Pub Date : 2020-06-01DOI: 10.1109/UR49135.2020.9144983
Tao Xue, Jun Xie, Guanghua Xu, Peng Fang, Guiling Cui, Guanglin Li, Guozhi Cao, Yanjun Zhang, T. Tao, Min Li, Xiaodong Zhang
The event related potential (ERP) component P300 and N200 are considered to be the most valuable electrophysiological indicators to reflect cognitive function. The traditional rare-event P300-BCI paradigm usually only takes P300 component as the target feature but ignores the N200 component. In this paper, we proposed a novel motion-onset N200P300 brain-computer interface (BCI) paradigm, which could evoke significant N200 and P300 responses simultaneously. To evaluate the practicality of the proposed novel BCI paradigm and the robustness of the evoked N200P300 components, three different classifiers of linear discriminant analysis (LDA), stepwise linear discriminant analysis (SWLDA) and support vector machine (SVM) with different algorithm principles were used to analyze the recognition accuracy. We also compared the motion-onset N200P300 data with an N200-free portion to evaluate the impact of N200 component on the improvement of the BCI accuracy. Experimental results showed that, by means of this N200P300 combination feature, the BCI accuracy significantly increased and the false positive rate significantly decreased, indicating that the proposed motion-onset N200P300 BCI paradigm has superior performance than a traditional P300-BCI paradigm.
{"title":"A Novel Motion-Onset N200P300 Brain-Computer Interface Paradigm*","authors":"Tao Xue, Jun Xie, Guanghua Xu, Peng Fang, Guiling Cui, Guanglin Li, Guozhi Cao, Yanjun Zhang, T. Tao, Min Li, Xiaodong Zhang","doi":"10.1109/UR49135.2020.9144983","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144983","url":null,"abstract":"The event related potential (ERP) component P300 and N200 are considered to be the most valuable electrophysiological indicators to reflect cognitive function. The traditional rare-event P300-BCI paradigm usually only takes P300 component as the target feature but ignores the N200 component. In this paper, we proposed a novel motion-onset N200P300 brain-computer interface (BCI) paradigm, which could evoke significant N200 and P300 responses simultaneously. To evaluate the practicality of the proposed novel BCI paradigm and the robustness of the evoked N200P300 components, three different classifiers of linear discriminant analysis (LDA), stepwise linear discriminant analysis (SWLDA) and support vector machine (SVM) with different algorithm principles were used to analyze the recognition accuracy. We also compared the motion-onset N200P300 data with an N200-free portion to evaluate the impact of N200 component on the improvement of the BCI accuracy. Experimental results showed that, by means of this N200P300 combination feature, the BCI accuracy significantly increased and the false positive rate significantly decreased, indicating that the proposed motion-onset N200P300 BCI paradigm has superior performance than a traditional P300-BCI paradigm.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128765635","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144804
Jingwen Zhang, Junjie Shen, D. Hong
With a unique kinematic arrangement, a new type of quadruped robot with reduced degrees of freedom (DoF) requires minimal-torque actuators to achieve high-payload locomotion. This paper focuses on the kinematic analysis and design optimization for robots of this type. To plan and control its change of posture, a necessary strategy to find feasible solutions of full-body inverse kinematics under additional kinematic constraints is introduced. A design method via nonlinear programming (NLP) is first presented in order to optimize link parameters with guarantee to a series of successive steps. Workspace is also investigated to prepare for further dynamic motion planning. We have verified feasibility of proposed methods with software simulations and hardware implementations, e.g., omni-directional walking and situ rotation.
