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This paper presents laser-based pedestrian tracking system in outdoor environments using multiple mobile robots. Each robot detects pedestrians using its own laser scan image by an occupancy-grid-based method and tracks the detected pedestrians via Kalman filtering. When the robots are in close proximity to each other, they exchange pedestrian tracking information through intercommunication, and tracking...
This paper describes a method of road recognition, which is useful in outdoor environments, using a multi-layered laser range finder (MLRF) for a smart electric wheelchair. Road recognition means detecting the road in front of a wheelchair on which it can travel. The MLRF captures laser scanned images from the road surface and maps them onto a grid map. Paved roads are almost flat and have boundaries...
This paper presents laser-based pedestrian tracking with multiple mobile robots in outdoor environments. Each robot finds pedestrians using its own laser scan image by an occupancy-grid-based method, and it tracks the detected pedestrians via Kalman filtering and Global nearest neighbor based data association. In addition, it generates a local map using EKF-SLAM, where cylindrical objects in outdoor...
This paper presents fault detection and isolation (FDI) of dead reckoning and an external sensor (laser range sensor, LRS) on mobile robots in a multi-robot team. Each robot in the team monitors states (fault or fault-free) of the in-vehicle sensors by comparing velocity estimates obtained using its own two velocity providers: dead reckoning and laser-based scan matching. When the robot detects a...
This paper describes a method of fault diagnosis of internal and external sensors for mobile robot. As our previous works diagnosed hard and noise faults of internal sensors, in this paper, scale faults, in which sensor gains deviate from the fault-free condition, are handled for three internal sensors (two wheel-resolvers and one gyro). The sensor gains are estimated based on the robot velocity estimated...
This paper describes fault isolation of dead reckoning and laser range sensor (LRS) for mobile robot. Our mobile robot is equipped with three LRSs for omnidirectional sensing. The robot estimates its own linear and turning velocities based on the information of each LRS as well as dead reckoning. The iterative-closest-point based scan matching is applied for estimating the robot velocities with LRS...
This paper describes a method of fault diagnosis of internal sensors and actuators for a powered wheelchair. We handle hard fault and scale fault of three sensors (two wheel- resolvers and one gyro) as well as hard fault of two wheel- motors. The hard fault of the gyro is diagnosed based on mode probability estimated with interacting multi-model estimator. The hard fault of the wheel-resolvers and...
This paper presents a method for moving-object tracking with in-vehicle 2D-laser range sensors (LRS). Since a sensing area of the LRS is limited in orientation, mobile robot is equipped with multi-LRS's for omnidirectional sensing. In order for moving-object tracking by multi-LRS's cooperation, the coordinate frames of the multi-LRS's are calibrated based on Kalman filter and chi-hypothesis testing...
This paper presents a method for people tracking with in-vehicle 2D laser range sensor (LRS). Since a view angle of the LRS is limited in orientation, mobile robot is equipped with multi-LRS's for omnidirectional sensing. In order for people tracking by multi-LRS's cooperation, the coordinate frames of multi-LRS's are calibrated based on Kalman filter and chi-hypothesis testing. People tracking is...
This paper describes a method of fault diagnosis of internal sensors and actuators for a wheelchair. We handle hard fault and scale fault of three sensors (two wheel-resolvers and one gyro) and hard fault of two actuators (two wheel motors). The hard fault of the gyro is diagnosed based on mode probability estimated with interacting multi-model estimator. The hard fault of the wheel resolver and motor...
This paper presents a model based fault detection and isolation (FDI) of internal sensors for a powered wheelchair. Three fault modes of five internal sensors (two wheel-encoders, two steering-potentiometers and one yaw-rate gyro) are handled: hard fault, noise fault and scale fault modes. On the hard fault the sensor output is stuck at a constant value. The noise fault causes the sensor output with...
This paper proposes a nonverbal interface system using bio-potential signals, such as EOG and EMG, measured by a brain-computer interface and investigates its possibility of applying to control application. A simple gesture recognition algorithm is presented to estimate the user's intentions from the bio-potential signals. To evaluate the feasibility and the characteristics of the nonverbal interface...
We introduce a climbing system, inspired by gecko foot that uses magnets in place of Van der Waals interaction. This is possible because both forces, except for a scale factor, have similar force-curves. Taking advantage of this fact, we manufactured a hand-size "magnetic" version of a gecko-foot. This allowed us to conduct naked-eye experiments. As a result we identify four shape function...
A simple self-transfer aid robotic system is proposed, and the evaluations on the human's physical burdens when using a transfer aid robotic system are presented in this paper. A person with weak leg muscles who uses a wheel chair is assumed to be the target user. By using the self-transfer aid robotic system, a user can transfer between a wheel chair and a toilet, for example. The proposed self-transfer...
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