Takanori Shibata, Teruaki Mitsui, AIST, Kazuyoshi Wada, Tsukuba Univ., Akihiro Touda, Sankyo Aluminum Industry Co.,Takayuki Kumasaka, Kazumi Tagami, Tsukuba Univ., Kazuo Tanie, AIST, Japan
This paper describes research on mental commit robot that seeks a different direction that is not so rigidly dependent on such objective measures as accuracy speed and cost. The main goal of this research is to explore a new area in robotics with an emphasis on human-robot interaction. In the previous research we categorized robots into four categories in terms of appearance. Then we introduced a cat robot and a seal robot and evaluated them by interviewing many people. The results showed that physical interaction improved subjective evaluation. Moreover a priori knowledge of a subject has much influence into subjective interpretation and evaluation of robot. In this paper 785 subjects evaluated the seal robot and the …
| 12:10―12:30 |
Dong-Soo Kwon, Jun-Ho Oh, YoonKeun Kwak, Ju-Jang Lee, Jung-Hoon Hwang, Hyung-Rock Kim, Jin-Woo Lee, Suk-Kwan Hong, Sun-Gi Hong, KAIST, Korea
A new robot soccer system has been proposed to increase the interaction between the operator and the robot soccer system. The multiple robots are commanded by a teleoperation function. When a robot is commanded with a joystick other robots are running by the preprogrammed cooperating strategies. To develop the interactive robot soccer system robust position/orientation sensing techniques have been developed. In order to make the teleoperation of the soccer robots more intuitive it is proposed to use a joystick control w.r.t. ground-based coordinates. To allow wireless and isolated teleoperation for each playground an infrared communication system has been adopted. To minimize maintenance a continuous power supply … | Development and Structuring of Mechatronic Systems, Exemplified by the Modular Vehicle X-mobile
M. Zanella, T. Koch, F. Scharfeld, Universität Paderborn, Germany
This paper presents an approach to a function-oriented structuring of mechatronics systems, exemplified by means of an autonomous vehicle, the X-mobile, including an active wheel suspension. This vehicle is a fine example of the design methodology of mechatronic systems conceived at the MLaP (Mechatronics Laboratory Paderborn). The design methodology centers around a holistic, interdisciplinary consideration of all system components involved. The development of the X-mobile, from early stages to the simulation to the implementation, is also described. Furthermore, this paper includes more detailed technical information.
| 12:30―12:50 | VGT Turbocharger Controlled by Means of an Adaptive Control Technique
L. Dambrosio, G. Pascazio, S. De Robertis, B. Fortunato, Politecnico di Bari, Italy
This paper provides an adaptive technique for the control of a variable geometry turbine in a turbocharged compression ignition engine. The adaptive control is based on a one-step-ahead technique and a least square parameter estimator algorithm. In order to test the performance of the proposed control technique a numerical model of the engine has been used which employs a zero-dimensional approach. The paper will show that the one-step-ahead technique is able to improve dramatically the control performance with respect to that provided by a commonly applied PID control technique. | X-Ray Guided Robotic Radiosurgery for Solid Tumors
R.M.C. Bodduluri, Accuracy Inc., J.M. McCarthy, UC Irvine, USA
This paper presents an verview of the x-ray guided robotic radiosurgery system that has been developed for the ablation of solid tumors. A robot mounted linear accelerator is directed through a sequences of positions and orientations designed to deliver high radiation dosages at specific locations.Patient movement during treatment is identified by stereo x-ray measurements and the robotic system adjusts the linear accelerator prior to the delivery of radiation at each location.The result is precise delivery with rigid registration of the tumor relative to the treatment system. | 12:50―13:10 | A Service Robot for Peopled Environments — Finding Lined People by Stereo Vision and Standing in Line —
Y. Nakauchi, National Defense Academy, Japan, R. Simmons, Carnegie Mellon University, USA
Recent research results on mobile robot navigation systems make it promising to utilize them in service fields. But in order to utilize the robot in a peopled environment, it should recognize and respond to people's social behaviors. In this paper, we describe a social robot that stands in line as people do. Our system uses the concept of personal space for modeling a line of people and we have experimentally measured the actual size of the personal space when people form lines. The system employs stereo vision to recognize lines of people. We demonstrate our ideas with a mobile robot navigation system that can purchase a cup of coffee, even if people are waiting in line for service.
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