Pub Date : 2000-09-27DOI: 10.1109/ROMAN.2000.892469
M. Nakagawa, K. Ohnishi, H. Nakayasu
An algorithm was proposed intending for external view image processing of FRP panel in visual inspection process. In the proposed algorithm, three kinds of inspection information such as location, size and level of defects are treated for clustering image data. The proposed algorithm enables one to process the dynamic sequential images with small facility and to obtain a reasonable efficiency of visual inspection. When the algorithm proposed by the authors was included, instead of a visual inspection process by a human being, it is expected that the productivity will be further improved and the human being, machine and computer will be cooperated respectively. Some numerical studies for visual inspection of FRP panel shows that the performance of the proposed algorithm is similar to that of expert inspector.
{"title":"Human-oriented image recognition for industrial inspection system","authors":"M. Nakagawa, K. Ohnishi, H. Nakayasu","doi":"10.1109/ROMAN.2000.892469","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892469","url":null,"abstract":"An algorithm was proposed intending for external view image processing of FRP panel in visual inspection process. In the proposed algorithm, three kinds of inspection information such as location, size and level of defects are treated for clustering image data. The proposed algorithm enables one to process the dynamic sequential images with small facility and to obtain a reasonable efficiency of visual inspection. When the algorithm proposed by the authors was included, instead of a visual inspection process by a human being, it is expected that the productivity will be further improved and the human being, machine and computer will be cooperated respectively. Some numerical studies for visual inspection of FRP panel shows that the performance of the proposed algorithm is similar to that of expert inspector.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133546718","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892489
N. Chong, T. Kotoku, K. Ohba, H. Sasaki, K. Komoriya, K. Tanie
Coordinated control technologies have been developed for multi-robot collaboration in a common environment remotely controlled from multiple operators physically at a distance from each other. To verify the validity of the proposed approaches, we built a test bed and conducted a series of experiments, where we learned the effect of communication delay over the network on the performance of telerobots. This paper discusses the use of an online predictive simulator in the multi-operator-multi-robot (MOMR) tele-collaborative system to cope with the operator's delay visual perception over the network with time delay. In the test bed, each operator controls his/her master device to control two slave robots to cooperate in a task and detect a priori the possibility of collision in the graphics simulator that runs in near real-time. We demonstrate various tasks performed by two slave robots and two operators through LAN subjected to the simulated delays, and evaluate the use of the predictive simulator in MOMR tele-collaboration.
{"title":"Use of coordinated online graphics simulator in collaborative multi-robot teleoperation with time delay","authors":"N. Chong, T. Kotoku, K. Ohba, H. Sasaki, K. Komoriya, K. Tanie","doi":"10.1109/ROMAN.2000.892489","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892489","url":null,"abstract":"Coordinated control technologies have been developed for multi-robot collaboration in a common environment remotely controlled from multiple operators physically at a distance from each other. To verify the validity of the proposed approaches, we built a test bed and conducted a series of experiments, where we learned the effect of communication delay over the network on the performance of telerobots. This paper discusses the use of an online predictive simulator in the multi-operator-multi-robot (MOMR) tele-collaborative system to cope with the operator's delay visual perception over the network with time delay. In the test bed, each operator controls his/her master device to control two slave robots to cooperate in a task and detect a priori the possibility of collision in the graphics simulator that runs in near real-time. We demonstrate various tasks performed by two slave robots and two operators through LAN subjected to the simulated delays, and evaluate the use of the predictive simulator in MOMR tele-collaboration.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132736891","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892497
Y. Kume, M. Tsukamoto, N. Sato
Describes the mental model for perceived load on low back using a cognitive approach in addition to biomechanical and physiological approaches. In the results of experiments, it is clarified that poor cognitive ability of low back strength in the mental model reproducing the same strength is relevant to the low back pain. The studies show that cognitive ability of low back strength in the mental model could be improved by informing the content of working posture previously.
{"title":"Mental model for perceived load on low back","authors":"Y. Kume, M. Tsukamoto, N. Sato","doi":"10.1109/ROMAN.2000.892497","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892497","url":null,"abstract":"Describes the mental model for perceived load on low back using a cognitive approach in addition to biomechanical and physiological approaches. In the results of experiments, it is clarified that poor cognitive ability of low back strength in the mental model reproducing the same strength is relevant to the low back pain. The studies show that cognitive ability of low back strength in the mental model could be improved by informing the content of working posture previously.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117164727","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892507
Maxim Makatchev, S. Tso
The paper concerns an agent-based human-robot interface via the Internet. A user client and an embedded software are viewed as agents with limited computational and communication resources. To facilitate the communication between the real-time embedded agents and the user interface agents via the communication channel of uncertain quality the proxy agent is proposed as a mediator. The functions assigned to the proxy agent target reduction of inter-agent communication load and minimization of computational resources taken by the embedded agents and user interface agents for communication-related tasks. An XML-based language, RoboML, is designed to serve as a common language for robot programming, agent communication and knowledge representation. The human-robot interface software prototype is developed for an autonomous guided vehicle to evaluate the proposed techniques.
