Volume 1, Issue1, June 2020
Editor-in-Chief
Masanori Sugisaka
Journal of Advances in Artificial Life Robotics
Preface
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1.Robot Motion and Grasping for Blindfold Handover
Sakmongkon Chumkamon, Kota Kawamoto, Umaporn Yokkampon, Eiji Hayashi
Pages 1-5
Abstract
Autonomous robots in human-robot interaction (HRI) recently are becoming
part of human life as the number of services or personal robots increasingly
used in our home. In order to fulfill the gap of HRI merit, we would like
to propose a system of the autonomous robot motion and grasping creation
for assisting the disabled person such as the blind people for handover
tasks to help blind people in pick and place tasks. In this paper, we develop
the robot motion to receive the object by handing over from the blindfold
human to represent the blindness. To determine the target of the object
and human hand, we implement the 6DOF pose detection using a point cloud
and hand detection using the Single Shot Detection model in Deep learning
for planning motion using 9DOF arm robot with hand. We finally experiment
and evaluate the tasks from blindfold-robot handover tasks.
Keywords: Factory Automation,Motion Planning, Human-Robot Interaction.
DOI
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2.A Device Design Basedon TDS Water Quality Detection
Fengzhi Dai, Jichao Zhao
Pages 6-10
Abstract
The traditional water quality detection method is sampling and detection
by artificial nodes, which is easily interfered by weather and environment.
The presented design method is a new water quality detection device for
marine and other waters. The device is spherical in shape and uses a built-in
sensor and control system to detect the water quality in the form of drifting.
This device has a built-in micro control system, TDS detection module,
power voltage regulator module, GPS module and wireless signal transmission
module. The TDS module detects the concentration of total dissolved matter
in the water, and the GPS module measures the current location of the device,
which sends the data to the micro control system. The micro control system
sends the water quality information and the geographical location information
through the wireless transmitting module, and the user can view the water
quality status by the device in real time through the Internet. The power
supply voltage regulator module provides the different voltages required
by the entire device to achieve the function of detecting the current water
quality.
Keywords:TDS; Real-time detection; Micro control system; GPS module
DOI
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3.Robot competition for underwater technology researchers and students
Yuya Nishida, Takashi Sonoda, Takayuki Matsuo, Shinsuke Yasukawa, Masanori
Sato, Yasunori Takemura, Kazuo Ishii
Pages 11-15
Abstract
To promote the research of oceanic engineering technology, an underwater
robot competition has been held since 2016. The seventh competition this
year consists of AUV leagues, in which vehicles developed by university
teams automatically cruise in the field, and junior leagues that participate
in making underwater craft. This paper presents the competition regulations
for the AUV and junior leagues and the results of the competition held
in October 2019.
Keywords:robot competition, autonomous underwater vehicle, Junior league
DOI
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4.A Design of the Intelligent Aircraft based on STM32
Fengzhi Dai, Hongbo Hao
Pages 16-20
Abstract
With the chip STM32f767 igt6 (M7 series) as the core, the designed aircraft
will finally realize the intelligence by using the optimized attitude algorithm
(cascade PID and single-stage PID share the optimized control), omni-directional
ultrasonic radar detection barrier collision prevention technology, long-distance
wireless transmission technology (to realize the timely transmission of
images recognition), navigation technology (the Beidou and GPS double positioning
system to realize more accurate positioning), voice recognition technology,
man-machine interaction technology, and wireless local area network technology.
The experiment shows the result.
Key words:Aircraft, man-machine interaction, wireless transmission, PID
DOI
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5.Fundamental Study on Hidden Surface Removal for Interactions between User’s
Bare Hands and Virtual Objects in Augmented Reality
Makoto Sakamoto, Takahiro Ishizu, Kenji Sakoma, Takahiro Shinoda, Amane
Takei, Takao Ito
Pages 21-25
Abstract
Augmented reality (AR)technology is a technique of superimposing information
generated by a computer on perceptual information that we receive from
real space. Recently, much attention has been focused on interaction techniques
between users and virtual objects, such as the user directlymanipulating
virtual objects with his/her bare hands. On the other hand, in AR technology,
since the 3-dimensional (3D) model is superimposed on the image of the
real space afterwards, it is always displayed on the front side than the
hand. Thus, it becomes an unnatural scene in some cases (occlusionproblem).
In this study, this system considers the object-context relations between
the user's hand and the virtual object by acquiring depth information of
the user's finger.In the evaluation experiment, it is confirmed that the
hidden surface removal in this study not only makes it possible to consider
the object-context relations but also can distinguish between finger boundaries and to clarify and process finger contours.
