session chairs: juan manuel florez and shixin mao room...

A01(1) 9:40-9:55 A01(2) 9:55-10:10

A01(3) 10:10-10:25 A01(4) 10:25-10:40

A01(5) 10:40-10:55

A01: Soft RoboticsSession Chairs: Juan Manuel Florez and Shixin Mao

Room PLUMERIA B, 9:40-10:55, Sunday, 7 December, 2014

Development of Pneumatic Rubber Actuator of400mm in Diameter Generating Bi-directional

Bending MotionRyo YOSHIOKA, Shuichi WAKIMOTO and Koichi SUZUMORI

Graduate School of Natural Science and Technology, Okayama Univ., Japan

• Micro rubber actuator that can bend into two directions has been developed.

• The micro rubber actuator consist of silicone rubber.

• The actuator has been designed by nonlinear FEM and fabricated by molding process.

• The actuator bends into two directions by positive and negative pneumatic pressures.

Fabricated micro rubber actuator

Stru

ctur

e

(b) 130kPaG (c) －70kPaG(a) 0kPaG

200µm

200µm

50µm

30µm

90µm

400µm

Rapid Prototyping Design and Control ofTensegrity Soft Robot for Locomotion

• A lightweight, untethered and low-cost tensegrity soft robot with a payload is designed and rapidly prototyped.

• Control is developed using heuristic-basedgreedy search algorithm to realize robot locomotion for moving forward and turning.

• A naturally compliant tensegrity robot doesminimal harm to itself and to humans, making it a suitable choice for co-robotic applications.

Kyunam Kim1, Adrian K. Agogino2, Deaho Moon1,Laqshya Taneja1, Aliakbar Toghyan1, Borna Dehghani1,

Vytas SunSpiral3, and Alice M. Agogino11UC Berkeley, USA

2UC Santa Cruz, USA3SGT Inc., USA

Rapidly prototyped tensegrity robot shown in the NASA Ames RoverScape.

Two Chambers Soft Actuator Realizing Robotic Gymnotiform Swimmers Fin

• Extended simulation study on two chambers soft actuators design using finite element.

• Actuators comparison on separating wall thickness, actuator thickness, fiber location, fiber materials, and rubber materials.

• Two actuators are embedded to the ends of soft actuator fin.

• Soft actuator fin propels like gymnotiformswimmers and shows good linear motion.

Muhammad Rusydi, Ahmad ‘Athif, Mahrokh Bavandi, Ili Najaa Aimi, Elango Natarajan and Omar Yaakob

Control and Mechatronic Engineering Department, Universiti Teknologi Malaysia, Malaysia

Two actuators are embedded at the ends of the fin

Locomotion modeling of an actinomorphic soft robot actuated by SMA springs

Hu Jin, Erbao Dong, Shixin Mao, Min Xu, Jie Yang

School of Engineering Science, University of Science and Technology of China

• Actinomorphic soft robot possesses a flattened body with a number of arms radially symmetric distributing and extending from robot central disc.

• A novel approach which regards robot movement as a spatial close-chain mechanism was applied to analyze the robot locomotion modal.

• The robot locomotion model was built by synthesizing forward kinematics using modified D-H method, locomotion modal and motion equations under quasi-static approximation.

• By contrast the result of experiment and simulation, they presented similar locomotion characteristics of movement rhythm and direction which prove the robot locomotion model available.

Soft Pneumatic Actuators for Legged LocomotionJuan Manuel Florez, Benjamin Shih, Yixin Bai and Jamie K Paik

Reconfigurable Robotics Lab (RRL) ,Department of Mechanical Engineering, Swiss Federal Institute of Technology (EPFL) Lausanne, Switzerland.

• SPA-based, lightweight (< 100g), compliant, and disposable search and rescue robot.

• A proof-of-concept soft robotic system for locomotion in tight spaces.

• Built in adaptation of the material resulting in close loop control of the robot without fine modelling of kinematics and friction. Disposable search and rescue

soft robotic platform

IEEE-ROBIO 2014 Conference Digest

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B01(1) 9:40-9:55 B01(2) 9:55-10:10

B01(3) 10:10-10:25 B01(4) 10:25-10:40

B01(5) 10:40-10:55

B01: Surgical Robots ISession Chairs: Bo Pan and Chiharu Ishii

Room PLUMERIA A, 9:40-10:55, Sunday, 7 December, 2014

Design of Passive Joint in Minimally Invasive Surgical Robot

Jiawen Yan, Bo Pan, Guojun Niu, Yili Fu, Dianguo Xu State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China

The half view of the 3D-model of the total structure

• Locking structure comprises of step motor, harmonic gear reducer, bevel gear and the friction part.

• The friction part is optimized to increase normal force on contacting surfaces.

• Passive joint is driven by a motor, power off won’t affect the reliability of the self-locking structure.

Development of a Surgical Robot for Single-Port Surgery and Its Position Tracking Control

• A novel surgical robot for single-port surgery (SPS) was developed.

• The surgical robot can achieve a forceps placement called “rotation formation”.

• Use of the robot’s position control method, which is based on inverse kinematics, was proposed.

• To evaluate the accuracy of the surgical robot, position control experiments were conducted.

Daisuke Yamaoka, Katsuaki Oiwa and Shotaro MaedaMajor in Mechanical Engineering, Graduate school of Hosei Univercity, Japan

Chiharu IshiiDepartment of Mechanical Engineering, Hosei Univercity, Japan

Overview of the Developed surgical robot

A figure here

Control Formulation of a Highly Complex Wire-Driven Mechanism in a Surgical Robot Based on an Extensive Assessment of Surgical Tool-Tip

Position/Orientation Using Optical Tracking System

• Investigation and assessment for errors and behaviors of a wire-driven mechanism set on MU-LapaRobot.

• Formulating a control algorithm for MU-LapaRobot by Using Position and Orientation Information.

• Implementing the control system using the new algorithm in MU-LapaRobot for Assessment.

Pittawat Thiuthipsakul and Jackrit Suthakorn, Ph.D.Department of Biomedical Engineering,

Center for Biomedical and Robotics Technology (BART LAB),Mahidol University, Thailand

A figure here

Design of the SJTU Unfoldable Robotic System (SURS) for Single Port Laparoscopy

• Design and construction of the SURS (SJTU Unfoldable Robotic System) for SPL is presented.

• The SURS can be inserted into one’sabdomen through a ∅12mm incision while folded.

• It can unfold itself into a dual-arm configuration for surgical interventionswith integrated visual guidance.

• The design and preliminary experimental characterizations are elaborated.

Kai Xu, Minxiao Fu, and Jiangran ZhaoRII Lab (Lab of Robotics Innovation and Intervention),

UM-SJTU Joint Institute, Shanghai Jiao Tong University, China

Design and Analysis of a Force Reflection Master Manipulator for Minimally Invasive

Surgical Robot

• Design of a 8 DOF serial force reflection master manipulator was proposed.

• Forward kinematics, inverse kinematics and Jacobian matrix is deduced.

• The manipulability and flexibilityof the manipulator is analysed.

• Adams simulation verifies the correctness of the kinematics..

Tao Wang, Bo Pan, Zhaokun Tang, Yili Fu, Xiaoxia Niu, Shuguo Wangthe State Key Laboratory of Robotics and System, Harbin Institute of

Technology ,China


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C01(3) 10:10-10:25 C01(4) 10:25-10:40

C01(5) 10:40-10:55

C01: Mobile Robots ISession Chairs: Ngoc Anh Mai and Michele Folgheraiter

Room HIBISCUS, 9:40-10:55, Sunday, 7 December, 2014

A Chaotic Neural Network as Motor Path Generator for Mobile Robotics

• Motor path generator for applications in mobile robotics based on a chaotic neural network.

• Inspired by the neural structure of microcircuits located in the human prefrontal cortex.

• Preliminary results demonstrated the capability of the neural controller to learn period signals in a short period of time allowing adaptation during the robot operation.

Michele Folgheraiter Robotics and Mechatronics Department, Nazarbayev University, Kazakhstan

Giuseppina GiniDEIB, Politecnico di Milano, Italy

Transportation of a Large Object by Small Mobile Robots with Handcarts and Outrigger

• The aim is transportation of a large object by small mobile robots and handcarts.

• The falling of the robots and the slipping of the handcarts should be solved.

• An outrigger and locking system were applied to improve the transport capacity of the robots.

• Two robots and four handcarts were able to carry 35kg object.

