to prove the availability of derived estimation formula.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115388316","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 : 2017-12-01DOI: 10.1109/ROBIO.2017.8324759
Tyler H. Ray, J. Kralik
Higher cognitive function was built from a foundation laid by the lowest goal-directed systems in the human brain. Thus, to understand higher cognitive function we must first understand the lowest level. This paper presents our initial results of a computational investigation into the origins of our cognition. We present results from four experiments that investigated the conditions under which initial cognitive abilities arose in our lineage, by comparing a representative chordate, amphioxus, to its close cousins the tunicates and Pikaia. Experiment 1 found that the chordates that would eventually lead to amphioxus and Pikaia evolved a switching mechanism for actions partially from a need to deal with sparse food environments. Experiments 2 & 3 found that predator sensing was the most beneficial adaptation for an organism to receive, followed by increased speed and switching speeds, but also surprisingly, that sensing food was in some cases detrimental. In Experiment 4 we examined the addition of a higher radius of vision and found an amplified performance from predator detection. Our findings show that cognitive adaptations are more advantageous because they enable organisms to avoid predation, eventually enabling them to become predators themselves. Future research will then examine how these basic principles led to more sophisticated cognitive-control mechanisms and learning as evolution progressed to vertebrates, mammals, primates, and ultimately to the complete human mind and brain.
{"title":"Seeking true intelligence from the ground up: Evolutionary origins of cognition","authors":"Tyler H. Ray, J. Kralik","doi":"10.1109/ROBIO.2017.8324759","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324759","url":null,"abstract":"Higher cognitive function was built from a foundation laid by the lowest goal-directed systems in the human brain. Thus, to understand higher cognitive function we must first understand the lowest level. This paper presents our initial results of a computational investigation into the origins of our cognition. We present results from four experiments that investigated the conditions under which initial cognitive abilities arose in our lineage, by comparing a representative chordate, amphioxus, to its close cousins the tunicates and Pikaia. Experiment 1 found that the chordates that would eventually lead to amphioxus and Pikaia evolved a switching mechanism for actions partially from a need to deal with sparse food environments. Experiments 2 & 3 found that predator sensing was the most beneficial adaptation for an organism to receive, followed by increased speed and switching speeds, but also surprisingly, that sensing food was in some cases detrimental. In Experiment 4 we examined the addition of a higher radius of vision and found an amplified performance from predator detection. Our findings show that cognitive adaptations are more advantageous because they enable organisms to avoid predation, eventually enabling them to become predators themselves. Future research will then examine how these basic principles led to more sophisticated cognitive-control mechanisms and learning as evolution progressed to vertebrates, mammals, primates, and ultimately to the complete human mind and brain.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115417155","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 : 2017-12-01DOI: 10.1109/ROBIO.2017.8324476
Adrian Llopart, Ole Ravn, N. Andersen, Jong-Hwan Kim
The end-to-end approach presented in this paper deals with the recognition, detection, segmentation and grasping of objects, assuming no prior knowledge of the environment nor objects. The proposed pipeline is as follows: 1) Usage of a trained Convolutional Neural Net (CNN) that recognizes up to 80 different classes of objects in real time and generates bounding boxes around them. 2) An algorithm to derive in parallel the pointclouds of said regions of interest (ROI). 3) Eight different segmentation methods to remove background data and noise from the pointclouds and obtain a precise result of the semantically segmented objects. 4) Registration of the object's pointclouds over time to generate the best possible model. 5) Utilization of an algorithm to detect an array of grasping positions and orientations based mainly on the geometry of the object's model. 6) Implementation of the system on the humanoid robot MyBot, developed in the RIT Lab at KAIST. 7) An algorithm to find the bounding box of the object's model in 3D to then create a collision object and add it to the octomap. The collision checking between robot's hand and the object is removed to allow grasping using the MoveIt libraries. 8) Selection of the best grasping pose for a certain object, plus execution of the grasping movement. 9) Retrieval of the object and moving it to a desired final position.