Keywords:Augmented Reality (AR), Occlusion Problem, Hidden Surface Removal, Hand
Detection
DOI
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6.Parallel Full-Wave Electromagnetic Field Analysis Using Anatomical Human
Body Models
Amane Takei, Makoto Sakamoto
Pages 26-33
Abstract
The authors have investigated a high-accuracy analysis for the electromagnetic
field of anatomical human body models using the parallel finite element
method. In the full-wave electromagnetic field analysis by the parallel
finite element analysis with anatomical human models, efficient conversion
from voxels to finite element meshes and speed-up of an analysis become
important topics. In this paper, we propose parallel mesh generation method
with mesh smoothing, and show to be able to generate large-scale mesh very
effective. Then, we evaluated the performance of two kinds of iterative
method by numerical experiments using large-scale human body model. As
the results, the COCR method is very useful as the interface solver in
the DDM for high-frequency electromagnetic field analysis using anatomical
human model.
Keywords: Iterative domain decomposition method, Parallel finite element
method, Berenger’s PML, Large-scale analysis, Microwave analysis.
DOI
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7.No Free Lunch Principle in Agent Swarm Systems: One Case Study
Yunzhong Song, Fengzhi Dai, Huimin Xiao, Shumin Fei
Pages 34-38
Abstract
This note comes with information flooding of the control action of the
leader in leader follower framework. In this situation, even observer for
the leader velocity is built in a distributed style, the agent swarm system
in a whole could not be classified into distributed one. One case study
example will be borrowed to demonstrate the truth of the no free lunch
principle in agent swarm systems.
Keywords:free lunch principle, agent swarm systems, distributed observer, leader-follower
framework
DOI
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8.Mouse Cursor Control System using Facial Movements
Masayoshi Tabuse, Manase Mizobe, Yasunari Yoshitomi, Taro Asada
Pages 39-44
Abstract
It is necessary to support of computer operation for a physically disabled
person. One of the possible physical movements of the physically disabled
person is facial movement. Recognition of facial movement of a person makes
it possible to operate a computer. Furthermore without the adjustment for
a user and adjustment for the distance from a user, it is possible to reduce
the burden on a user. We developed a system to resolve these problems.
In our system, a web camera, dlib C++ library and OpenCV library are used
to extract feature points of the face and obtain the face direction. Changing
the face direction, we can move a mouse cursor. Recognizing an open mouth
or closed eye, we can carry out an operation of mouse click. In this paper,
we evaluated the effect on operability due to the face direction and recognition
rate due to distance.
Keywords:Mouse cursor system, dlib C++ library, facial movements, Physically disabled
people
DOI
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9.An effective visual inspection device for wafer physical defects
Xiaoyan Chen,Jianyong Chen, Chundong Zhao
Pages 45-48
Abstract
Wafer defect detection is an indispensable part of semiconductor manufacturing.
In this paper, an automatic and efficient device is designed and constructed
to detect wafer physical defects. Programmable logic controllers (PLCs)
are used as the controller of the transmission mechanism of the device,
and the servo motor is used for driving. Wafer images are captured by a
CMOS camera. In addition, in order to improve the detection accuracy, the
camera calibration is completed according to the mapping relationship between
the pixel coordinate system and the world coordinate system. A computer
is adopted for wafer image processing and displaying the final detection
results. The device proposed in this paper has low cost and high reliability.
It provides a new solution for wafer defect detection.
Keywords:Semiconductor manufacturing, Machine vision, Camera calibration, Programmable
logic controller
DOI
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10.A Study on Prevention of Predictive Failures
Tsutomu Ito, Takao Ito, Makoto Sakamoto
Pages 49-54
Abstract
Electric motors play an important role as the primary power for conveyor
and drop lifts in manufacturing systems especially in automobile manufacturing
factories.Many electric motors equipped with brake systems have sensors
that determine where they should stop. This brake system needs to be maintained
to keep proper brake gap consistent. Measuring the brake gap of electric
motors is one of the main jobs of maintenance department, but this is a
difficult task because most of the motors are located in unsafe spaces,
like the upper end or under the lift pit. This paper proposes a new approach
to measure the brake gap of motors to reducemaintenance risks, thus saving
costs. The method suggests using vibration acceleration to measure the
motor gap in running production system based on mechanical model.The effectiveness
of this research is indicative by experience results.
Keywords:motor brake, brake gap, acceleration, maintenance
DOI
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