Fusao Ohashi, Kohei Kaminishi, Jorge Figueroa and Hiroki KatoDept. of Precision Engineering, The University of Tokyo, Japan

Jun OtaResearch into Artifacts, Center for Engineering (RACE),

The University of Tokyo, Japan

The robots are inserting handcarts under an object in

cooperation

A figure here

A Novel Adhesion Stability Detection Methodologyand Slip Prevention Control Strategies for Wheeled

Ground Vehicles

• A novel methodology using force transmitting factor to detect the wheel-ground adhesion stability.

• A novel determination law to capture the optimal operation point and two slip prevention strategies.

• Advantages: requiring fewer measurements, and functioning in uncertain wheel-ground contact condition.

K. Xu, G. Xu, C. Zheng, T. Zahid and C. HuUniversity of Chinese Academy of Sciences, China

Shenzhen Institutes of Advanced Technology, CAS/CUHKTongji University, China

Ningbo Institute of Technology, Zhejiang University, China

Shared Autonomy for Assisted Mobile Robot Teleoperation by Recognizing Operator Intention as

Contextual Task

• Robot recognizes user intention as contextual task to assist teleoperation

• Task is described by task feaure• An environment process algorithm is

introduced to extract task feature• Experiment results from operating a

holonomic mobile robot in a variety of scenarios verify the effect of the proposed approach

Ming Gao, Jan Oberlaender,Thomas Schamm and J. Marius Zoellner

FZI Forschungszentrum Informatik, Germany

Application of an Embedded System with Android OS to a Fuzzy-based Behavioral Control

System of Mobile Robot

• Application of an embedded system running on the Android operating system to a behavioral control system.

• The behavioral control system dealing with collision-free and goal-oriented movement.

• The behavior cooperation is based on a fuzzy logic system.

Quoc Thang Phan and Ngoc Anh MaiLe Quy Don Technical University, Vietnam

Tien Dung HoangHanoi University of Industry, Vietnam

Mobile robot FoCEbot


25

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D01(3) 10:10-10:25 D01(4) 10:25-10:40

D01(5) 10:40-10:55

D01: Image ProcessingSession Chairs: Dongxiang Zhou and Qingsong Zhu

Room DELONIX, 9:40-10:55, Sunday, 7 December, 2014

A Segmentation Algorithm for Mycobacterium Tuberculosis Images Based on Automatic-Marker

Watershed Transform

• a novel segmentation algorithm is proposed based on automatic-marker watershed transform

• regions are merged with the criterion of max similarity of adjacent regions

• multi-thresholds segmentation for eliminating contamination in the images with different background colors

Chao Xu, Dongxiang Zhou and Tao GuanCollege of Electronics Science and Engineering, National University of Defense

Technology, ChinaYunhui Liu

Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China

Flowchart of the proposed algorithm

Object Edge Contour Localisation based on HexBinary Feature Matching

• HexBinary descriptor is proposed with combingthe binary string and the hexagon structure.

• Object localization system is investigatedbased on matching HexBinary features ofdense edge points.

• The system validations on ALOI dataset andthe gripper data demonstrate promisingperformances of in-plane and out-of-planeapplication.

Yuan Liu, Gerardo Aragon-Camarasa and J. Paul SiebertSchool of Computing Science, University of Glasgow, UK

Object localization example (in-plane application)

Nuclei Enhancement and Segmentation in Color Cervical Smear Images

• We propose an effective intensity-based nuclei enhancement method.

• We also propose a novel color distribution-based nuclei enhancement method.

• Our method is able to cope with the nuclei segmentation in overlapping cells images.

Tao Guan, Dongxiang Zhou, Weihong Fan, Keju Peng, Chao Xu, and Xuanping Cai

College of Electronic Science and Engineering, National University of Defense Technology , China

Nuclei segmentation result

A figure here

Quick Shift Segmentation Guided Single Image Haze Removal Algorithm

• This paper presents a novel Quick ShiftSegmentation Guided image haze removalapproach from single image.

• In the algorithm, the constant albedo and darkchannel prior methods are combined to representthe transmission model of hazed image. And then,the quick shift segmentation approach is introducedto decompose the input image into some gray levelconsistent areas.

• Compared with traditional fixed image partitionschemes, better estimation of the atmospheric lightcan be obtained as well as to avoid the problem ofhalo artifacts.

• With the improved haze image modeling approachand atmospheric light estimation, the dehazedimage with better visual quality can be achieved.

Qingsong Zhu, Di Wu, Yaoqin Xie, Lei WangInstitutes of Advanced Technology, Chinese Advanced of

Sciences, Shenzhen, China

The Latest Challenges and Opportunities in the Current Single Image Dehazing Algorithms

• Most outdoor vision applications such as video-surveillancesystems and traffic monitoring systems fail to work normallyin this condition.

• Improving the technique of image dehazing has importantand realistic significance. Although significant progress hasbeen made during recent years, there are still someproblems in image haze removal.

• We will discuss three grand challenges of single imagedehazing: 1) Find a way to solve the ambiguity problembetween image color and depth in dehazing; 2) Create amore robust model for dehazing in inhomogeneousatmosphere; 3) Develop a reliable image quality assessmentmechanism to evaluate the quality of dehazing algorithms.

• At the end of this paper, we summarize the discussions onthese challenges.

Jiaming Mai, Qingsong Zhu, Di WuInstitutes of Advanced Technology, Chinese Advanced of

Sciences, Shenzhen, China


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E01(3) 10:10-10:25 E01(4) 10:25-10:40

E01(5) 10:40-10:55

E01: Space RobotsSession Chairs: Panfeng Huang and Fenglei Ni

Room AMHERSTIA I, 9:40-10:55, Sunday, 7 December, 2014

A fast circle detector of non-cooperative target for Tethered Space Robot

• We present a novel fast circle detector used for recognition of circular modules.

• We use a region growing algorithm to form an arc support region.

• We define a square fitting area to reduce complexity.

• We introduce a simply and reliable verification strategy of circular integrity.

Jia Cai, Panfeng Huang, Zhongjie Meng and Bin ZhangResearch Center for Intelligent Robotics, School of Astronautics, Northwestern

Polytechnical University,ChinaNational Key Laboratory of Aerospace Flight Dynamics, China

Algorithm flowchart of GHC

Parameters Estimation of Space Debris Captured by Tethered Robotic System

• A dynamics model of tethered robotic system after captured is proposed.

• Simplified Equations of the compound system in post-capture phase is derived.

• A scheme of parameters estimation is proposed.

• Simulation results are shown to proved the estimation scheme.

Fan Zhang and Panfeng HuangNational Key Laboratory of Aerospace Flight Dynamics

Research Center for Intelligent RoboicsSchool of Astronautics, Northwestern Polytechnical University, China

Shape Keeping Control of Maneuverable Tether-net Space Robots

• Maneuverable tether-net space robots are promising in the capture of space debris.

• The net is modeled by four triangle shells and the tether is by interval functions

• The controller contains a double optimizati-on pseudo dynamic inversion and a sliding mode controller.

• Simulation results show that the net deform-ation and the orbital radial movement are prevented.

Zhongjie Meng and Panfeng HuangSchool of Astronautics, Northwestern Polytechnical University, China

National Key Laboratory of Aerospace Flight Dynamics, China

Maneuverable Tether-Net Space Robots

Parameter Identification and Controller Design for Flexible Joint of Chinese Space Manipulator

• Model of the flexible joint.• Parameter Identification of the flexible joint

including friction, inertia parameter and current coefficient.

• State feedback controller design of the flexible joint introducd the nominal stiffness.

• Simulation and experiment verification.

Tian Zou, Fenglei Ni, Chuangqiang Guo, Weisi Ma, Hong LiuState Key Laboratory of Robotics and System, Harbin Institute of Technology,

China

The Non-Cooperative Satellite Capturing Nozzle Device Based on Laser Range Finders Guidance

• The Capturing Device is developed to capture the non-cooperative satellite by capturing the main engine nozzle.

• The capturing device utilizes the design concept of the optics, mechanism and electricity unitization.

• Six laser range finders are radially arranged in the capturing device to sense the nozzle pose.

Yu Zhang, Kui Sun*, Yuanfei Zhang and Hong Liuthe State Key Laboratory of Robotics and System,

Harbin Institute of Technology, China.