{"title":"Generalized framework for the parallel semantic segmentation of multiple objects and posterior manipulation","authors":"Adrian Llopart, Ole Ravn, N. Andersen, Jong-Hwan Kim","doi":"10.1109/ROBIO.2017.8324476","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324476","url":null,"abstract":"The end-to-end approach presented in this paper deals with the recognition, detection, segmentation and grasping of objects, assuming no prior knowledge of the environment nor objects. The proposed pipeline is as follows: 1) Usage of a trained Convolutional Neural Net (CNN) that recognizes up to 80 different classes of objects in real time and generates bounding boxes around them. 2) An algorithm to derive in parallel the pointclouds of said regions of interest (ROI). 3) Eight different segmentation methods to remove background data and noise from the pointclouds and obtain a precise result of the semantically segmented objects. 4) Registration of the object's pointclouds over time to generate the best possible model. 5) Utilization of an algorithm to detect an array of grasping positions and orientations based mainly on the geometry of the object's model. 6) Implementation of the system on the humanoid robot MyBot, developed in the RIT Lab at KAIST. 7) An algorithm to find the bounding box of the object's model in 3D to then create a collision object and add it to the octomap. The collision checking between robot's hand and the object is removed to allow grasping using the MoveIt libraries. 8) Selection of the best grasping pose for a certain object, plus execution of the grasping movement. 9) Retrieval of the object and moving it to a desired final position.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115417411","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 : 2017-12-01DOI: 10.1109/ROBIO.2017.8324533
Linsheng Zhao, Hongpeng Wang, Jiarui Wang, Haiming Gao, Jingtai Liu
Indoor localization system based Wi-Fi received signal strength (RSS) has gained popularity in recent years, as wireless local area networks and Wi-Fi enabled mobile devices are pervasive penetration. Unfortunately, the Wi-Fi RSS measurements are susceptible by device heterogeneity, multipath and signal noise, etc. To remedy these problems, we propose a robust Wi-Fi fingerprint-based indoor localization system. The proposed algorithm extract a robust positioning feature from Wi-Fi signals in both 2.4 GHz band and 5 GHz band by kernel principal component analysis (KPCA). Furthermore, we utilize Wi-Fi signal selection algorithm and coarse localization scheme for increasing localization accuracy and reducing the computational burden. Finally, the weighted k nearest neighbor method (WKNN) is used to obtain the estimated location. The proposed system implemented in a realistic indoor Wi-Fi environment, and results indicate that it is efficient in improving the positioning performance.
{"title":"Robust Wi-Fi indoor localization with KPCA feature extraction of dual band signals","authors":"Linsheng Zhao, Hongpeng Wang, Jiarui Wang, Haiming Gao, Jingtai Liu","doi":"10.1109/ROBIO.2017.8324533","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324533","url":null,"abstract":"Indoor localization system based Wi-Fi received signal strength (RSS) has gained popularity in recent years, as wireless local area networks and Wi-Fi enabled mobile devices are pervasive penetration. Unfortunately, the Wi-Fi RSS measurements are susceptible by device heterogeneity, multipath and signal noise, etc. To remedy these problems, we propose a robust Wi-Fi fingerprint-based indoor localization system. The proposed algorithm extract a robust positioning feature from Wi-Fi signals in both 2.4 GHz band and 5 GHz band by kernel principal component analysis (KPCA). Furthermore, we utilize Wi-Fi signal selection algorithm and coarse localization scheme for increasing localization accuracy and reducing the computational burden. Finally, the weighted k nearest neighbor method (WKNN) is used to obtain the estimated location. The proposed system implemented in a realistic indoor Wi-Fi environment, and results indicate that it is efficient in improving the positioning performance.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"516 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123086520","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 : 2017-12-01DOI: 10.1109/ROBIO.2017.8324446
Yoshiyuki Furata, Tokuo Tsuji, Yosuke Suzuki, Tetsuyou Watanabe, M. Hikizu, H. Seki
This study presents the mechanism of an adaptive gripper for grasping various objects including deformable objects. The gripper has soft sheets and passive joints. Two joints of each finger are controlled by only a single actuator, and a total of four degrees of freedom (DOF) are included. It finely controls the grasping force with a simple position control method. The numerical model of the soft sheet that is used in the gripper is proposed to estimate the grasping force. Experimental tests including stiffness evaluation and grasping tests are performed to investigate the performance of the gripper. The results show that the stiffness of the finger changes based on the grasping area and the grasping force is widely contributed. This allows the gripper to softly grasp deformable objects with the center of the soft sheet. The results also confirmed that it is possible to grasp heavy objects by pushing soft sheets into them and to grasp small objects by using fingertips that possess high stiffness.
{"title":"Adaptive gripper with soft sheets for a uniformly distributed grasping force","authors":"Yoshiyuki Furata, Tokuo Tsuji, Yosuke Suzuki, Tetsuyou Watanabe, M. Hikizu, H. Seki","doi":"10.1109/ROBIO.2017.8324446","DOIUrl":"https://doi.org/10.1109/ROBIO.2017.8324446","url":null,"abstract":"This study presents the mechanism of an adaptive gripper for grasping various objects including deformable objects. The gripper has soft sheets and passive joints. Two joints of each finger are controlled by only a single actuator, and a total of four degrees of freedom (DOF) are included. It finely controls the grasping force with a simple position control method. The numerical model of the soft sheet that is used in the gripper is proposed to estimate the grasping force. Experimental tests including stiffness evaluation and grasping tests are performed to investigate the performance of the gripper. The results show that the stiffness of the finger changes based on the grasping area and the grasping force is widely contributed. This allows the gripper to softly grasp deformable objects with the center of the soft sheet. The results also confirmed that it is possible to grasp heavy objects by pushing soft sheets into them and to grasp small objects by using fingertips that possess high stiffness.","PeriodicalId":197159,"journal":{"name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123107237","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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