Journal of Robotics, Networking and Artificial Life

Volume 5, Issue 4, March 2019

1. Self-Generated Dataset for Category and Pose Estimation of Deformable Object

Yew Cheong Hou, Khairul Salleh Mohamed Sahari
Pages: 217 - 222
This work considers the problem of garment handling by a general household robot that focuses on the task of classification and pose estimation of a hanging garment in unfolding procedure. Classification and pose estimation of deformable objects such as garment are considered a challenging problem in...

2. Development of Automation Recognition of Hazmat Marking Chart for Rescue Robot

Wisanu Jitviriya, Poommitol Chaicherdkiat, Noppadol Pudchuen, Eiji Hayashi
Pages: 223 - 227
A long history of first place awards in World RoboCup Rescue Robot competitions is Invigorating Robot Activity Project (iRAP) such as iRAP_PRO, iRAP_FURIOUS, iRAP_JUNIOR, and iRAP_ROBOT. In this paper, we would like to introduce and explain an autonomous system of our rescue robots for detection and...

3. An fNIRS Study of Brain State during Letter and Category Fluency Tasks

Akane Onishi, Hiroshi Furutani, Tomoyuki Hiroyasu, Satoru Hiwa
Pages: 228 - 231
Verbal Fluency Tasks (VFT) can be categorized into the Letter Fluency Task (LFT) that evaluates the ability to generate words starting with a particular letter, and the Category Fluency Task (CFT) that involves recall of words that belong to semantic categories. In this study, we investigated the differences...

4. Motion-Data Driven Grasp/Assembly Planner

Kensuke Harada, Natsuki Yamanobe, Weiwei Wan, Kazuyuki Nagata, Ixchel G. Ramirez-Alpizar, Tokuo Tsuji
Pages: 232 - 235
This paper proposes a robotic grasp/assembly planner using a database of complex and skillful motion. In our proposed planner, if a skillful motion is included in the solution path, motion data included in the database is used. In this paper, we first explain the three-layered structure of the motion...

5. Multi-Motor Synchronous Control with CANopen

Chung-Wen Hung, Roger CL Lee, Bo-Kai Huang, Shih-Ting Yu
Pages: 236 - 240
A Brushless DC (BLDC) motors synchronous control system based on the CANopen (a communication protocol and device profile specification for automatic embedded systems) protocol is proposed in this paper. Multi-motor control is popular in robot or automation system, and the synchronization is an important...

6. Time-Varying Lyapunov Function for Mechanical Systems

Bin Zhang, Yingmin Jia
Pages: 241 - 244
In this paper, a general method for constructing time-varying Lyapunov functions is provided for mechanical systems. A new class of time-varying Lyapunov functions is provided and sufficient conditions of uniform asymptotical stability are established. Different from the existing results on this subject,...

7. Flock Guiding of Hybrid Agents via Root Block

Yunzhong Song, Ziyi Fu, Fuzhong Wang
Pages: 245 - 248
The convergent equilibrium of flocking agents is vital importance for their collective behavior, where flock guiding of hybrid agents, which are composed by both first and second order agents, can only be boiled down to the root node agents, is touched upon here. Both the theoretical analysis and the...

8. Implementation of Arduino Simulator ADVIS Visualizing the Value of Voltage on the Circuit

Tetsuro Katayama, Tatsumi Nishida, Yoshihiro Kita, Hisaaki Yamaba, Kentaro Aburada, Naonobu Okazaki
Pages: 249 - 252
Embedded technologies are used everywhere. One of the educational materials to learn the embedded technologies is Arduino. When a beginner designs circuit, it is possible to design the circuit that damages Arduino itself or the modules on it. Therefore, this research implements an Arduino simulator that...

9. Snake Robot Controlled by Biomimetic CPGs

Damien Blanchard, Kazuyuki Aihara, Timothée Levi
Pages: 253 - 256
The design of biomimetic robot is one popular research. To achieve this goal, the reproduction of animal locomotion is mandatory. Animal locomotion is created by the activities of Central Pattern Generator (CPG). CPGs are neural networks capable of producing rhythmic patterned outputs without rhythmic...

10. Design of a Data-Driven Controller with Evaluating Controller Performance

Takuya Kinoshita, Toru Yamamoto
Pages: 257 - 260
Data-driven controller systems have been proposed to achieve the desired control performance without using any system identifications. The effectiveness of these control schemes has been shown through experimental results. For time-variant and nonlinear systems, it is important to evaluate the controller...

11. Control System for Maintaining Safe Following Distance while Driving

Kuo-Hsien Hsia, Jia-Hong Cai, Shu-Li Pai, Evgeni Magid
Pages: 261 - 264
Safety is the most important issue while driving. Many traffic accidents occur because of insufficient safe distance. With the advancement of technology, there are cars with a front distance safety warning system. Some of them are with fixed safe distance regardless of the speed of the car. Other advanced...

12. A Turing Machine Constructed with Cubelets Robots

Ricardo Quezada Figueroa, Daniel Ayala Zamorano, Genaro Juárez Martínez, Andrew Adamatzky
Pages: 265 - 268
We describe the design and implementation of a modular and distributed robot that physically simulates functioning of a 2-symbols Turing machine. The robot is constructed with Cubelets (small autonomous robot-cubes used for teaching basic robotics and programming for kids) and Lego® bricks (thus the...

13. Preliminary Comparative Experiments of Support Vector Machine and Neural Network for EEG-based BCI Mobile Robot Control

Yasushi Bandou, Takuya Hayakawa, Jun Kobayashi
Pages: 269 - 272
Here we present experimental results of Electroencephalogram (EEG)-based Brain Computer Interface (BCI) for mobile robot control by means of Support Vector Machine (SVM) and Neural Network (NN). The authors had trained NNs using EEGs collected from subjects and verified the performance as BCI; however,...

14. Quantitative Evaluation in Discrete-time Domain and Improvement in Intersample Response on Multirate Optimal Control

Takao Sato, Natsuki Kawaguchi, Nozomu Araki, Yasuo Konishi
Pages: 273 - 277
In this study, the dual-rate sampled-data control system is designed, where the sampling interval of a plant output is an integer multiple of the holding interval of a control input. Because the discrete-time Linear Quadratic Integrator (LQI) is used for optimizing the discrete-time control performance,...

15. Animated Graphics-based Training Support Method and Prototype Tool for Bug Fixing of Extended Place/Transition Nets

Tomohiko Takagi, Shogo Morimoto, Yuki Ue, Yoshiro Imai
Pages: 278 - 282
This paper describes an animated graphics-based training support method for bug fixing of Extended Place/transition Nets (EPNs), and illustrates a prototype tool that the core of the method has been implemented into. The prototype tool gives a trainee a faulty EPN and its animated graphics. The motion...

16. Using Importance Ranks to Derive Suitable Timing of Visual Sensing in Manipulation Task Containing Error Recovery

Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Yukiyasu Domae
Pages: 283 - 288
In general, a manipulation task can be composed of many skill primitives. Therefore, it is desirable to carry out plural visual sensing in most skill primitives; however, performing sensing all the time is difficult. In this paper, we propose the addition of importance ranks to the attribute of skill...