Capturing Nozzle Device Based on Laser Range Finders

Guidance

A figure here


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F01(3) 10:10-10:25 F01(4) 10:25-10:40

F01(5) 10:40-10:55

F01: Simulation SystemsSession Chairs: Christian Groth and Weidong Chen

Room AMHERSTIA II, 9:40-10:55, Sunday, 7 December, 2014

One-shot Robot Programming by Demonstration for a Robot Manipulator using an Online Oriented

Particles Simulation

• Single demonstration of a task• Oriented particle simulation to adapt a

demonstration to a new situation• Online adaption• Integrated collision avoidance

Christian Groth and Dominik HenrichRobotics and Embedded Systems

University of BayreuthGermany

Modeling and Simulation of EAST Flexible In-vessel Inspection Robot based on Absolute Nodal

Coordinate Formulation

• Dynamic model of a flexible in-vessel inspection robot for EAST

• 3D curved beam elements and sliding joint of the absolute nodal coordinate

• Calculation of the static deformation and the compensation angle

• Calculation of the dynamic simulation and the tip vibration

Li Lin,Junguo Lu,Weidong Chen and Jingchuan WangDepartment of Automation,Shanghai Jiao Tong University,China

Dynamic Simulation of Cervical Traction Therapy: Comparison between Sitting and Inclined Positions

• Evaluated the efficacy of the sitting and inclined positions used in cervical traction therapy

• Computer simulation model was constructed using a physics engine

• Results suggested that the inclined position creates greater intervertebral separation

Lawrence KF Wong and Zhiwei LuoGraduate School of System Informatics, Kobe University, Japan

Nobuyuki KurusuMinato Medical Science Co.,Ltd, Japan

Dynamic Simulation of Cervical Traction Therapy

RT-MaG: an open-source SIMULINK Toolboxfor Linux-Based Real-Time Robotic Applications

• Convert Simulink Models to embedded Linux Real Time applications.

• Both Processor-In-the-Loop (PIL) and Normal modes available.

• Real-Time monitoring & parameters tuning using Simulink.

• Direct access from Simulink to the classic robotic buses and I/Os (UART, SPI, I2C, Wifi, PWM, etc.)

Augustin Manecy and Stéphane ViolletBiorobotics Dept., Aix-Marseille Univ., CNRS, ISM UMR 7287, France

Nicolas MarchandGIPSA-Lab, Control Systems Dept., CNRS Univ. Of Grenoble, France

http://www.gipsa-lab.fr/projet/RT-MaG/

Design, Control and Planning for a Crustal Movement Simulation System

• A crustal movement simulation system is proposed.

• A special parallel mechanism is designed.• A simplified kinematics analysis for parallel

mechanism is introduced.• Experiments for landform simulation are

conducted.

Qingzeng Ma, Guodong Yang, En Li and Zize LiangInstitute of Automation, Chinese Academy of Science

Beijing, China


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A02(1) 11:15-11:30 A02(2) 11:30-11:45

A02(3) 11:45-12:00 A02(4) 12:00-12:15

A02(5) 12:15-12:30

A02: Biologically Inspired Robots and Systems ISession Chairs: Yantao Shen and Steffen Ruehl


A new device to measure load and motion in lower limb prosthesis – tested on different

prosthetic feet

• Measurement of load & motion in six degrees of freedom synchronously

• Load measurement with 14 Wheatstone Bridges

• Motion measurement with IMU/ AHRS

Enables new possibilities in course design, amputees’ gait assessment and basic knowledge

Jochen Schuy, Alexander Burkl, Philipp Beckerle and Stephan Rinderknecht

Institute for Mechatronic Systems in Mechanical Engineering,Technical University Darmstadt, Germany

System (top) implemented in prosthesis (below)

A figure here

Development of a Biomimetic Non-invasive Radial Pulse Sensor: Design, Calibration, and Applications

• Developed a low-cost, portable, high-accuracy, biomimetic non-invasive radial pulse sensor.

• The sensor design functionally mimicsphysiological structure of human fingertip.

• The sensor performance is validated through extensive calibration and experiments.

• In the clinic application, the sensor is capable of accurately measuring arterial stiffness.

Yudong Luo*, Sanku Niu*†, Jose Cordero*, Yantao Shen** Dept. of Electrical and Biomedical Engineering, Univ. of Nevada,Reno, USA

† Dept. of Mechatronic Engineering, Beijing Institute of Tech., Beijing, China

Illustration of the biommietic non-invasive radial pulse sensor

A figure here

Design of self-moving gel driven by chemical energy

• We report the autonomous driving actuator using the self-oscillating gels like living organisms. (BZ gel)

• Success in observing that the BZ gel with the asymmetric shapes could walk autonomously.

• The BZ gel could oscillate swelling-deswelling without external stimuli.

• he asymmetric shapes of the gel were fabricated by molding.

Ryoya Okada, Tkanobu KogureSumito Nagasawa, and Shingo Maeda

Division of Mechanical Engineering, Shibaura institute of Technology, Japan

The BZ gel with asymmetric shapes

A figure here2mm

KAIRO 3: A Modular Reconfigurable Robotfor Search and Rescue Field Missions

• KAIRO 3: new generation of snake-like, modular and reconfigurable inspection robot

• Increased robustness through strong mechatronics and reliable control software

• Increased flexibility through fast adaption and reconfiguration of hardware modules

• Field application and evaluation at the European civil protection exercise TARANIS

L. Pfotzer, S. Ruehl, G. Heppner, A. Roennau and R. DillmannFZI Research Center for Information Technology, Germany

KAIRO 3 searching for buried persons in a crashed building at TARANIS

Modeling, Control and Stabilization Analysis on a Two-link Active Tumbler System

• Combines passive with active stabilization mechanisms on a two-link tumbler system for attenuating disturbances.

• A new hybrid inertial stabilization mechanism is being applied to stabilize coaxial helicopter MAV outdoor.

• Fast recovery responses and optimal parameters for two-link tumbler system are investigated and found via simulation.

Sanku Niu, Hongbin Deng, and Jie LiDept. of Mechatronic Engineering, Beijing Institute of Technology, China

Yantao ShenDept. of Electrical and Biomedical Engineering, Univ. of Nevada, Reno, USA

Illustration of hybrid inertial stabilization on a two-link tumbler system


29

B02(1) 11:15-11:30 B02(2) 11:30-11:45

B02(3) 11:45-12:00 B02(4) 12:00-12:15

B02(5) 12:15-12:30

B02: Surgical Robots IISession Chairs: Ying Hu and Jackrit Suthakorn


A New Circular-Guided Remote Center of Motion Mechanism for Assistive Surgical Robots

• A linearly-actuated-arc-guided RCM mechanism which improves system rigidity is presented.

• The mechanism provides an alternative to the use of tendon-driven mechanisms.

• The mechanism is extended to a 3-DOF one, which can later be applied to surgical robots.

• In-body RCM can be obtained as space between the robot and the RCM is increased.

Hiu Man Yip, Peng Li, David Navarro-Alarcon, Zerui Wang, and Yun-hui Liu

Department of Mechanical and Automation Engineering,The Chinese University of Hong Kong, Hong Kong S.A.R

Design of a novel Surgical instrument for minimally invasive robotic surgery

Bo Pan, Guojun Niu, Yili Fu, Dianguo Xu, Yongsheng Wang State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China

The final prototype of instrument

• A novel four DOFS surgical instrument without coupled motions is developed adopting pulley-tendon mechanism.

• The developed instrument has force limited function and quick change interface.

• Experiments show that the developed surgical instrument can realize four DOFs motions, and don’t exist coupled motion.

Spinal Physiological Motion Simulator and Compensation Method for a Robotic Spinal Surgical System

• A respiratory model based on the ventilatorflow waves is proposed.

• A spinal physiological motion simulator(SPMS), which is based on a 3-RPS parallelmechanism, is developed for simulating theSPM due to the respiratory model.

• A compensation algorithm based on weightedfrequency linear combiner (WFLC), isproposed for a robotic surgical system in thispaper.

Bing Li and Min FangHarbin Institute of Technology Shenzhen Graduate School, Shenzhen, China

Haiyang Jin, Ying Hu and Peng ZhangShenzhen Institutes of Advanced Technology, Shenzhen, China

Motion compensation experiments with SPMS

Flexible robotic device for spinal surgery

• A robot platform has been designed that acts as a mount for the cutting system.

• A flexible probe and the dissection system have been designed to go around the spinal column.

• A graphical user interface (GUI) has been created to provide an interface for control by a surgeon.

• Experimentally; the prototypes of both the drill and water jet cutter are able to go around angles up to 120° and remove soft tissues.

