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A detecting system, which alerts when a target elder falls down in selected area without offending his/her privacy, is necessary to lighten the taking care burden of elders. In this paper, we propose a detecting method using two pyroelectric sensors not only to report in falling down situations, but also to measure the position of the target person in certain area. The person's position can be detected...
Our life has become useful by electrical products, but not all elderly people and disabled people can get contribution by it. Wearable supporting systems are needed to for such people to get usefulness anywhere. Since supporting systems vary according to what support to and the characteristics of target person, it must satisfy the high-mix low-volume nature of such products. Also, in a low-end embedded...
Recently, various controllers are developed. However, the operation of controller is very difficult for elderly persons. Therefore, the operation that uses the gesture like the hand gesture that can be operated intuitively and easily is researched. Three-dimensional coordinates of the hand are necessary to operate it by the hand gesture. The triangulation is a general method of the three-dimensional...
A robust color image segmentation method based on weighting Fuzzy C-Means Clustering (RWFCM) is proposed for color image segmentation. The first component of color feature set is chosen as the one-dimensional eigenvector. In order to reduce the computational complexity, the mapping from pixel space to eigenvector space is used for modifying the object function. Feature distance which is applied to...
In this paper, online path optimization method for Unmanned Aerial Vehicles (UAV) by adjusting parameters of flight path is proposed. Especially, the energy efficient path for UAVs under the presence of steady wind is discussed. Although the relation between the energy consumption and the flight path parameters is hard to model explicitly in general, which induces the difficulty to adopt gradient...
Water is an important resource especially for agricultural country like Thailand. Hydro and Agro Informatics Institute of Thailand launched a project which introduces UAVs equipped with video cameras for improvement of the efficiency in water resource survey. This paper presents the UAV system that has been developed in this project. The flight data shows the capability of accurate automatic way-point...
This paper presents computer simulation and flight test of a small reusable rocket which was launched in an annual rocket launch campaign held in France. The mission of the rocket is autonomous guidance to a target point using parafoil. Authors developed a recovery system that has two stage parachute and parafoil riser separation mechanism to avoid tangling of string. Guidance controller was developed...
This paper introduces the concept and computer simulation results of a flight path generation method using random search and dynamics filtering. The objective of research is online flyable trajectory generation for aerial exploration in a complex environment that has enormous obstacles and/or way points. Conventional path generation methods utilize SQP, GA and so on. They attempt to satisfy global...
During hover operation an RC helicopter is problems of balance instability. An operator attends to hang an airframe in air among hovering control but doesn't attend to move his thumb. we hypothesize that this motion in unconsciousness is one of physiologic change. it is thought of as this motion expresses the operator's emotion. Under intentional disturbance, we recorded an operation during hover...
The disabled people suffer from spinal cord injuries (SCI) or post stroke hemiplegia are easily exposed to secondary problems due to limited mobility. We have developed the wheelchair integrated lower limb exercise/rehabilitation system which is to have an easy access to automated physical training programs. The system consists of three main modules: 1) an electric wheelchair, 2) a lifter which raises...
In order to prevent persons with thermoregulatory disorders from getting hyperthermia, we developed a body heat removal system (BHRS) with Peltier devices, or thermoelectric devices. The Peltier devices were mounted on a wheelchair backrest and continuously transfer body heat through the contacting interface into the outer environment. The cooling experiment in a hot environment with able-bodied subjects...
To comprehensively evaluate the usability and maneuverability of power wheelchairs (PWCs), it is important to systematically collect multimodal data related to wheelchair use from a real environment. In this study, we developed a wheelchair everyday life log system with smartphone-based electronic recording equipment (WELL-SphERE). The combination of a smartphone and a versatile A/D converter allows...
This paper describes improvements for training game of physical posture adaptive for people with developmental disorders, which is developed and already reported by the authors. The Game is a game for exercise user's body posture control. Though it is said that ASD people generally have resistance against new, inexperienced items, all of the ASD subjects are interested in the games without refusal...
Daily use of electroencephalogram (EEG) could increase the effectiveness for medical applications. However, current brain monitoring technologies lack one or more characteristics necessary for daily use, such as portability, responsiveness or versatility. In this study we developed a portable prototype for high resolution real-time EEG monitoring fully integrated system. The prototype is composed...
Recently, rehabilitation robots attract much attention both from engineering and medical fields due to their accurate and repetitive training capabilities. Their automated training protocol reduces the loads on clinical staff and helps effective rehabilitation by monitoring the patient's status in a quantitative manner from various sensor measurements. In the control of such robotic systems, back-drivable...
This paper presents a high-precision three-dimensional laser measurement system of an architectural structure by cooperative multiple mobile robots. This system is composed of three mobile robots, that is, a parent robot and two child robots. The parent robot is equipped with a three-dimensional laser scanner, attitude sensor, total station, and auto-leveling device. On the other hand, the child robots...
A propulsion method to improve a mobility on the plane without hampering walking ability and increasing its mass too much is proposed. That is the method to attach the passive wheels to their feet and uses the difference of reaction force, toward the axial direction and rotational direction. Propulsion method utilized the anisotropic friction property of wheels which are atacched to the legs of the...
In this paper, multi-vehicle formation control with collision avoidance based on model predictive control (MPC) is proposed. Since there exist the uncertainty arise from the localization in the real environments, it is difficult to guarantee collision avoidance among vehicles by the standard MPC based methods. Furthermore, since MPC based methods can only consider collision avoidance at discrete time...
Locomotion is the most important characteristic of living matter. To clarify the factor makes observers find out autonomy in locomotion of living organism is significant from the perspective of artificial intelligence or emergence. In considering physical basis of autonomy of locomotion, we have to remark following three biotic features; “unidirectional movement generated from asymmetric architecture”,...
The minimum-time trajectory generation problem along curved paths (MTTG-CP) is solved for two-wheeled mobile robots (TMRs) with a motor control input constraint. First, we formulate the admissible region for two-wheeled mobile robots with a motor control input constraint (AR-TM). Second, we identify the characteristic switching points (CSPs) to construct limit curve. Third, we determine a bang-bang...
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