{"title":"Kinematic Analysis and Design Optimization for a Reduced-DoF Quadruped Robot with Minimal Torque Requirements","authors":"Jingwen Zhang, Junjie Shen, D. Hong","doi":"10.1109/UR49135.2020.9144804","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144804","url":null,"abstract":"With a unique kinematic arrangement, a new type of quadruped robot with reduced degrees of freedom (DoF) requires minimal-torque actuators to achieve high-payload locomotion. This paper focuses on the kinematic analysis and design optimization for robots of this type. To plan and control its change of posture, a necessary strategy to find feasible solutions of full-body inverse kinematics under additional kinematic constraints is introduced. A design method via nonlinear programming (NLP) is first presented in order to optimize link parameters with guarantee to a series of successive steps. Workspace is also investigated to prepare for further dynamic motion planning. We have verified feasibility of proposed methods with software simulations and hardware implementations, e.g., omni-directional walking and situ rotation.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130122305","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144871
Hu Huang, Aibin Zhu, Jiyuan Song, Yao Tu, Xiaojun Shi, Zhifu Guo
Flexible hand exoskeleton robots are more and more used in medical rehabilitation. This is due to the fact that these exoskeletons have strong compatibility with hands, can realize continuous deformation, and can apply force according to the motion trajectory. This paper proposes a cable-actuated flexible hand exoskeleton. Firstly, a motion model of one finger is established. Then a hand exoskeleton for rehabilitation is designed and constructed based on it. The exoskeleton is remotely actuated by motor and the force is transmitted through cables to achieve the bidirectional drive of the fingers. In addition, a tensioning mechanism of pulley block is designed to pre-tension the wire slack in the process of wire transmission. Finally, the experiment results show that the exoskeleton can bend the three joints of the index finger (DIP, PIP, and MCP) to 57 degrees, 35 degrees, and 31 degrees respectively. Under the load of 2.5N per finger, the exoskeleton can still drive the fingers to flex. The experimental results verify that the exoskeleton is a feasible solution that can meet the requirements of hand rehabilitation and can enable patients to recover and improve finger function in daily activities.
{"title":"Characterization and Evaluation of A Cable-Actuated Flexible Hand Exoskeleton*","authors":"Hu Huang, Aibin Zhu, Jiyuan Song, Yao Tu, Xiaojun Shi, Zhifu Guo","doi":"10.1109/UR49135.2020.9144871","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144871","url":null,"abstract":"Flexible hand exoskeleton robots are more and more used in medical rehabilitation. This is due to the fact that these exoskeletons have strong compatibility with hands, can realize continuous deformation, and can apply force according to the motion trajectory. This paper proposes a cable-actuated flexible hand exoskeleton. Firstly, a motion model of one finger is established. Then a hand exoskeleton for rehabilitation is designed and constructed based on it. The exoskeleton is remotely actuated by motor and the force is transmitted through cables to achieve the bidirectional drive of the fingers. In addition, a tensioning mechanism of pulley block is designed to pre-tension the wire slack in the process of wire transmission. Finally, the experiment results show that the exoskeleton can bend the three joints of the index finger (DIP, PIP, and MCP) to 57 degrees, 35 degrees, and 31 degrees respectively. Under the load of 2.5N per finger, the exoskeleton can still drive the fingers to flex. The experimental results verify that the exoskeleton is a feasible solution that can meet the requirements of hand rehabilitation and can enable patients to recover and improve finger function in daily activities.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128886097","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144811
Donghun Noh, Yeting Liu, Fadi A. Rafeedi, Hyunwoo Nam, Kyle Gillespie, June-sup Yi, Taoyuanmin Zhu, Qing Xu, D. Hong
This paper introduces the kinematic configuration, kinematic analysis, workspace analysis of a dual-arm manipulation platform intended for varied cooking applications. Based on the analysis of different essential cooking tasks, each arm was designed to have 5 degrees of freedom (DOFs) independently with an additional single DOF located at the center of the linkage connecting the two arms. The additional actuator expands the reachable workspace as well as the common workspace between the two arms. Furthermore, the additional joint optimizes the arm’s joint configuration for cooking tasks by giving the arm a redundant pitch joint. This allows the ends of each arm to be able to produce linear planar trajectories which are important for many precise cooking actions. The system will also be able to multitask, being able to simultaneously perform potentially disparate tasks in different areas of its workspace. Besides these advantages, we expect that this dual-arm system will be more computationally and cost-efficient than similar systems using higher DOF arms.