Samir Morad, Justin Chan, Ravi Vaidyanathan, Kim Parker Mechanical Engineering/Bioengineering, Imperial College, London, UK

Christian UlbrichtCharing Cross Hospital, London, UK

Paul HarkinChanging Structures, Lincolnshire, UK

A figure here

Workspace Determination and Robot Design of A Prototyped Surgical Robotic System Based on A

Cadaveric Study in Endonasal Transsphenoidal Surgery

• Real experiment of endonasal transsphenoidal surgery (ETSS)on cadaveric case

• Study of workspace and surgical path of ETSS• Development of a prototyped surgical robotic

system to assist neurosurgeon for ETSS• Delta parallel robot is applied in the prototyped

ETSS surgical robotic system

Suwiphat Chalongwongse and Jackrit Suthakorn, Ph.D.Department of Biomedical Engineering, and

Center for Biomedical and Robotics Technology (BART LAB), Faculty of Engineering, Mahidol University, Thailand

For figure caption (optional), use arial narrow 20pt font

A figure here


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C02(3) 11:45-12:00 C02(4) 12:00-12:15

C02(5) 12:15-12:30

C02: Mobile Robots IISession Chairs: George Fourlas and Min Li


A Camera-based Real-time Polarization Sensor and Its Application to Mobile Robot Navigation

• A real-time three-channel camera-based polarization navigation sensor is proposed in this paper.

• The sensor is with its significant advantage of real-time and synchronous characteristics..

• The low-cost sensor can be a useful alternative to compass for navigation.

Shuai Zhang and Daobin WangDepartment of Automation,University of Science and Technology of China

Huawei Liang, Hui Zhu and Biao YuInstitute of Advanced Manufacturing Technology, Chinese Academy of

Sciences

Polarization Navigation Sensor

A New Approach to Battery Power Tracking and Predicting for Mobile Robot Transportation Using

Wavelet Decomposition and ANFIS Networks

• A new approach is proposed to track and predict the robot battery power.

• The wavelet algorithm is adopted to decompose the original raw power data.

• The ANFIS networks are used to predict the decomposed power data.

• Two real experiments are provided to validate the proposed method.

Hui Liu, Kerstin ThurowCenter for Life Science Automation-celisca, University of Rostock, Germany

Norbert Stoll, Steffen JungingerInstitute of Automation, University of Rostock, Germany

On the Application of Structural Analysis to Fault Diagnosis of a Mobile Robot

• Model based fault diagnosis method of a four wheel skid steering mobile robot (SSMR).

• Residual generation using structural analysis.• The method offers an achievable solution to

the residual generation of nonlinear systems.• The experimental procedure was carried out

using a Pioneer 3-AT mobile robot.

George K. FourlasDepartment of Informatics

Technological Educational Institute (T. E. I.) of Central Greece, Lamia, Greece

Four-Wheel Skid Steering Mobile Robot

Control of a Four-Wheel Independently Driven Electric Vehicle with a Large Sideslip Angle

• A motion-control algorithm for a vehicle with a large sideslip angle is proposed.

• This algorithm is designed based on the concept of linearization by nonlinear feedback and on a computed torque method.

• Simulation and experimental results show the effectiveness of the proposed method.

Hiroshi Nakano, Jun Kinugawa and Kazuhiro KosugeGraduate School of Engineering, Tohoku University, Japan

A Socially Multi-Robot Target Tracking Method Based on Extended Cooperative Game Theory

• A cooperative, dynamic and complete information game scheme for socially multi-robot tracking is presented.

• The concept of ‘variable order’ is introduced to specify the order of trackers’ movement.

• The effectiveness of the method has been validated by simulation results.

Yang Li, Min Li, Lianhang Dou, Qing-Ying Zhao Zhongya Wangand Jie Li

School of Mechatronic Engineering and Automation, Shanghai University, China

Group Trajectory


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D02(3) 11:45-12:00 D02(4) 12:00-12:15

D02(5) 12:15-12:30

D02: Vision-based Object DetectionSession Chairs: Franziska S.Goerlach and P.B. Sujit


Collision Avoidance for a Low-cost Robot using SVM-based Monocular Vision

• Collision avoidance for low cost robots using vision is essential and have low complexity

• A SVM-based monocular vision algorithm for collision avoidance is developed which can be used for outdoor and indoor applications

• Optical-flow vectors are calculated for a SVM-based scene classifier

• SVM classifier experimentally validated on a robot using webcam and Rpi for indoor and outdoor environments

Ajay Shankar, Mayank Vatsa, and P.B. SujitIndraprastha Institute of Information Technology Delhi

New Delhi, India

Robot avoiding the obstacles in outdoors

A figure here

A Volumetric Representation for Obstacle Detection in Vegetated Terrain

A. Lourenço1, F. Marques1, P. Santana2 and J. Barata1

1- CTS-UNINOVA, New University of Lisbon, Portugal2- DCTI, University Institute of Lisbon (ISCTE-IUL), Portugal

• A method for laser based obstacle detection on autonomous vehicles navigating in vegetated environments;

• Coarse to fine hybrid representation with voxel based, on-scan, and inter-scan analysis;

• Validation on autonomous surface vehicle and four-wheeled ground vehicle.

Lane Marking Detection Based on Adaptive Threshold Segmentation and Road Classification

• This paper proposed a robust adaptive method of image segmentation.

• This paper proposed a method of classing road conditions by use of row information of image.

• We used the different methods for three different road conditions to detect lane markings.

• The algorithm is suitable for the highway and the urban road.

Junjie Huang and Yao DengDepartment of Automation,University of Science and Technology of China,CHINA

Huawei Liang, Zhiling Wang and Yan SongChinese Academy of Sciences. CHINA

imaging principle and detection results of three road conditions

A framework for detecting road curb on-line under various road conditions

The tested car and one frame of pointcloud obtained using the

Velodyne Lidar

A figure here

Jian LiuDepartment of Automation,University of Science and Technology of China

Huawei Liang, Zhiling WangInstitute of Advanced Manufacturing Technology, Chinese Academy of Sciences

• A framework for detecting the road curbonline based on a dynamic threshold with the velodyne lidar is proposed in this article, which fits for various environment.• The experiment is taken on our unmanned

vehicle and the result turnes out to be robust and meet the requirement of online process

Precision of Near-Infrared Laser Spot Detection on Diffent Skin Tissues Featuring an NDI Stereo

Camera

• Development of an 3D scanning system by means of IR light and an NDI stereo camera

• Contactless, flexible and easy to use system with the possibility of medical certification in future

• Experimental determination of an ideal parameter setting based on an 850nm laser and human tissue

Franziska S. Goerlach, Arne Menz, Vincent Karas and Tim C. Lueth

Institute of Micro Technology and Medical Device Technology (MIMED), Technische Universitaet Muenchen, Germany

Surface scan of human tissue


32

E02(1) 11:15-11:30 E02(2) 11:30-11:45

E02(3) 11:45-12:00 E02(4) 12:00-12:15

E02(5) 12:15-12:30

E02: Smart ActuatorsSession Chairs: Yangmin Li and Ze Cui


Electromagnetically Driven Elastic Actuator

• Fabrication of elastic structures with ferromagnetic properties.

• Reaches a stress of up to -2700 N/m2

stress, a strain of ~17% when embedded in a solenoid coil

• Applications include low-profile actuation for magnetic mediums and human-robot interaction

Federico Fries1, Shuhei Miyashita2, Daniela Rus2, Rolf Pfeifer3 and Dana D. Damian4

1School of Engineering, Zurich University of Applied Sciences, Switzerland, 2CSAIL, Massachussetts Institute Technology, USA

3Artificial Intelligence Lab, University of Zurich, Switzerland4Boston Children’s Hospital, Harvard University, USA

The elastic actuator linear displacement of 2.85mm at 6A in a stamp demo

Evaluation of Energy Efficiency of Insertion-Type Peristalsis Pump Using Pneumatic Artificial Muscles

• We evaluate the energy efficiency of the insertion-type peristalsis pump that, have developed by us, for comparison with that of conventional pumps.

• To evaluate the energy efficiency, we measured the flow rate of water, and the air quantity that is applied to the expansion unit.

• We concluded that the insertion-type peristalsis pump has excellent energy efficiency.

