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The purpose of this research is to achieve a user friendly interface for teleoperation in versatile purpose. However, it is difficult to teleoperate a robot for general persons. In this paper, we propose a new interface to improve usability with a touch based Multi-Modal interface for teleoperation for non-expert. The operator is able to operate a robot without spatial restriction since the proposed...
In this paper, we focus on designing a customizable modular based virtual platform for modeling, simulating and testing telexistence applications, where the physical parameters are preserved in the virtual environment; for motor control of physical characteristics of robot as well as sensory feedback of vision, auditory, haptic. We proposed “Virtual Telesar” which allows telexistence engineers to...
In this study, we proposed and developed support system to make teaching materials of catheterization. Main functions of proposed system are multiplying and attending can make teaching materials himself easily. Especially, we improved Interfaces in proposed system, and decide suitable equipment for operating-room.
A Surgical Planning System is proposed for Radio-Frequency Ablation (RFA) of liver tumors. The system includes a novel Stochastic Finite Element (FE) method which comprises the deterministic FE method with a probabilistic nature. The method enables modeling of variations in biological systems/processes which have properties that varied within a range of continuous values. By integrating Stochastic...
To date, the complex and diverse demands on robotic software can only be handled by large teams which are often distributed geographically, with each team working on a specific aspect of the robot's functionality. The distributed nature of development and differences in the configuration of standard robot platforms impose particular challenges on the process of system integration. To address these...
The worldwide prevalence of obesity is considered as a serious issue because obesity is one of the main causes of diabetes, heart disease, and cancer. Obesity is associated with various habits of our daily life, e.g. short sleep duration, high alcohol intake, and nonparticipation in physical exercise. Therefore, changing these habits in order to reduce body weight is recognized as an effective solution...
We have developed an autonomous mobile robot to perform in-hospital transportation. When an autonomous mobile robot moves in a hospital, it needs to detect and avoid such obstacles as beds, wheelchairs, patients, visitors, and hospital staff. These obstacles move and often have overhanging parts that cannot be detected by only 2D sensor which measures horizontal surface. The robot, therefore, must...
Today, simple and accurate pose estimation is needed for small underwater robots to support and to replace submergence operation divers. Position and orientation estimation using luminous markers and the computer tracking library ARToolKit is one of the solutions for estimation, since it is fast enough for real time processing and is open sourced. Although, since it was made for augmented reality,...
We deal in this paper with the exploration problem using a team of heterogeneous robots. Since no assumption is made on the type of robot used, our system has to handle correctly in one single framework the specificities arising from each type of commonly used robots such as UAVs, ground vehicles or humanoids. To do so, we introduce a framework that handles efficiently the autonomous exploration problem...
Recently, personal robots and home robots are developing by many companies and research groups. It is considered that a general effective interface for user of those robots is speech or voice. In voice instruction system, we propose the estimation method of a target. The present method is based on the instruction history of a user. Additionally, we propose the update algorithm of fuzzy rules based...
This paper proposed automated robot speech gesture generation system for service/entertainment robots. This system can automatically generate robot Beat gestures accompanied by speech interaction situation with humans. Beat gestures have no specific semantic meanings to communicate, but it is commonly believed that they are an essential factor of natural communication. We extracted basic gesture patterns...
Speech dialogue systems, such as Apple's “Siri,” have gradually become more widespread, and in the near future, a greater number of general users will have the opportunity to communicate with such systems. To facilitate this, it is necessary for the system to communicate more naturally with users, and to realize that both verbal and nonverbal information must be taken into consideration. Therefore,...
Performing general human behavior by experts' navigation is expected to be realized as wearable and ubiquitous technologies and computing develop further. For example, the user of the behavior navigation system will be able to conduct first aid treatment as an expert would. We proposed and developed the Wearable Behavior Navigation System (WBNS) using Augmented Reality (AR) technology. By using the...
The paper aims to quantify the phenomenon of domestic violence, which based on the gender statistics from Taiwan's government, and use GM (0,N) model as the mathematics model to analyze the problem of domestic violence victims fromyear 2006 to year 2010. The paper proposes the ten influence factors for the domestic violence at first. Through GM (0,N) calculation, the result shows that the three main...
Both capital structure and its antecedent variables are unobservable constructs measured by a set of observable indicators or proxies. Traditionally, the ordinary square (OLS) method was often used for the research on capital structure. However, the use of the ordinary squares method faces some problem. For overcoming these problems mentioned above, we use Grey relational analysis and path analysis...
This study explores the key factors influencing the retention of nurses. By using grey relational analysis and grey clustering analysis, the result showed the seven retention factors could explain why high intention nurses would like to stay in nursing. However, the seven retention factors did not reach to high level but fall in low level. It could be inferred that nurses indeed dissatisfy with the...
The study attempts to apply the consolidations between the ANP and GRA to systematically and hierarchically evaluate the research issue: “Constructing evaluation-model on the corporate green-marketing through the integrative perspectives” in order distinctively to versify the three potential candidates. In successively, the measured weighted scale of 0.3736 is located at “The g-marketing does positively...
In recent years, a large number of studies have focused on micro-robots. Moreover, yearly contests have been held in order to develop micro-robot technologies. As a result of these activities, various types of microrobot have been proposed, including motor-type, piezoelectric-element-type, and electromagnet-type micro-robots. To date, the authors' research group has been studying a locomotion mechanism...
A novel multi-degree-of-freedom (MDOF) microactuator was developed using a symmetric piezoelectric plate and a Ni-Co alloy micro-pusher element. A LIGA-like technique was employed to manufacture a Ni-Co alloy micro-pusher with a Vickers hardness value (HV) of 550, which was then attached at the midpoint of the long side of a piezoelectric plate with dual electrodes to construct a symmetric piezoelectric...
The passive dynamic control (“PDC”) is a mechanical system control method based on an inherently safe design. It positively uses a passive element (braking effort) whose characteristics are variable. In this paper, the PDC is applied to a rotary pneumatic actuator. First, the rotary pneumatic actuator equipped with an electromagnetic brake and a sensor for applying the PDC is proposed, and its control...
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