{"title":"Minimal Degree of Freedom Dual-Arm Manipulation Platform with Coupling Body Joint for Diverse Cooking Tasks","authors":"Donghun Noh, Yeting Liu, Fadi A. Rafeedi, Hyunwoo Nam, Kyle Gillespie, June-sup Yi, Taoyuanmin Zhu, Qing Xu, D. Hong","doi":"10.1109/UR49135.2020.9144811","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144811","url":null,"abstract":"This paper introduces the kinematic configuration, kinematic analysis, workspace analysis of a dual-arm manipulation platform intended for varied cooking applications. Based on the analysis of different essential cooking tasks, each arm was designed to have 5 degrees of freedom (DOFs) independently with an additional single DOF located at the center of the linkage connecting the two arms. The additional actuator expands the reachable workspace as well as the common workspace between the two arms. Furthermore, the additional joint optimizes the arm’s joint configuration for cooking tasks by giving the arm a redundant pitch joint. This allows the ends of each arm to be able to produce linear planar trajectories which are important for many precise cooking actions. The system will also be able to multitask, being able to simultaneously perform potentially disparate tasks in different areas of its workspace. Besides these advantages, we expect that this dual-arm system will be more computationally and cost-efficient than similar systems using higher DOF arms.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"329 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122741059","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144780
Jaegoo Choy, Kyungjae Lee, Songhwai Oh
In case of deep reinforcement learning (RL) algorithms, to achieve high performance in complex continuous control tasks, it is necessary to exploit the goal and at the same time explore the environment. In this paper, we introduce a novel off-policy actor-critic reinforcement learning algorithm with a sparse Tsallis entropy regularizer. The sparse Tsallis entropy regularizer has the effect of maximizing the expected returns while maximizing the sparse Tsallis entropy for its policy function. Maximizing the sparse Tsallis entropy makes the actor to explore the large action and state space efficiently, thus it helps us to find the optimal action at each state. We derive the iteration update rules and modify a policy iteration rule for an off-policy method. In experiments, we demonstrate the effectiveness of the proposed method in continuous reinforcement learning problems in terms of the convergence speed. The proposed method outperforms former on-policy and off-policy RL algorithms in terms of the convergence speed and performance.
{"title":"Sparse Actor-Critic: Sparse Tsallis Entropy Regularized Reinforcement Learning in a Continuous Action Space","authors":"Jaegoo Choy, Kyungjae Lee, Songhwai Oh","doi":"10.1109/UR49135.2020.9144780","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144780","url":null,"abstract":"In case of deep reinforcement learning (RL) algorithms, to achieve high performance in complex continuous control tasks, it is necessary to exploit the goal and at the same time explore the environment. In this paper, we introduce a novel off-policy actor-critic reinforcement learning algorithm with a sparse Tsallis entropy regularizer. The sparse Tsallis entropy regularizer has the effect of maximizing the expected returns while maximizing the sparse Tsallis entropy for its policy function. Maximizing the sparse Tsallis entropy makes the actor to explore the large action and state space efficiently, thus it helps us to find the optimal action at each state. We derive the iteration update rules and modify a policy iteration rule for an off-policy method. In experiments, we demonstrate the effectiveness of the proposed method in continuous reinforcement learning problems in terms of the convergence speed. The proposed method outperforms former on-policy and off-policy RL algorithms in terms of the convergence speed and performance.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"131 19","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131746111","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144912
Sumin Hu, Seungwon Song, H. Myung
This paper proposes an area-wise method to build aesthetically pleasing RGB-D data by projecting camera images onto LiDAR point clouds corrected by Graph SLAM. In particular, the focus is on projecting images to corresponding flat surfaces, extracted as plane equations by RANSAC. The newly created data boasts a camera-like view even in 3D due to its dense, yet smooth flat point clouds. However, since this method is only limited to planar surfaces, other 3D data points that could not be separated as planes had to suffer poor quality due to sparse and rough LiDAR point clouds.