Ryosuke Ban, Yoshiki Kimura and Taro NakamuraDepartment of Precision Mechanics, Chuo University, Japan

Overview of Insertion type peristalsis pump

JointUnits

φ24

Fixing part

590ExpansionUnits

ExpansionUnits

JointUnits

Fixing part Air tube

Design and Optimization of a Dual-Axis PZT Actuation Gripper

• A new design of compliant two-axis PZT actuated gripper is proposed based on flexure mechanisms

• The gripper parameters are optimized by using genetic algorithm to achieve the highest natural frequency under constraints

• Analytical computation and finite element analysis are conducted. A prototype is fabricated for experimental verification

Yukun Jia, Xiaozhi Zhang, and Qingsong XuDepartment of Electromechanical Engineering, University of Macau

Macau, China

Development of a Novel Variable Stiffness Actuator with Automatic Rigidity/Compliance Switching Ze Cui, Haiwei Yang, Donghai Qian, Yuqian Cui, Yun Peng

School of Mechatronics Engineering and Automation, Shanghai University

• a variable stiffness actuator with automatic rigidity/ compliance switching • The actuator contains two motors – one for position control and the other for adjusting the stiffness• The function of automatic rigidity/compliance switching is realized through turning four electromagnets on or off to make sucker up or down

Prototype of the variable stiffness actuator

Comparative Study of Two 3-CRU Transalational Parallel Manipulators

• A comparative study of two 3-CRU TPMs is investigated

• The workspaces of the two 3-CRU TPMs have some differences in shape and volume

• In order to ensure good kinematic performance of the symmetrical and asymmetrical 3-CRU TPM , the actuator layout is considered

Bin Li¹, Yangmin Li¹ ², Xinhua Zhao¹ and Weimin Ge¹¹Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced

Mechatronical System,Tianjin University of Technology, China²Department of Electromechanical Engineering, University of Macau, Macao

Universal jointMoving platform

Supporting rail

Cylindrical joint

Revolute joint

A 3-CRU TPM.


33

F02(1) 11:15-11:30 F02(2) 11:30-11:45

F02(3) 11:45-12:00 F02(4) 12:00-12:15

F02(5) 12:15-12:30

F02: Human Robot Interaction ISession Chairs: Toshinobu Takei and Uwe Handmann


Development of Motorized Shoes for Wearable Personal Mobility Operated by Human Posture Angle

• A novel wearable mobility and simple control method.

• User can move by following five kinds of motion with the mobility, going front and backward, walking motion, going up/down on the step, and striding over some obstacle.

• Only two motions, vending and stretching each user’s left and right knee, are used for control the mobility. Prototype of Motorized Shoes for

Wearable Personal Mobility

Toshinobu Takei and Yu’ya ChikazawaDepartment of Systems Design Engineering, Seikei University, Japan

Multi-modal Biometrics for Real-LifePerson-Specific Human-Robot-Interaction

• Multi-modal Biometrics• Face, Finger Vein, Hand Palm Vein

• Multi-modal Emotion Recognition• Facial Expressions, Speech Prosody

• Person-Specific HRI• Person-Specific Services• Person-Dependent Emotional HRI

Ahmad Rabie and Uwe HandmannInstitute of Computer Sciences

University of Applied Sciences Ruhr-West, Germany

Basic Architecture of whole system

Human Robot Cooperation based on Human Intention Inference

• A human intention recognition method for variouscooperative assembly tasks was proposed.

• The method can handle undo behaviors due tomind changing during the tasks.

• The method can cope with noisy observations inthe real scenes.

• Experiment has been used to show the reliabilityand effectiveness of the method.

Tingting Liu, Jiaole Wang and Max Q.-H. MengElectronic Engineering Department

The Chinese University of Hong Kong, China

Experiment Platform

A Situation-Aware Action Selectionbased on Individual’s Preference

using Emotion Estimation

• Foresting an affinity to robot will bring a stable long-term relationship with robots.

• We present a system of selecting a behavior favorable to a human using emotion estimation.

• We found that robot learns with our system and estimate emotion based on human’s habits.

Kazumi Kumagai, Baek Jeonghun and Ikuo MizuuchiDepartment of Mechanical Systems Engineering, Tokyo University of

Agriculture and Technology, Japan

Human Behavioural Responses to Robot Head Gaze during Robot-to-Human Handovers

• Impacts of robot’s head gaze on human receiver’s reaching and gaze behaviours during robot-to-human handovers.

• Analysis through frame-by-frame video annotations and statistical tests.

Minhua Zheng1, AJung Moon2, Brian Gleeson3, Daniel Troniak3, Matthew Pan2, Benjamin Blumer2, Max Meng1, Elizabeth Croft2

1 Dept. of Electronic Engineering, The Chinese University of Hong Kong2 Dept. of Mechanical Engineering, University of British Columbia, Canada

3 Dept. of Computer Science, University of British Columbia, Canada

Annotations in ELAN about the robot’s and human’s behaviours during a robot-to-human handover.


34

A03(1) 14:00-14:15 A03(2) 14:15-14:30

A03(3) 14:30-14:45 A03(4) 14:45-15:00

A03(5) 15:00-15:15

A03: Biologically Inspired Robots and Systems IISession Chairs: Hongliang Ren and Kai Xu


On the Kinematic Modeling of a Class of Continuum Manipulators

• The CBHA is considered as a concatenation of hybrid (parallel and serial) vertebrae along backbones.

• A neural network-based approximation approach.

• Forward kinematic model (FKM) of compact bionic handling assistant (CBHA)

Othman Lakhal, Achille Melingui, Thor Morales Bieze, Coralie Escande, Blaise Conrard and Rochdi Merzouki

Polytech'Lille, LAGIS, CNRS-UMR 8219,Avenue Paul Langevin, 59655 Villeneuve d'Ascq, France

Structure of 3UPS-1UP robot

Modular Body of the Multi Arm Snake-Like Robot

• Robot for minimally-invasive surgery as NOTES or single-port surgery.

• 3D printed by selective laser sintering (SLS)

• Monolithical snake-like flexible structures based on flexure hinges

• Modular designed to be adapted to different kinds of patients, surgeries and standard endoscopic equipment

Daniel B. Roppenecker, Lucia Schuster, Johannes A. Coy, Mattias F. Traeger, Konrad Entsfellner and Tim C. Lueth

Institute of Micro Technology and Medical Device Technology (MiMed) of the Technische Universität München, Munich, Germany

Tip of the Multi Arm Snake-Like Robot, monolithically

manufactured by SLS

Design of a Hyper-Redundant Continuum Manipulator for Intra-Cavity Tasks

• This paper proposes the design of a hyper-redundant continuum manipulator with 12 DoFs (Degrees of Freedom).

• The manipulator is expected to navigate through arrays of holes to perform inspections or manipulations at remote locations in a deep cavity.

• Kinematics modeling, simulations, and system descriptions are elaborated.

Kai Xu, Wukun Mei, Zhixiong Yang,UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai, China

Liangliang Han, and Xiangyang ZhuME School, Shanghai Jiao Tong University, Shanghai, China


An Image Based Targeting Method to Guide a Tentacle-like Curvilinear Concentric Tube Robot

• Realize model-less feedback control ofconcentric tube robots based on visualservoing

• Achieve optimal control based on an objectivefunction proposed specifically for concentrictube robots

• Prove the effectiveness and accuracy of theproposed algorithm

Keyu Wu, Liao Wu and Hongliang Ren*Department of Biomedical Engineering, National University of Singapore,

Singapore

Working mechanism of the System.

Head Stabilization Control for Snake-Like Robots during Lateral Undulating Locomotion

• The head motion of the snake-like robots isanalyzed through the discrete kinematicmethod.

• The head swings within the range of ±30˚ and±90mm when the head stabilization control isnot applied.

• With two neck joints used, the direction andposition of the head can be controlled withinthe range of ±5˚ and ±10mm respectively.

Guifang Qiao, Guangming Song, Ying Zhang, Jun Zhang, and Yuya Li

School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China


A figure here


35

B03(1) 14:00-14:15 B03(2) 14:15-14:30

B03(3) 14:30-14:45 B03(4) 14:45-15:00

B03(5) 15:00-15:15

B03: Medical Robotics ISession Chairs: Jackrit Suthakorn and Yao Li


A Path Generation Algorithm for Biopsy Needle Insertion in A Robotic Breast Biopsy Navigation System

• A Breast biopsy navigation system with GUI and a passive robotic needle holder was developed.

• An algorithm of trajectory path is formulated and implemented in this system to improve the performance.

• Lagrange Multipliers and Vector in 3D Space are applied for trajectory’s path algorithm.

Narucha Tanaiutchawoot1,2, Bantita Treepong1,2, Cholatip Wiratkapan, M.D.3 and Jackrit Suthakorn, Ph.D.1,2,*

1Department of Biomedical Engineering,2Center for Biomedical and Robotics Technology (BART LAB),

3Department of Radiology, Mahidol University, Thailand

Breast Biopsy Navigation System with A Path Generation Algorithm

A figure here

An Intuitive Control Console for Robotic Surgery System

• We developed an intuitive control console for aminimally invasive surgical robotic system.