{"title":"Human-robot interface using agents communicating in an XML-based markup language","authors":"Maxim Makatchev, S. Tso","doi":"10.1109/ROMAN.2000.892507","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892507","url":null,"abstract":"The paper concerns an agent-based human-robot interface via the Internet. A user client and an embedded software are viewed as agents with limited computational and communication resources. To facilitate the communication between the real-time embedded agents and the user interface agents via the communication channel of uncertain quality the proxy agent is proposed as a mediator. The functions assigned to the proxy agent target reduction of inter-agent communication load and minimization of computational resources taken by the embedded agents and user interface agents for communication-related tasks. An XML-based language, RoboML, is designed to serve as a common language for robot programming, agent communication and knowledge representation. The human-robot interface software prototype is developed for an autonomous guided vehicle to evaluate the proposed techniques.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127327744","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892642
Huang Yumei, G. Feng, Fan Zemin, Xu Shujie, E. Bamba, Y. Kume, M. Yamamoto
This paper proposes a new model of 4-DOF mixed serial and parallel robot for living assistance, which combines stable structure and high rigidity of the parallel mechanism and wide workspace of the serial mechanism organically. The rotary DOF with 3 rotary axes intersecting one point enables the end effector to change its location, by as much as 360/spl deg/. One linear DOF can adjust the height of the end effector. The model can be applied for nursing and recuperation, if other devices be connected to it, or can be made into a medical operating platform.
{"title":"R&D of living assistant serial and parallel robot-analysis of motion and function","authors":"Huang Yumei, G. Feng, Fan Zemin, Xu Shujie, E. Bamba, Y. Kume, M. Yamamoto","doi":"10.1109/ROMAN.2000.892642","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892642","url":null,"abstract":"This paper proposes a new model of 4-DOF mixed serial and parallel robot for living assistance, which combines stable structure and high rigidity of the parallel mechanism and wide workspace of the serial mechanism organically. The rotary DOF with 3 rotary axes intersecting one point enables the end effector to change its location, by as much as 360/spl deg/. One linear DOF can adjust the height of the end effector. The model can be applied for nursing and recuperation, if other devices be connected to it, or can be made into a medical operating platform.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130909794","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892528
K. Morishige, H. Noborio
We propose dual views of Cartesian and configuration space as a teleoperation support system. To overcome a transmission delay between master and slave robots. We use a 3D graphics display besides a master robot, which virtually represents a slave robot and its environment (a slave site). In this system, an operator picks up a sequence of good motions of a slave robot while watching the 3D graphics display. In this case, we discuss what kinds of graphics images are needed for an operator to select each robot motion adequately. In this paper, we prepare not only Cartesian space of a slave site but also its configuration space as graphics images. Moreover, the configuration space is expressed by not only a 3D whole space but also its 2D sliced image. Finally, usefulness and efficiency of the visual support system are ascertained in some experiments by several test subjects.
{"title":"A teleoperation support system with the help of dual views of Cartesian and configuration space","authors":"K. Morishige, H. Noborio","doi":"10.1109/ROMAN.2000.892528","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892528","url":null,"abstract":"We propose dual views of Cartesian and configuration space as a teleoperation support system. To overcome a transmission delay between master and slave robots. We use a 3D graphics display besides a master robot, which virtually represents a slave robot and its environment (a slave site). In this system, an operator picks up a sequence of good motions of a slave robot while watching the 3D graphics display. In this case, we discuss what kinds of graphics images are needed for an operator to select each robot motion adequately. In this paper, we prepare not only Cartesian space of a slave site but also its configuration space as graphics images. Moreover, the configuration space is expressed by not only a 3D whole space but also its 2D sliced image. Finally, usefulness and efficiency of the visual support system are ascertained in some experiments by several test subjects.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134389750","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892494
T. Miyhoshi, A. Murata
This paper reveals the chaotic properties of the voluntary single arm and two arms movements in various conditions based on the movement frequency and movement modes (single arm mode, in-phase mode and anti-phase mode). The chaotic analysis of rhythmic forearm movement were performed, and it was confirmed that the chaotic characteristics represented by the correlation dimension and the largest Lyapunov exponents were included in the rhythmic forearm movements. Furthermore, it was clarified that there existed the difference in the values of the Lyapunov exponents and fractal dimensions between right-left forearms and consequently the left forearm movements was more complex than the right forearm movements.