{"title":"Image Projection onto Flat LiDAR Point Cloud Surfaces to Create Dense and Smooth 3D Color Maps","authors":"Sumin Hu, Seungwon Song, H. Myung","doi":"10.1109/UR49135.2020.9144912","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144912","url":null,"abstract":"This paper proposes an area-wise method to build aesthetically pleasing RGB-D data by projecting camera images onto LiDAR point clouds corrected by Graph SLAM. In particular, the focus is on projecting images to corresponding flat surfaces, extracted as plane equations by RANSAC. The newly created data boasts a camera-like view even in 3D due to its dense, yet smooth flat point clouds. However, since this method is only limited to planar surfaces, other 3D data points that could not be separated as planes had to suffer poor quality due to sparse and rough LiDAR point clouds.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127319788","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144752
D. Vincze, Alex Tóth, M. Niitsuma
A Fuzzy Rule Interpolation-based (FRI) fuzzy automaton for controlling a football match simulation is going to be introduced in this paper. Controlling the agents (football players) of the simulation is realized by evaluating such fuzzy rule-bases, which contain only the cardinal rules able to make the system work, keeping the rule-bases as small as possible (forming so called sparse rule-bases). Classical fuzzy inference methods require complete rule-bases by design and cannot handle these kinds of sparse rule-bases. However, using sparse rule-bases to control the agents becomes possible by applying FRI. The goal of this work was to construct such a model, which employs a human-readable knowledge representation to control the agents in a football simulation. For this purpose, the application of sparse fuzzy rule-bases is well suited, as these are self-describing by their nature. An example application was also developed alongside the fuzzy automaton-based model, which is able to perform and show a lifelike football match simulation in real-time. Hence the presented model can be adapted to real robot hardware and also can be used as a reference model for fuzzy logic based machine learning methods.
{"title":"Football Simulation Modeling with Fuzzy Rule Interpolation-based Fuzzy Automaton","authors":"D. Vincze, Alex Tóth, M. Niitsuma","doi":"10.1109/UR49135.2020.9144752","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144752","url":null,"abstract":"A Fuzzy Rule Interpolation-based (FRI) fuzzy automaton for controlling a football match simulation is going to be introduced in this paper. Controlling the agents (football players) of the simulation is realized by evaluating such fuzzy rule-bases, which contain only the cardinal rules able to make the system work, keeping the rule-bases as small as possible (forming so called sparse rule-bases). Classical fuzzy inference methods require complete rule-bases by design and cannot handle these kinds of sparse rule-bases. However, using sparse rule-bases to control the agents becomes possible by applying FRI. The goal of this work was to construct such a model, which employs a human-readable knowledge representation to control the agents in a football simulation. For this purpose, the application of sparse fuzzy rule-bases is well suited, as these are self-describing by their nature. An example application was also developed alongside the fuzzy automaton-based model, which is able to perform and show a lifelike football match simulation in real-time. Hence the presented model can be adapted to real robot hardware and also can be used as a reference model for fuzzy logic based machine learning methods.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123538898","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144890
Min-Woo Na, Jae-Bok Song
In 3D measurement inspection systems, precise registration between measured point clouds is required to obtain high quality results. In such cases, it is critical that there be proper overlaps between the measurements and that the overall shapes be measured without any blank areas. Thus, if the inspection system does not reflect the shape of the object, unmeasured areas may remain, causing the registration to fail or deteriorate. To solve this problem, a robotic path planning method to measure all areas of complex shaped objects is proposed. First, a segmentation-based view planning to extract a viewpoint that properly reflects the object shape is presented. In addition, occlusions that may occur in the extracted viewpoints are prevented, and path planning is performed to make the viewpoint available to a measurement system comprising a robot and rotary table. Furthermore, it is shown that a complex-shaped object can be measured without occlusions using the proposed method.