• The system has five degrees of freedom(DOF), which are configured to imitate thetraditional laparoscopic forceps.

• A MSMS-based virtual-reality surgery trainingsystem along with the prowere tested for astandard forceps grasping task which reducesthe training time for new surgeons.

Yizhi Shi, Rahman Davoodi, Jianting Fu, Xiaoying Song and Yao LiChongqing Institute of Green and Intelligent Technology,

Chinese Academy of Sciences, China

The virtual forceps grasping task in the MSMS software: (a) starting point (b) ending point

EMG Estimation from EEGs for Constructing a Power Assist System

• The relationship between electromyography (EMG) and electroencephalography(EEG) is modeled as a linear equation by Principal Components Analysis (PCA).

• The approach of EMG estimation from EEG by PCA and Recursive Least Squares is explained.

• The proposed approach is verified by experiments, the results show that the approach is possible, and this implies a great potential for supporting human activities.

Hongbo Liang, Chi Zhu, Yuichiro Yoshikawa, Masataka Yoshioka, and Kazuhiro Uemoto,

Department of Systems Life Engineering, Maebashi Institute of Technology, Japan.

Fuzzy Logic Control of a Continuum Manipulator for Surgical Applications

• Robotic control mode of continuum manipulator for surgical applications is presented.

• Fuzzy logic controller is proposed based on state-feedback control of the system.

• Performance is investigated in MATLAB simulation and manipulator tip is autonomously navigated to the designated target.

• Comparison results for optimized and non-optimized controllers are presented.

Peng Qi1, Chuang Liu1, Linan Zhang2,Shuxin Wang2, Hak-Keung Lam1, Kaspar Althoefer1

1King’s College London, UK2Tianjin University, China

3-DOF robotic platform with a surgical manipulator attached.

Forces in Minimally Invasive Surgery: Reliable Manipulation of Gastric Mucosa and the Sigmoid Colon

• Development of a single-port robot for minimally invasive surgery (MIS)

• Force measurements in a porcine model and prediction of expected maximum forces

• Characteristics for Endoscopic Submucosal Dissection (ESD) and Laparoscopic Sigmoid Resection (LSR)

Mattias F. Traeger, Daniel B. Roppenecker, Johannes Coy, Tim C. LuethInstitute of Micro Technology and Medical Device Technology (MIMED),

Technische Universität München, GermanyAdam Fiolka, Dirk Wilhelm, Armin Schneider, Alexander Meining, Hubertus Feussner

Klinikum rechts der Isar, Technische Universität München, Germany

Expected maximum forces for ESD.


36

C03(1) 14:00-14:15 C03(2) 14:15-14:30

C03(3) 14:30-14:45 C03(4) 14:45-15:00

C03(5) 15:00-15:15

C03: Field RobotsSession Chairs: Huayan Pu and Yuqing He


Influence of Moving Direction on Normal Force Acting on a Single Lug during Translational

Motion in Sandy Soil

• Normal force of an actively actuated lug on dry sandy terrain have been measured.

• Normal force is a quadratic function of lug sinkage length during vertical shearing motion.

• The lug horizontal displacement mainly causes the ground swell.

• The lug vertical displacement generates the local soil compression.

Yang Yang, Yi Sun, Ryohei Yamamoto and Shugen MaDepartment of Robotics, Ritsumeikan University, Japan

The phenomenon of ground swell in horizontal shearing experiments

Quasi-LPV Modeling and Identification for a Water-Jet Propulsion USV: an Experimental Study

• Quasi-LPV Modeling for a Water-Jet Propulsion USV

• Experimental Setup for qLPV Model Identification

• Quasi-LPV Model IdentificationResults and Comparison

Junfeng Xiong, Yuqing He, Feng Gu, Decai Li and Jianda HanState Key Laboratory of Robotics of Shenyang Institute of Automation,

University of Chinese Academy of Sciences

Improved Effective Design of the Eccentric Paddle Mechanism for Amphibious Robots

• The eccentric paddle module is based on the epicyclic gear mechanism.

• Various gaits make the amphibious robot adapt to multi-terrains after nature disasters.

• The improved design ePaddle-EGM2 achieves lightness, accuracy and stability.

• Experiments on land have verified the performance and tests in water will be after.

Yayi Shen, Huayan Pu, Jinglei Zhao, Jun Luo and Zhenbang GongMechatronics Engineering and Automation, Shanghai University, China

Yi Sun and Shugen MaDepartment of Robotics, Ritsumeikan University, Japan

An Autonomous Surface-Aerial Marsupial Robotic Team for Riverine Environmental

Monitoring: Benefiting from Coordinated Aerial, Underwater, and Surface Level Perception

E. Pinto1, F. Marques1

R. Mendonça1, A. Lourenço1, P. Santana2 and J. Barata1

1- CTS-UNINOVA, New University of Lisbon, Portugal2- DCTI, University Institute of Lisbon (ISCTE-IUL), Portugal

The ASV-UAV marsupial robotic team.

• We present a autonomous surface-aerial marsupial robotic for riverine environmental monitoring;

• The ASV provides long-range transportation while the UAV assures an augmented perception of the environment;

• The robotic system was validated in a set of field trials;

Characteristics of Lug-Soil Interaction Forces Acting on a Rotating Lug in Sandy Soil

• We measured lug-soil interaction forces acting on a single actively actuated lug.

• Characteristics of rotating motion is defined by rotating angular velocity, maximum sinkage length and initial inclination angle.

• The influences of above three motion parameters affecting on lug-soil interaction forces have been demonstrated.

Ryohei Yamamoto, Yang Yang, Yi Sun and Shugen MaDepartment of Robotics, Ritsumeikan University, Japan

Measuring Lug-soil interaction Forces Acting on a Single Actively Actuated Lug

in Sandy soil


37

D03(1) 14:00-14:15 D03(2) 14:15-14:30

D03(3) 14:30-14:45 D03(4) 14:45-15:00

D03(5) 15:00-15:15

D03: Vision-based RecognitionSession Chairs: Jun Ota and Kazuyuki Ito


Simultaneous Design of Image Conversion Parameters and Classifier in Object Recognition for a Picking Task

• Automation of designing object recognition system is required in manufacturing setting.

• Many variables (e.g. image conversion methods and classifiers) have to be designed simultaneously.

• We simplified the design variables by knowledge in manufacturing field and used an optimization approach.

• The results showed sufficiently high performance.

K. Tsujimoto1, Y. Huang2, T. Arai3, T. Ueyama4, T. Ogata5 & J. Ota51Dept. of Precision Engineering, The University of Tokyo, Japan

2School of Mechanical and Automotive Engineering, South China University of Technology, China

3Center for Promotion of Educational Innovation, Shibaura Institute of Technology, Japan4DENSO WAVE INCORPORATED, Japan

5Research into Artifacts, Center for Engineering, The University of Tokyo, Japan

A target image and a converted image for object recognition

Real-time Vision-basedTelepresence Robot Hand Control

• We proposed a method of telepresence robot hand control based on computer vision in real-time.

• The system consists of five modules: hand detection, tracking, recognition, position and control.

• The experiment results get good performance of detection, recognition, remote and real-time control.

Chuanyun Deng, Jie Lu, and Tin Lun LamIntelligent Robotics Research Centre,

Smart China (Holdings) Limited, Hong Kong

Figure 1. The robot’s hand is controlled by the operator using our computer vision based method.

A figure here

Estimation Method for Time to Contact from Visual Information –A Simple Approach That Requires No Recognition of Objects-

• Animals use visual information related to the time to contact instead of distance information.

• This time to contact is calculated from the apparent size of the approaching object.

• We propose an algorithm to estimate the time to contact from visual information.

• We verified its effectiveness by using a 1/10-scale model and actual situations.

Yuichi KawaiGraduate School of Science and Engineering, HOSEI University, Japan

Kazuyuki ItoDept. of Electrical and Electronics Engineering, HOSEI University, Japan

Automatic Zona Pellucida Dissection Position Selection for Embryo Biopsy in Pre-implantation

Genetic Diagnosis

• Both the internal and external zona pellucida boundaries are identified automatically.

• A suitable ZP cutting position is identified by edge value adjustment method.

• Success rates of above algorithm is 93%

Ze Nan Wang and Wei Tech AngMechanical and Arospace Engineering,

Nanyang Technological University, Singapore

Adaptive Discrete Curve Evolution for Shape Recognition

• A new shape descriptor, A-DCE is proposed for contour deformation and recognition.

