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The paper describes the development of a passive mechanical lower arm (PMLA) intended for physical human-robot interaction studies. Our research is focused on cooperation of a small industrial robot and human operator where collision is expected only between the robot end-effector and the lower arm of the human worker. A mathematical model of the passive human lower arm was built and adopted for the...
To increase human trust in robots, we have developed a system that provides insight into robotic behaviors by enabling a robot to answer questions people pose about its actions (e.g., Q: “Why did you turn left there?” A: “I detected a person at the end of the hallway.”). Our focus is on generation of this explanation in human-understandable terms despite the mathematical, robot-specific representation...
A new algorithm for human motion Recognition based on Conditional Random Fields (CRFs) and Hidden Markov Models (HMM) -- HMCRF is proposed. Most existing approaches to human motion recognition with hidden states employ a Hidden Markov Model or suitable variant to model motion streams; a significant limitation of these models is the requirement of conditional independence of observations. In contrast,...
Through analyzing the data about the release, comment and forwarding of 120,000 microblog messages, this paper finds out that the intervals between information release and comment observe the power law. It points out the significant influence of the user's activity on the intervals of information release, and thus demonstrates the positive correlation between the activity and the power exponent. The...
Saliency detection is an important topic for the researches on visual attention selective computation model. This paper aims at the conflict between the local saliency detection and the huge computational cost, and proposes an object-based multi-feature competitive model for visual saliency detection. The proposed model is based on the biologically motivated color-antagonistic model and is advanced...
In the through the wall imaging, the direct wave of the wall has strong power, while the echo of the indoor targets has far lower power, which makes serious affect in the imaging and detection of the targets. In this paper, a fast direct wave suppression method by weighting in through the wall imaging is proved. The according of the weight value is analyzed and the block diagram of the algorithm flow...
Display system calibration is of great significance to assure perceptual uniformity. Nevertheless, due to differences in technology and purpose, same colors do not represent precisely the same on different display systems. The goal of this paper is to verify this mismatch and quantify it, aiming at achieving a correlation between displays' technology, purpose and reproduction accuracy. Five modern...
This study aims to find an adequate method to achieve opening a lid of Japanese tea caddy by robot arm. Although the lid is not screw structure, some people open the lid by screwing for opening. This paper compared two methods of opening the lid: by just pulling up the lid and by screwing the lid for opening. Opening ease of the lid was evaluated by using the maximum pulling up force for opening....
Understanding human/bicycle interactions is crucial not only for enhancing bicycle (motorcycle) safety but also for designing new bicycle-based rehabilitation devices. In this paper, we present stability analysis of a human neurological control of stationary bicycles. The stability results are obtained through using the sweeping frequency method and the stability charts for time-delay dynamical systems...
Absenteeism at work adversely affects performance in organizations, and is reportedly complex. Absenteeism is not only a behavior caused by an individual's characteristics, but also a system behavior of organizations, as implied in the notions of absence culture and absence norm. In this paper, it is suggested that the use of agent-based modeling and simulation can be an effective way to study mechanisms...
Mission planning scenarios in robotics typically involve one or more semi-autonomous agents and a human operator. The high-level goal is to find an optimal allocation of agents to tasks. Each individual task or collection of tasks may have subgoals, such as search, localization, or information gathering. Each of these lower-level goals are their own topics, and the high-level goal of task accomplishment...
In bioengineering, the majority of the hard tissues may be modeled as viscoelastic solids with time-dependent responses. However, influences of the viscoelastic constitutive equations of the biological tissues on damping the vibration have been seldom considered rigorously during the simulation stage. Present paper develops a mathematical approach for the analysis of free vibration of human skull,...
In this paper, a yo-yo motion control called “gravity-pull” is considered with mixing an energy-based stabilizing control and an impulsive Luenberger Observer (ILO). This study aims that this control law is realized without any visual sensor but with force sensors because people can manipulate a yo-yo by use of the force sense at the finger even with eyes closed. Under the assumption that recognizable...
This paper concerns with motion control of an all-wheel-drive (AWD) radio-controlled (RC) car in a setting of drift parking, which is made difficult by the stochastic, coupled dynamics. Motivated by human who can often learn complicated motion from few samples without any mathematical modeling, we propose an online learning algorithm for this task. The idea is to learn a coarse dynamics model from...
The investigation between electromagnetic waves (conduction current) and human cell as lossless material has received renewed attention recently. This propagation can come from many sources such as cellular phone. The structure of a human cell were studied from many school of thinking such as biochemical in cell, cytoplasm, nucleus and membrane and the understanding obtained have been used as the...
One of the popular dynamics on complex networks is the epidemic spreading. An epidemic model describes how infections spread throughout a network. Among the compartmental models used to describe epidemics, the Susceptible-Infected-Susceptible (SIS) model has been widely used. In the SIS model, each node can be susceptible, become infected with a given infection rate, and become again susceptible with...
Motivated by the complexity of spatio-temporal patterns of interconnected human processes (e.g., crowds, car traffic, social networks), this paper sets forth the fractal dynamic games as an analytical tool for modeling and predicting human dynamics. Starting from a statistical physics description of interactions between agents and from the observed statistical properties of economic measures, we construct...
In this paper we study the control mechanism that regulates water and the concentration of sodium in human body. For this reverse engineering problem, a control system model is developed using a modification of the standard LQR theory. The control law derived in this paper reflects the realistic situation in which the body is in a supine position or a standing position, and also takes into account...
In this study, intelligent control of human eye movements system for the emotional support by a huggable pet type robot via Gaussian RBF neural network based on sliding mode control is presented. Despite active research and significant progress in the last three decades on control of human eye movements, it remains challenging issue due to its applications in prosthetic eyes and robotics. The geometry...
Despite some successful dynamic simulation of self-impact double pendulum — as humanoid robots legs or arms- studies, there limited information is available about the control of one leg locomotion. It is clear that the gait cycle, as a part of the lower-extremity motions, has a remarkable effect on the whole body movement and also behavior. The whole walking motion has been modeled into an inverted...
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