{"title":"Robotic Path Planning for Inspection of Complex-Shaped Objects","authors":"Min-Woo Na, Jae-Bok Song","doi":"10.1109/UR49135.2020.9144890","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144890","url":null,"abstract":"In 3D measurement inspection systems, precise registration between measured point clouds is required to obtain high quality results. In such cases, it is critical that there be proper overlaps between the measurements and that the overall shapes be measured without any blank areas. Thus, if the inspection system does not reflect the shape of the object, unmeasured areas may remain, causing the registration to fail or deteriorate. To solve this problem, a robotic path planning method to measure all areas of complex shaped objects is proposed. First, a segmentation-based view planning to extract a viewpoint that properly reflects the object shape is presented. In addition, occlusions that may occur in the extracted viewpoints are prevented, and path planning is performed to make the viewpoint available to a measurement system comprising a robot and rotary table. Furthermore, it is shown that a complex-shaped object can be measured without occlusions using the proposed method.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114588682","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}
Visual perception is a fundamental capability necessary for intelligent mobile robots to interact properly and safely with the humans in the real-world. Recently, the world has seen revolutionary advances in deep learning has led to some incredible breakthroughs in vision technology. However, research integrating diverse visual perception methods into robotic systems is still in its infancy and lacks validation in real-world scenarios. In this paper, we present a visual perception framework for an intelligent mobile robot. Based on the robot operating system middleware, our framework integrates a broad set of advanced algorithms capable of recognising people, objects and human poses, as well as describing observed scenes. In several challenge scenarios of international robotics competitions using two mobile service robots, the performance and acceptability of the proposed framework are evaluated.
{"title":"Visual Perception Framework for an Intelligent Mobile Robot","authors":"Chung-yeon Lee, Hyun-Dong Lee, Injune Hwang, Byoung-Tak Zhang","doi":"10.1109/UR49135.2020.9144932","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144932","url":null,"abstract":"Visual perception is a fundamental capability necessary for intelligent mobile robots to interact properly and safely with the humans in the real-world. Recently, the world has seen revolutionary advances in deep learning has led to some incredible breakthroughs in vision technology. However, research integrating diverse visual perception methods into robotic systems is still in its infancy and lacks validation in real-world scenarios. In this paper, we present a visual perception framework for an intelligent mobile robot. Based on the robot operating system middleware, our framework integrates a broad set of advanced algorithms capable of recognising people, objects and human poses, as well as describing observed scenes. In several challenge scenarios of international robotics competitions using two mobile service robots, the performance and acceptability of the proposed framework are evaluated.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117313551","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144981
Yasuyuki Fujii, Kazuki Harada, H. Yamazoe, Joo-Ho Lee
Marine and lake monitoring application have been received a lot of attention to monitor and study water environmental changes. We are developing a novel sensing device that moves to an arbitrary position or keep a fixed position on water for long term environmental monitoring. The characteristics of our device are low-power, low-cost, omni-directional movement and portability. In this paper, we present a long-term surface monitoring system of the robot, a prototype of the sensing device and a control system. The proposed device goals are to move to any arbitrary direction or maintain its positions autonomously in the ocean or lake. We executed multiple experiments which not only confirmed the feasibility of the concepts but also identified some issues with the control system.
{"title":"Development and performance experiments in Lake Biwa of a small sensing device keeping fixed position on water","authors":"Yasuyuki Fujii, Kazuki Harada, H. Yamazoe, Joo-Ho Lee","doi":"10.1109/UR49135.2020.9144981","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144981","url":null,"abstract":"Marine and lake monitoring application have been received a lot of attention to monitor and study water environmental changes. We are developing a novel sensing device that moves to an arbitrary position or keep a fixed position on water for long term environmental monitoring. The characteristics of our device are low-power, low-cost, omni-directional movement and portability. In this paper, we present a long-term surface monitoring system of the robot, a prototype of the sensing device and a control system. The proposed device goals are to move to any arbitrary direction or maintain its positions autonomously in the ocean or lake. We executed multiple experiments which not only confirmed the feasibility of the concepts but also identified some issues with the control system.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"43 10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120883468","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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