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Industrial robots are introduced in not only large enterprises but also small and medium enterprises (SMEs). Professional engineers are required when introducing and maintaining industrial robots. However, sometimes it is difficult for SMEs to do this by themselves because of economical limitations. Therefore, in many cases, they need to ask the outside for the support. To assist this situation, an...
This paper discusses the possibility of using the geometric shape of a pedestrian's head to shoulder region as a feature to identify individuals. The main aim is to track humans in a high density crowd using a 3D laser range finder (3D-LRF). One of the most critical problems of human tracking in a high density crowd is the occurrence of occlusion. Occlusion might occur because of the lack of features...
Recently industrial robot systems are introduced widely even in the small and medium size enterprises. However, it is difficult for them to employ professional engineers permanently. Then, they need to depend on outside to maintain industrial robots. Therefore a remote operation support system for industrial robots is proposed. Visual and auditory feedback is often used. However, a perception of the...
A smart electric wheelchair is proposed for use as a personal mobility tool (PMT) . To reduce the load on the user, PMT is integrated with autonomous mobile robot navigation and human inputs. In addition, an obstacle avoidance function is provided. To facilitate comfortable and easy movement as well as safety and efficiency, we aim to realize a PMT with obstacle avoidance that does not cause discomfort...
Robots that live with a person for a long term need to build social relationships with the user. We focus on the human-dog relationship because a dog will be attached to the human owner. The dog and the human will then build social relations with each other. This paper proposes an approach to update the relationship between a person and a robot based on the experiences of communication with the person...
The first part of a cone's signal transduction is investigated from an image processing perspective in order to find out what differentiates (human) vision from computer vision. We found that the activity of cone opsins— visual pigments that are activated by the impact of a photon—can be described as an approximation of a fractional integrator of order 0.1–0.2 on frequencies between 1–30 Hz. We explore...
This paper presents improved methods of tracking moving objects by using laser range finders located in the environment and of segmenting environmental maps weighted by the degree of human activity. The accuracy of our previously proposed method of detecting individuals needing route guidance service, which involves the use of an autonomous mobile robot, depends on the accuracy of pedestrian tracking...
The global industry is developing towards smaller and smaller batch sizes in production due to the high pressure on Just-in-time production. This has led to the need for providing cost efficient support to robot users, especially SMEs having limited internal resources and competence to setup, maintain and reconfigure their industrial robot systems. In this study, a new method for the remote operation...
This paper evaluates a wristband-type tactile interface as a user interface for controlling an industrial robot remotely. When operating a remote monitoring system, information delivery from a local site to an operator at a remote site is important. Visual and auditory feedback is often used. However, perception of the information might be limited if different kinds of information in particular sense...
Recently, social problems associated with a sense of isolation among elderly adults have been highlighted. To address this problem, we propose a long-term human-robot communication program inspired by human-dog relationships. An Etho-engine was improved upon to provide robot accommodations for access within rural regions. We generalized the robot's inner states and updated rules governing decision-making...
With the trend of increasing human robot collaboration, the need for more advanced safety systems arises. To create safe robots that act proactive to dangers, a safety system based on risk analysis has been developed. This paper presents a vital part of the risk analysis, the likelihood analysis,. In this likelihood analysis, data about human activity is recorded based on its occupied space. The times...
This study addressed the leading behavior of a robot. To lead a person when the person's attention is initially elsewhere, the robot's behavior should be designed such that it seeks the person's attention and seamlessly brings him or her to a target location. Therefore, we set out to design and implement a leading behavior for a robot inspired by the dogs' behavior sequence. In particular, we considered...
Development of the international industry is towards smaller and smaller batch sizes in the production. This has riced a need for cost efficient support of robot users. In this paper, new methodology for remote operation of industrial robot systems is introduced. The method is based upon multi-modal man-machine communication and sensor bridging to transfer the huge amount of information from the industrial...
To sustain effective and long-term human-robot communications, we propose a robot behavior model based on dog behavior in human-dog relationships. The model includes behavioral factors that produce different behavioral characteristics. In this study, we improved the "play with the owner" behavior, which is the only mutual interaction between a person and the robot among the robot's attachment...
A smart electric wheelchair for use as a personal mobility tool (PMT) is proposed. To reduce the load on the user, the PMT is integrated with autonomous mobile robot navigation and human input. It is able to reach a destination autonomously based on a directional input from the user. The accuracy of the destination detection depends on the user's input. Therefore, to realize stress-free and efficient...
This paper presents a control system for redundant robot manipulators that handles the path planning and redundancy control in two separate loops. The goal is to simplify industrial programming of redundant robots, by decomosing it to a familiar path planning loop, and an autonomous redundant control loop. The familiar path planning is done using an industrial robots native control system, which is...
We investigated the correspondence relationship between vibrotactile stimuli and tactile mental imagery using a vibrotactile glove proposed in a previous study as an interface for vibrotactile stimuli [1]. The mental impressions of the vibrotactile stimuli obtained by the human subjects were measured using the semantic differential method. Analysis of variance, multiple comparisons, and factor analyses...
It is our pleasure to welcome all of you to Budapest on behalf of the organizers of the 4th IEEE International Conference on Cognitive Infocommunications.
This paper presents a method for building a multi-resolution map of a living environment to achieve efficient navigation. The standard practice for developing a representative map is to use an occupancy grid. However, the usage frequency of each environment has not been considered when building these environmental maps. These maps are not able to present the history of human activity as a feature...
This study proposes a sine wave-based auditory user interface for assisting visually impaired persons with creating mental maps of walking environments. Wall shapes are considered as fundamental map features of the map in building a mental map of a space. Therefore, the distance and direction to walls are important. In this study, we present information to users via sound. To show the distance to...
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