Pub Date : 2005-06-12DOI: 10.1109/ARSO.2005.1511631
Hyung Wook Kim, I. H. Suh, B. Yi
In this paper, a hybrid stabilization approach involving both passivity observer/passivity controller and wave variables is addressed to stabilize a teleoperation system with fixed time delay. To guarantee the stability of master or slave side, passivity observer/passivity controller are applied. But, passivity observer/passivity controller cannot deal with communication delay, and thus even small communication delay cause the system to be unstable. To cope with this problem, wave variables are additionally employed to have robustness to fixed communication delays. To show the validity of our proposed approach, several computer simulation and experimental results are illustrated.
{"title":"A stabilizing control technique for bilateral teleoperation system with time delay","authors":"Hyung Wook Kim, I. H. Suh, B. Yi","doi":"10.1109/ARSO.2005.1511631","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511631","url":null,"abstract":"In this paper, a hybrid stabilization approach involving both passivity observer/passivity controller and wave variables is addressed to stabilize a teleoperation system with fixed time delay. To guarantee the stability of master or slave side, passivity observer/passivity controller are applied. But, passivity observer/passivity controller cannot deal with communication delay, and thus even small communication delay cause the system to be unstable. To cope with this problem, wave variables are additionally employed to have robustness to fixed communication delays. To show the validity of our proposed approach, several computer simulation and experimental results are illustrated.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127281787","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511640
Y. Hirata, Chuy Oscar, A. Hara, K. Kosuge
The goal of this research is to develop human adaptive intelligent walking support systems. In this paper, two types of intelligent walking support systems are proposed. One is an active type walking support system referred to as walking helper, and the other is passive type walking support systems referred to as RT walker. These systems are controlled so as to have variable motion characteristics according to the disabilities or the conditions of the users, so that the good maneuverability and the high safety of these systems could be realized.
{"title":"Human-adaptive motion control of active and passive type walking support system","authors":"Y. Hirata, Chuy Oscar, A. Hara, K. Kosuge","doi":"10.1109/ARSO.2005.1511640","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511640","url":null,"abstract":"The goal of this research is to develop human adaptive intelligent walking support systems. In this paper, two types of intelligent walking support systems are proposed. One is an active type walking support system referred to as walking helper, and the other is passive type walking support systems referred to as RT walker. These systems are controlled so as to have variable motion characteristics according to the disabilities or the conditions of the users, so that the good maneuverability and the high safety of these systems could be realized.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131307003","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511626
K. Mizutani
This summary form article deals with issues such as: 1) change of social economy 2) manufacturing 3) development of technologies and 4) economic power.
这篇总结性文章涉及的问题包括:1)社会经济的变化2)制造业3)技术的发展4)经济实力。
{"title":"Economy and innovation of robots technology","authors":"K. Mizutani","doi":"10.1109/ARSO.2005.1511626","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511626","url":null,"abstract":"This summary form article deals with issues such as: 1) change of social economy 2) manufacturing 3) development of technologies and 4) economic power.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"174 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128360621","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511612
Y. Yamamoto, P. Pirjanian, M. Munich, E. DiBernardo, L. Goncalves, J. Ostrowski, N. Karlsson
Optical sensing, e.g., computer vision, provides a very compelling approach to solving a number of technological challenges for developing affordable, useful, and reliable robotic products. We describe key advancements in the field consisting of three core technologies for visual pattern recognition (ViPR), visual simultaneous localization and mapping (vSLAM), and a low-cost solution for localization using optical beacons (NorthStar). ViPR is an algorithm for visual pattern recognition based on scale invariant features (SIFT features) which provides a robust and computationally effective solution to fundamental vision problems including the correspondence problem; object recognition; structure; and pose estimation. vSLAM is an algorithm for visual simultaneous localization and mapping using one camera sensor in conjunction with dead-reckoning information, e.g., odometry. vSLAM provides a cost-effective solution to localization and mapping for cluttered environments and is reliable to dynamic changes in the environment Finally, NorthStar uses IR projections onto a surface to estimate the robot's pose based on triangulation. We give examples of concept prototypes as well as commercial products such as Sony's Aibo, which have incorporated these technologies in order to improve product utility and value.
