The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Gaussian Processes have been previously used to model wireless signals strength for its use as sensory input for robot localization. The standard Gaussian Process formulation assumes that the outputs are corrupted by identically independently distributed Gaussian noise. Even though, in general, wireless signals strength do not have homogeneous noise variance. If enough data samples are collected,...
An automated diagnosis methodology is necessary for the maintenance of superannuated social infrastructures. In this context, the hammering test is an efficient inspection method, and it has been widely used because of the resulting accuracy and efficiency of operation. While robotic automation of the hammering inspection method is highly desirable, the development of an automatic diagnostic algorithm...
To operate mobile robots in an intelligent space such as a distributed camera sensor network, pre-calibration of all environmental cameras (i.e., determining the absolute poses of each camera) is an essential task that is extremely tedious. The optimization problem for camera calibration with a mobile robot has been intensively studied in the past. However, most existing solutions have limitations...
Dynamical moving task allocation in complex environment for distributed multi-robot coordination system is mainly investigated. We proposed a hybrid dynamical moving task allocation method in this paper, when either robots or tasks update their conditions, robots independently select tasks from a combinatorial cost table as to minimize an objective function. And we use two sample time thresholds for...
System surveillance is a function required for continuous operation of a system which consists of various apparatus and networks. Many service providers try to raise their productivity. Their methods are to show some information to a operator after alarm occurs. As another method of the rationalization, a surveillance system shows some information to the operator in the waiting time before alarm occurs...
Acquisition of accurate image information from underwater environments is essential to operate underwater tasks such as maintenance, inspection, trajectory estimation, target recognition and SLAM (simultaneous localization and mapping). In this respect, an acoustic camera is superior device because it can provide images with more accurate details than what the optical cameras provide even in turbid...
Three-dimensional (3D) measurement is an important means for robots to acquire information about their environment. Structure from Motion is one of these 3D measurement methods. The 3D reconstruction of objects in the environment can be obtained from pictures captured with single camera in Structure from Motion. Furthermore, the camera motion can be obtained simultaneously. Because of its simplicity,...
We present a novel rough terrain traversability analysis method for mobile robot navigation. We focused on the scenario of mobile robot operation in a disaster environment with limited sensor data. The robot builds a map in real time and analyzes the terrain traversability of its surrounding environment. The proposed method is based on fuzzy inference so that it can handle uncertainties in the sensor...
It is important to understand the mechanism of human standing-up motion to improve the declined physical ability of the elderly people. This study employs the concept of muscle synergies (modular structure of coordinative muscle activation) to understand how humans coordinate their muscles to achieve the standing-up motion. Neuro-musculoskeletal model was developed to represent human body to generate...
This paper proposes a novel approach to an RGB-D simultaneous localization and mapping (SLAM) system that uses the vanishing point and door plates in a corridor environment simultaneously for navigation. To increase the stability of the SLAM process in such an environment, the vanishing point and door plates are utilized as landmarks for extended Kalman filter-based SLAM (i.e., EKF SLAM). The vanishing...
In this paper, we propose a method to compensate the over and under exposure regions in the image. The image processing consists of four steps. Firstly, two images are acquired by alternately turning on and off illuminations which set in two different positions. Then the image obtained first is defined as base image and the image obtained second is defined as sub image. Secondly, over and under exposure...
This paper proposes a method to estimate the refractive index of liquid using a stereo camera. Sensing in liquid environment is important to research liquid structures, aquatic lives and liquid resources. Methods using cameras are often performed. However, methods using cameras are affected by the refraction of light. Therefore, refractive index is needed to know to consider the refraction of light...
A robotic stand-up assist system from a bed, which utilizes coordinated motion with the bed, has been developed. Through the steps of the research and development process, assisting the motion trajectory during the stand-up motion is found to be more important, rather than assisting the power to stand-up. Natural trajectory for the stand-up motion, with the help of the movement of the bed, has been...
This paper presents a method to compose half-diminished reality images for remote control robots using three RGB-D sensors. Robots are designed to perform the work of humans during a disaster response to reduce secondary disasters. In these case, a operator controls the robot with the aid of images from a mounted camera. However, operating efficiency decreases significantly when the robot arm occludes...
Automated diagnosis systems are necessary for the maintenance of superannuated social infrastructure. This paper presents a methodology for detecting material defects using acoustic signals in a hammering test. The approach comprises a feature extraction step using Short-Time Fourier Transform (STFT) and a classifier training step based on AdaBoost, an ensemble learning algorithm. Especially, we use...
The standing-up motion is one of the most important activities of daily livings. In order to understand the strategy to achieve the standing-up motion, muscle synergy analysis is applied to the measured data during human standing-up motion. In addition, musculoskeletal model which consists of three body segments and nine muscles in lower limb is developed to ensure that the standing-up motion can...
In this paper, novel reinforcement learning method with intrinsic motivation for reproducibility of the past successful experience is presented. The experience is extracted as skill, which is composed of action sequence and abstract knowledge about observed sensor input. Utilizing the collected skills, reproduction of the successful experience is attempted in novel and unknown environment. Consistent...
Recently, declining physical ability of elderly people has become an extremely important social issue. To improve their daily living activities, the standing-up motion is emphasized in this study as an important daily motion. Synergy analysis is applied to the standing-up motion to extract four important groups of muscle activations (synergies). Furthermore, the effect of synergies on body movement...
Recently, the rubber hand illusion (RHI), which is one of phenomena that the sense of ownership is extended to the objects over the external area, attracts much attention to explain the brain mechanism of self body recognition of human. However, most previous research have only focused on the conditions for the occurrence of the RHI. In this study, we measured the electromyography (EMG) of the arm...
Although standing-up motion is an important activity of daily living, it remains unclear how people perform the motion in different situations. As described in this paper, muscle synergy analysis is applied to standing-up motions performed at different circumstances, such as two different heights and at three different speeds. Results elucidated three invariant groups of synchronized muscle activations:...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.