• The stop function, EADF function is effective to control the degree of DCE.

• This descriptor is effective for shaperecognition in anti-noise performance,accuracy and efficiency.

Dameng Hu1, Weiguo Huang1, Li Shang2, Z. K. Zhu1 and Jianyu Yang1

1.School of Urban Rail Transportation, Soochow University, China2.School of Electronics and Information, Suzhou Vocational University, China

Two renderings of A-DCE evolution.


38

E03(1) 14:00-14:15 E03(2) 14:15-14:30

E03(3) 14:30-14:45 E03(4) 14:45-15:00

E03(5) 15:00-15:15

E03: Micro ManipulationSession Chairs: Cheah Chien Chern and Mingzhu Sun


Analysis of Visual-based Micromanipulation for Patch Clamp Recording

• The design and implementation of a micromanipulation system for patch clamp recording.

• Visual-based identification of cells and pipette.

• Calibration and alignment methods based on the coordinate frames of the camera and micromanipulator.

Runhuai Yang, Chi Ho Tam, Ka Lun Cheung, Kai Chun Wong and King W. C. Lai

Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Hong Kong

Illustration of micromanipulation system.

Vision Based Optical Manipulation of Biological Cell with Unknown Trapping Stiffness

• The trapping stiffness of optical trap is dependent on the interaction between cell and laser, and it may vary according to the size of the trapped particles.

• A setpoint control scheme is proposed for optical manipulation with unknown trapping stiffness.

X. Li, C. C. Cheah, and S. O. KamalSchool of EEE, Nanyang Technological University, Singapore

Dynamic Trapping and Manipulation with Unknown Stiffness

• The controller allows the laser to automatically trap and manipulate the cell to a desired position when the cell is not inside the trap.

Multi-Cell Formation Following in a Concurrent Control Framework

• Automatic manipulation of cells by merely controlling the optical traps restricts our automated manipulation area or workspace to the FoV.

• To achieve multi-cell manipulation beyond the FoV, a concurrent control methodology is needed to control the optical traps and motorized stage, for both individual manipulations of cells and collective manipulation of the group respectively.

Reza Haghighi and Chien Chern CheahSchool of Electrical and Electronic Engineering, Nanyang Technological University,

Republic of Singapore

Laser-cell allocation. The ”+” represents the positions of the laser beams.

Snapshots of yeast cells and laser beams at different time instants.

A Cell Polar Body Positioning Method based on SVM Classification

• Using a machine learning method (SVM) for positioning the polar body.

• The results of positioning have a high accuracy. Precision can reach 97%

• Multiple types of polar bodies can be detected accurately. The application of our method is better than other methods.

Di Chen, Mingzhu Sun and Xin ZhaoInstitute of Robotics and Automatic Information System and the Tianjin Key

Lavoratory of Intelligent Robotic, NanKai University, Tianjin, China

Various polar bodies positioning

Dumbbell fluidic tweezers: enhanced trapping and manipulation of microscale objects using

mobile microvortices

• A dumbbell-like magnetic microactuactor as a new type of fluidic tweezers (DB FT)

• Stronger trapping effect due to increased shear rates and intensified 3D flow confinement

• Selective trapping and controlled manipulation of microobjects under a low-strength magnetic field

• Enhanced capability and efficiency of transporting microobjects than the prototype of nanowire fluidic tweezers (NW FT)

Qi Zhou and Li ZhangMechanical and Automation Engineering, Chinese University of Hong Kong, HK

Tristan Petit and Bradley J. NelsonInstitute of Robotics and Intelligent Systems, ETH Zurich, Switzerland


39

F03(1) 14:00-14:15 F03(2) 14:15-14:30

F03(3) 14:30-14:45 F03(4) 14:45-15:00

F03(5) 15:00-15:15

F03: Human Robot Interaction IISession Chairs: Jan Babič and Kathrin Wegener


ROBEE: A homeostatic-based social behavior controller for robots in HRI experiments

• A social behavior controller for robots with a focus on HRI studies

• Homeostatic drive theory: behaviors are selected in order to maintain the needs within a range

• Robee: Homeostasis subsystem, Behavior subsystem, (Emotion subsystem)

• Robee is implemented in NAO

Hoang-Long Cao, Pablo Gomez Esteban, Albert De Beir, Ramona Simut

Greet Van de Perre, Dirk Lefeber, Bram VanderborghtVrije Universiteit Brussel, Belgium

Robostar: An Interaction Game with Humanoid Robots For Learning Sign Language

• Motivation: Sign Language (SL) tutoring for children using humanoid robots within multimodal interaction games

• Implementing a mobile game for android based mobile devices.

• An interaction game proposed with a set of 10 signs from Turkish Sign Language

• Aim of this study is to teach both the semantics and the realization of the words to the participants.

Ahmet Özkul, Hatice Köse, Rabia Yorgancı and Gökhan İnce

Faculty Of Computer and Informatics, İstanbul Technical University, Turkey

Robot asking a sign

Other-Oriented Robot Deception: A Computational Approach for Deceptive Action

Generation to Benefit the Mark

• Defined a robot’s other-oriented deception and aimed to develop the computational model

• Developed computational models inspired by Criminology; deception is analyzed by three criteria--motives, methods, and opportunity

• Main contribution: We proposed the methodsmodel for a robot’s deceptive action generation

• Two deceptive action generation mechanisms: 1) Deception by Omission (hiding) and 2) Deception by Commission (false information)

Jaeeun ShimSchool of Electrical and Computer Engineering, Georgia Tech, USA

Ronald C. ArkinSchool of Interactive Computing, Georgia Tech, USA

A robot assistant for unscrewing in hybrid human-robot disassembly

• Disassembly requires systems that are flexible and easily-applicable to new products

• User demonstration may allow disassembly robot assistants to operate where product and vision information are unavailable

• For unscrewing different types of bolts, a novel bit change mechanism without external actuation is presented

• Robot compliance and control strategies compensate for positioning errors

Wei Hua ChenSchool of Mechanical & Manufacturing Engineering, UNSW, Australia

Kathrin Wegener and Franz DietrichInst. of Machine Tools & Production Technology, TU Braunschweig, Germany

Fig. 1: Proposed hybrid disassembly work station

Switchable task-priority framework for combining human-demonstrated and inverse kinematics

tasks

• We propose a method for combining human-demonstrated posture-control skill with inverse kinematics solution for arm motion.

• The posture-control skill was demonstarted to the humanoid robot by human-in-the-loop teaching approach.

• The combining framework is enhanced with task-priority switching approach to delegate the control of leg joints between posture control and arm task

Luka Peternel and Jan BabičDept. of Automation, Biocybernetics and Robotics,

Jožef Stefan Institute, Slovenia

Experiment on real humanoid robot


40

A04(1) 15:35-15:50 A04(2) 15:50-16:05

A04(3) 16:05-16:20 A04(4) 16:20-16:35

A04(5) 16:35-16:50 A04(6) 16:50-17:05

A04: Snake RobotsSession Chairs: Shugen Ma and Giancarlo Marafioti


Maneuvering Control of Planar Snake Robots Based on a Simplified Model

• We use the method of Virtual Holonomic Constraints to solve the maneuvering control problem for the snake robots.

• We use a dynamic feedback control law to control the body shape of the snake robot to a desired gait pattern.

• We use the gait parameters as additional control terms in order to control the position and orientation of the robot.

• Extensive simulation results are presented.

Ehsan Rezapour, Andreas Hofmann and Kristin Y. PettersenDepartment of Engineering Cybernetics, Norwegian University of Science

and Technology (NTNU), Norway

A figure here

On Planar Grasping with Snake Robots: Form-closure with Enveloping Grasps

• A snake robot uses an enveloping grasp to grasp an object with form-closure.

• It is analyzed if the object can be grasped depending on its relative size.

• The grasp is done with three links, the minimum number necessary for form-closure.

• Then, it is analyzed if the object is within reach of the snake robot.

Fabian Reyes and Shugen MaDepartment of Robotics, Ritsumeikan University, Japan

Three cases. Only in (A) there is form-closure

Motion Fusion of Rectilinear and Serpentine Gait in Snake Robot

• A snake-like robot is proposed to verify the motion fusion of rectilinear and serpentine gait.

• The two gaits ant their fusions are analyzed and modeled.

• The robot mechanism is designed to realize these gaits and their fusions independently.

• Some experiments are performed to verify our ideas.