{"title":"Optical sensing for robot perception and localization","authors":"Y. Yamamoto, P. Pirjanian, M. Munich, E. DiBernardo, L. Goncalves, J. Ostrowski, N. Karlsson","doi":"10.1109/ARSO.2005.1511612","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511612","url":null,"abstract":"Optical sensing, e.g., computer vision, provides a very compelling approach to solving a number of technological challenges for developing affordable, useful, and reliable robotic products. We describe key advancements in the field consisting of three core technologies for visual pattern recognition (ViPR), visual simultaneous localization and mapping (vSLAM), and a low-cost solution for localization using optical beacons (NorthStar). ViPR is an algorithm for visual pattern recognition based on scale invariant features (SIFT features) which provides a robust and computationally effective solution to fundamental vision problems including the correspondence problem; object recognition; structure; and pose estimation. vSLAM is an algorithm for visual simultaneous localization and mapping using one camera sensor in conjunction with dead-reckoning information, e.g., odometry. vSLAM provides a cost-effective solution to localization and mapping for cluttered environments and is reliable to dynamic changes in the environment Finally, NorthStar uses IR projections onto a surface to estimate the robot's pose based on triangulation. We give examples of concept prototypes as well as commercial products such as Sony's Aibo, which have incorporated these technologies in order to improve product utility and value.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132230436","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511614
T. Kawahara, M. Kaneko
This paper discusses the design, application, marketing and social impact of non-contact impedance sensor that can measure the impedance of environment. The developed sensor is composed of a displacement sensor and air (or water) force supply nozzle. The applications of the developed sensor are human skin age, medical fields, foods, and industrial products. We show the design based on our patent (#2002-329145) and prospect the expected market. We also show the social impact for releasing the sensor in the market.
{"title":"Design, application, marketing, and social impact of non-contact impedance sensor","authors":"T. Kawahara, M. Kaneko","doi":"10.1109/ARSO.2005.1511614","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511614","url":null,"abstract":"This paper discusses the design, application, marketing and social impact of non-contact impedance sensor that can measure the impedance of environment. The developed sensor is composed of a displacement sensor and air (or water) force supply nozzle. The applications of the developed sensor are human skin age, medical fields, foods, and industrial products. We show the design based on our patent (#2002-329145) and prospect the expected market. We also show the social impact for releasing the sensor in the market.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"392 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116665604","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511639
M. Tomono
This paper presents a framework of building a 3-D environment model that consists of 3-D object models and their locational information. This kind of environment model is useful for the robot to achieve high level tasks including object manipulation and carrying. In the framework, we first build a 2-D map from laser scans, and detect objects by matching a scan template with the 2-D map. Then, we verify the detected object candidates using vision-based object recognition. We also created 3-D object models from a sequence of monocular images. We have conducted experiments in a room having desks and cabinets to show the effectiveness of the method.
{"title":"Environment modeling by a mobile robot with a laser range finder and a monocular camera","authors":"M. Tomono","doi":"10.1109/ARSO.2005.1511639","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511639","url":null,"abstract":"This paper presents a framework of building a 3-D environment model that consists of 3-D object models and their locational information. This kind of environment model is useful for the robot to achieve high level tasks including object manipulation and carrying. In the framework, we first build a 2-D map from laser scans, and detect objects by matching a scan template with the 2-D map. Then, we verify the detected object candidates using vision-based object recognition. We also created 3-D object models from a sequence of monocular images. We have conducted experiments in a room having desks and cabinets to show the effectiveness of the method.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"258 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131851026","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511633
A. Yamada, F. Niikura, K. Ikuta
We have developed a novel three-dimensional microfabrication method for biodegradable polymers. Unlike conventional processes, our process satisfies high-resolution and highspeed requirements. The system design allows us the processing of micro-level forms by stacking up melted polymers from the nozzle. A single layer from the piled-up layers of extruded lines was observed to evaluate the resolution. The lateral and depth resolutions attained are 40 /spl mu/m and 45 /spl mu/n, respectively. Biodegradable polymers enable three-dimensional microstructures such as micro-pipes, micro-bends, and micro-coil springs to be manufactured in less than 15 min. The biocompatibility of the structure was evaluated using a cell line (PC12). A small vessel, with a transparent base, was fabricated using PLA and cells were cultivated in it. The cell morphology and the proliferation were then compared with the results obtained using the standard method. Our system renders it possible to produce toxic-free, and leakage-free devices. The mechanical strength of our microstructures was evaluated using a tensile strength test. The tensile strength of the microstructure was lower than the one obtained from the conventional method, but has enough strength for fabrication of medical devices. Our system is expected to have potential applications in optimum design and fabrication of implantable devices.