{"title":"Chaotic characteristic in human hand movement","authors":"T. Miyhoshi, A. Murata","doi":"10.1109/ROMAN.2000.892494","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892494","url":null,"abstract":"This paper reveals the chaotic properties of the voluntary single arm and two arms movements in various conditions based on the movement frequency and movement modes (single arm mode, in-phase mode and anti-phase mode). The chaotic analysis of rhythmic forearm movement were performed, and it was confirmed that the chaotic characteristics represented by the correlation dimension and the largest Lyapunov exponents were included in the rhythmic forearm movements. Furthermore, it was clarified that there existed the difference in the values of the Lyapunov exponents and fractal dimensions between right-left forearms and consequently the left forearm movements was more complex than the right forearm movements.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"515 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123080388","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892503
T. Inamura, M. Inaba, H. Inoue
We propose a method for personal robots to acquire autonomous behaviors gradually based on interaction between human and robots. In this method, behavior decision models and dialogue control models are integrated using Bayesian networks. This model can treat interaction experiences using statistical processes, and sureness of decision making is represented by certainty factors using stochastic reasoning. The robots not only decide behavior, but also make suggestions to and ask questions of the user using the certainty factors. Consequently, the certainty factors enable the behavior acquisition to be more effective. We investigate the feasibility of this method with obstacle avoidance tasks for mobile robots. Through experiments on a real mobile robot, we have confirmed that the mobile robot acquires robust behavior decision models against changes of environment and uncertainties of sensors, with only a few teaching and learning sessions.
{"title":"Integration model of learning mechanism and dialogue strategy based on stochastic experience representation using Bayesian network","authors":"T. Inamura, M. Inaba, H. Inoue","doi":"10.1109/ROMAN.2000.892503","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892503","url":null,"abstract":"We propose a method for personal robots to acquire autonomous behaviors gradually based on interaction between human and robots. In this method, behavior decision models and dialogue control models are integrated using Bayesian networks. This model can treat interaction experiences using statistical processes, and sureness of decision making is represented by certainty factors using stochastic reasoning. The robots not only decide behavior, but also make suggestions to and ask questions of the user using the certainty factors. Consequently, the certainty factors enable the behavior acquisition to be more effective. We investigate the feasibility of this method with obstacle avoidance tasks for mobile robots. Through experiments on a real mobile robot, we have confirmed that the mobile robot acquires robust behavior decision models against changes of environment and uncertainties of sensors, with only a few teaching and learning sessions.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"151 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117341105","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892531
M. Kumamoto, T. Oshima, T. Fujikawa
When a two-joint link mechanism was installed with an antagonistic pair of bi-articular actuators in addition to antagonistic pairs of mono-articular actuators the two-joint link mechanism could demonstrate perfect human-like control properties at the endpoint. First, only a single command signal informing the target point could control any desired output force direction at the endpoint via a simple spinal level neural network. Second the existence of three antagonistic pairs of actuators made it possible to control three parameters of a viscoelastic ellipse exerted at the endpoint independently, and consequently to induce coincidence of trajectory and output force exerted at the endpoint. Thus, the mechanism could lead smooth, rapid and precise movements without use of positional feedback signal from the endpoint, i.e. open loop control.
{"title":"Control properties of a two-joint link mechanism equipped with mono- and bi-articular actuators","authors":"M. Kumamoto, T. Oshima, T. Fujikawa","doi":"10.1109/ROMAN.2000.892531","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892531","url":null,"abstract":"When a two-joint link mechanism was installed with an antagonistic pair of bi-articular actuators in addition to antagonistic pairs of mono-articular actuators the two-joint link mechanism could demonstrate perfect human-like control properties at the endpoint. First, only a single command signal informing the target point could control any desired output force direction at the endpoint via a simple spinal level neural network. Second the existence of three antagonistic pairs of actuators made it possible to control three parameters of a viscoelastic ellipse exerted at the endpoint independently, and consequently to induce coincidence of trajectory and output force exerted at the endpoint. Thus, the mechanism could lead smooth, rapid and precise movements without use of positional feedback signal from the endpoint, i.e. open loop control.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116967514","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892511
P. Coppin, R. Pell, M. Wagner, J. R. Hayes, Junlei Li, L. Hall, K. Fischer, D. Hirschfiefd, W. Whittaker
The EventScope program develops publicly accessible "reality browsers" that display both archived and updating representations of remote environments derived from on-site robotic sensors. The interface encourages collaborative work within a community of users. Public exploration of real remote sites presents a variety of interface issues addressed by EventScope, including time delay, public exploration via a single robot and communication between geographically separate users from diverse backgrounds. Merging public interface with educational and contextual information extends the notion of "interface" to "remote reality library." EventScope is a NASA and private foundation funded project based at Carnegie Mellon University.
{"title":"EventScope: amplifying human knowledge and experience via intelligent robotic systems and information interaction","authors":"P. Coppin, R. Pell, M. Wagner, J. R. Hayes, Junlei Li, L. Hall, K. Fischer, D. Hirschfiefd, W. Whittaker","doi":"10.1109/ROMAN.2000.892511","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892511","url":null,"abstract":"The EventScope program develops publicly accessible \"reality browsers\" that display both archived and updating representations of remote environments derived from on-site robotic sensors. The interface encourages collaborative work within a community of users. Public exploration of real remote sites presents a variety of interface issues addressed by EventScope, including time delay, public exploration via a single robot and communication between geographically separate users from diverse backgrounds. Merging public interface with educational and contextual information extends the notion of \"interface\" to \"remote reality library.\" EventScope is a NASA and private foundation funded project based at Carnegie Mellon University.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117007243","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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