{"title":"Three-dimensional microfabrication system toward advanced biodegradable implantable devices","authors":"A. Yamada, F. Niikura, K. Ikuta","doi":"10.1109/ARSO.2005.1511633","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511633","url":null,"abstract":"We have developed a novel three-dimensional microfabrication method for biodegradable polymers. Unlike conventional processes, our process satisfies high-resolution and highspeed requirements. The system design allows us the processing of micro-level forms by stacking up melted polymers from the nozzle. A single layer from the piled-up layers of extruded lines was observed to evaluate the resolution. The lateral and depth resolutions attained are 40 /spl mu/m and 45 /spl mu/n, respectively. Biodegradable polymers enable three-dimensional microstructures such as micro-pipes, micro-bends, and micro-coil springs to be manufactured in less than 15 min. The biocompatibility of the structure was evaluated using a cell line (PC12). A small vessel, with a transparent base, was fabricated using PLA and cells were cultivated in it. The cell morphology and the proliferation were then compared with the results obtained using the standard method. Our system renders it possible to produce toxic-free, and leakage-free devices. The mechanical strength of our microstructures was evaluated using a tensile strength test. The tensile strength of the microstructure was lower than the one obtained from the conventional method, but has enough strength for fabrication of medical devices. Our system is expected to have potential applications in optimum design and fabrication of implantable devices.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128356648","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511664
S. Ishiguro
This paper presents strategic approaches in the case of creation of a next-generation robot industry cluster in Osaka City which is a representative case, focused on the factors of their success in the industry cluster and characteristics of next-generation robots. The policies corresponding to the four factors of Diamond System which is considered to be a key to success for the industry clustering and linkage promotion bases named "robot laboratory" are main approaches. We focus on "services" and stress on approaches as to which part of services can be substituted by RT and systematized. We also focus on the introduction of RT into life space which is an environment surrounding human beings.
{"title":"Key approach for RT industrialization: RT industry cluster generation focusing on service and life space","authors":"S. Ishiguro","doi":"10.1109/ARSO.2005.1511664","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511664","url":null,"abstract":"This paper presents strategic approaches in the case of creation of a next-generation robot industry cluster in Osaka City which is a representative case, focused on the factors of their success in the industry cluster and characteristics of next-generation robots. The policies corresponding to the four factors of Diamond System which is considered to be a key to success for the industry clustering and linkage promotion bases named \"robot laboratory\" are main approaches. We focus on \"services\" and stress on approaches as to which part of services can be substituted by RT and systematized. We also focus on the introduction of RT into life space which is an environment surrounding human beings.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133777640","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511615
K. Lai, C. Fung, Wen J. Li
An automated carbon nanotubes (CNTs) microspotting system was developed for rapid and batch assembly of bulk multi-walled carbon nanotubes (MWNT) based nanosensors. By combining dielectrophoretic (DEP) and microspotting technique, MWNT bundles were successfully and repeatably manipulated between arrays of micro-fabricated electrodes. Preliminary experimental results showed that two different spotting methods were successful in forming CNTs between microelectrodes and the time required to form one CNT sensor was less than 1 second. This feasible batch manufacturable method dramatically reduces production costs and production time of nano sensing devices and potentially enable fully automated assembly of CNT and other nanowire based devices.
{"title":"Fabrication of CNT nanosensors by combining micro-robotic spotting and DEP technologies","authors":"K. Lai, C. Fung, Wen J. Li","doi":"10.1109/ARSO.2005.1511615","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511615","url":null,"abstract":"An automated carbon nanotubes (CNTs) microspotting system was developed for rapid and batch assembly of bulk multi-walled carbon nanotubes (MWNT) based nanosensors. By combining dielectrophoretic (DEP) and microspotting technique, MWNT bundles were successfully and repeatably manipulated between arrays of micro-fabricated electrodes. Preliminary experimental results showed that two different spotting methods were successful in forming CNTs between microelectrodes and the time required to form one CNT sensor was less than 1 second. This feasible batch manufacturable method dramatically reduces production costs and production time of nano sensing devices and potentially enable fully automated assembly of CNT and other nanowire based devices.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133505242","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511641
K. Sugawara, T. Mizuguchi
Collective behavior of active elements inspired by mass of biological organisms such as social insects is addressed. Here, task allocation phenomena are treated from the viewpoint of proportion regulation of population between different states. Using a dynamical potential model consisting of elements and external "stock materials", adaptability against various disturbances is numerically studied. The performance of the proposed model is also examined by the experiments with real robots system.
{"title":"Multi-task allocation and proportion regulation of homogeneous agents","authors":"K. Sugawara, T. Mizuguchi","doi":"10.1109/ARSO.2005.1511641","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511641","url":null,"abstract":"Collective behavior of active elements inspired by mass of biological organisms such as social insects is addressed. Here, task allocation phenomena are treated from the viewpoint of proportion regulation of population between different states. Using a dynamical potential model consisting of elements and external \"stock materials\", adaptability against various disturbances is numerically studied. The performance of the proposed model is also examined by the experiments with real robots system.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"258 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116579951","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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