Kundong Wang, Chengdong Xiao, Yao GeDepartment of Instrument Engineering, Shanghai Jiao Tong University, China

Robot Prototype

A study of Nonlinear Model Predictive Control (NMPC) for snake robot path following

• NMPC is applied to achieve straight line path following control.• NMPC allows to define and handle constraints in a straightforward manner.• An optimization problem is solved online every time step.• A model is used to predict the snake robot behavior while respecting the

constraints.

Giancarlo Marafioti1 and Pål Liljebäck1,2 and Aksel A.Transeth1(1) Dept. of Applied Cybernetics, SINTEF ICT, N-7465 Trondheim, Norway(2) Dept. of Engineering Cybernetics, Norwegian University of Science and

Technology (NTNU), N-7491 Trondheim, Norway

1

0.5

0

−0.5−0.5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

Path of the snake robot and snake robot at 1, 17, 31, 44, 55 seconds

X [m]

Y [m

]

• The figure illustrates how the snake robot is able to follow the desired straight line path.

Stability Analysis of Underwater Snake Robot Locomotion Based on Averaging Theory

• An averaged model of the velocity dynamics of underwater snake robots is proposed.

• It is shown that the averaged velocity will converge exponentially to a steady state velocity.

• An explicit analytical relation was given between the steady state velocity and the amplitude, the frequency, the phase shift and the offset of the joint motion.

E. Kelasidi, K. Y. Pettersen and J. T. GravdahlDept. of Engineering Cybernetics, NTNU, Norway

Locomotion Control of a Snake-like Robot Based on Velocity Disturbance

• A simplified dynamics equations based on the differential geometry theory are derived.

• Velocity disturbance vertical to the desired velocity is introduced.

• Controlling the velocity disturbance can control the locomotion of the snake-like robot.

• Singular postures are avoided. Translational and turning motion are validated.

Xian Guo, Shugen Ma, Bin Li and Minghui WangShenyang Institute of Automation, Chinese Academy of Sciences and

University of Chinese Academy of Sciences, China

Translationa and turning motion for the snake-like robot


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B04: Medical Robotics IISession Chairs: Atsushi Konno and Jackrit Suthakorn


Optimization of Retraction in Neurosurgery to Avoid Damage Caused by Deformation of Brain Tissues

Akira Fukuhara*, Teppei Tsujita*, Kazuya Sase**, Atushi Konno**, Xin Jiang*, Satoko Abiko* and Masaru Uchiyama*

*Department of Mechanical System and Design, Graduate School of Engineering, Tohoku Univ.**Division of System Science and Informatics, Graduate School of Information Science and Technology, Hokkaido Univ.

• This paper shows a scheme which combinesFEM (Finite Element Method) and anoptimization method for retraction inneurosurgery to avoid damage caused bydeformation of brain tissues.

• Pattern Search Algorithm and GeneticAlgorithm are compared in optimization ofretraction of a simple shape FE model.

• The result of simulation of opening a brainfissure is reported.

Toward Biomimic Breast Deformable Model for Robotic Breast Biopsy Navigation Development

• Accuracy of breast biopsy suffers from breast deformation

• Medical Navigation with breast deformable model could increase efficiency of breast biopsy guidance

• The concept of real-time deformable model for breast biopsy navigation

Maria Chatrasingh and Jackrit SuthakornDepartment of Biomedical Engineering

Center for Biomedical and Robotics Technology (BART LAB)Faculty of Engineering, Mahidol University, Thailand

The experiment to proof concept of model breast biopsy navigation

A figure here

Real-time Break-through Detection of Bone Drilling Based on Wavelet Transform for Robot Assisted

Orthopaedic Surgery

• Discrete wavelet transform based on search of modulus maxima for bone drilling break-through detection was implemented.

• The configuration of robot assisted orthopaedic surgery was presented.

• In- vitro experiment was conducted for verification of the proposed algorithm.

Lin Qi and Max Q.-H MengDepartment of Electronic Engineering

the Chinese University of Hong Kong, Hong Kong, SAR, China


A figure here

Development of an anatomic heart model for the minimally-invasive closure of the left atrial

appendage

• The left atrial appendage of the heart can be occluded to decrease the risk of strokes

• A phantom was developed to simulate this minimally-invasive procedure

• The anatomically correct heart model was built by silicone casting based on patient CT data

• The heart model is compatible with two and three dimensional ultrasound and fluoroscopy

Eva C. Graf, Daniel B. Roppenecker and Tim C. LuethFaculty of Mechnical Engineering, TU Munich, Germany

Klaus TiemannFaculty of Medicine, TU Munich, Germany

Victor D. SamperGeneral Electric Global Research Center Europe, Garching, Germany

Phantom model containing the silicone heart model

A new human middle ear model for the biomechanical evaluation of a prosthesis for the

ossicular chain reconstruction

• A new 3D printed human middle ear model with all the functional parts

• 3D printed bony anatomical structures• 3D printed forms for silicone rubber casting

of soft anatomical structures• Similar auditory properties like a human

middle ear

Ismail Kuru1 Mathias Müller2, Konrad Entsfellner1, Thomas Lenarz2, Hannes Maier2 and Tim C. Lueth1

1: Micro Technology and Medical Device Technology, TU München, Germany2: Klinik für Hals-Nasen-Ohrenheilkunde, MHH, Germany

Top and side view of the model: (1) Upper window, (2)

ear canal, (3) ossicles, (4) inner ear window, (5) round

window with reflector.

A figure here

Safety Oriented Evaluation of Robot-assisted Minimally Invasive Surgery (MIS) Performance Skill

• The SOE score system depends on surgeons’experiences and performance parametersgathered in real-time training.

• SOE is helpful in trainee’s skills evaluation andsurgical robot technologies development.

• ‘MicroHand’ was developed in 2012 by TianjinUniversity and announced in 2014.

• By several original master-slave motion controlstrategies, ‘MicroHand’ is easily to be acceptedby surgeons.

Yuan Xing, Ke Liang, Shuxin Wang, Jianmin Li ,Xuesheng Wang School of Mechanical Engineering, Tianjin University, Tianjin, China

Aimin LiThe second artillery general hospital of Chinese people’s liberation army, China

Training on ‘MicroHand S’ inthe second artillery general hospital of Chinese people’s

liberation army


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C04: Multi-sensor Based Navigation and LocalizationSession Chairs: Yongsheng Ou and Guohui Tian


A low-cost localization system based on Artificial Landmarks with two Degree of

Freedom Platform Camera

• A 2-DOF pan-tilt has been used to help the camera track landmarks so that the landmark velocity in the picture is low enough to avoid that the robot can’t recognize landmarks because of the high speed.

• Using the pan-tilt can also expand the recognition range and decrease the number of landmarks.

• The experiments have shown that the robot can recognize landmarks well when it moves fast by using the 2-DOF pan-tilt, besides, the localization works very well.

Diansheng Chen, Zhaoliang Peng, Xiao Ling School of Mechanical Engineering, Beihang University, China

A figure here

On Real-Time Obstacle Avoidance Using 3-D Point Clouds

• To build up a 3D environment in an intelligent surveillance robot through registration of point clouds and present a method for obstacle avoidance;

• To register the point clouds from an RGB-D Kinect by applying an ICP (Iterative Closest Point) algorithm;

• To propose an approach to avoid obstacles by projecting 3D data to a plane thus 2D technologies used due to less computation burden.

Yiqun Fu, Guolai Jiang, Wei Feng, Yimin Zhou and Yongsheng OuShenzhen Institutes of Advanced Technology, China

Webots-based Simulation for Biped NavigationIn Human-living Environments

• Sampling-based Footstep Planner• Element Step Library for NAO robot• Real-time adjustable footstep sequence for

dynamic environment• Two sets of experiments conducted within

Webots

Zeyang Xia1,2, Xiaojun Wang1,2, Yangzhou Gan1,2, Thomas-Glyn Hunter Cox3, Xue Zhang1,2, Huang Li1,2, Jing Xiong1

1.Shenzhen Institues of Advanced Technology, Chinese Academy of Sciences 2.The Chines University of Hong Kong

3.Purdue Shool of Engineering and Technology, Indiana University Purdue University Inidianpolis

Ball Tracking&Reaction to Dynamic

A Multi-sensor-based Mobile Robot LocalizationFramework

• Overview of the closed-loop robot localization framework

• Scheme of the coarse place recognition

• Particles-based accurate robot localization and particles state monitoring mechanism

• Experimental results and analysis

Peng Duan, Guohui Tian, and Hao WuSchool of Control Science and Engineering, Shandong University,

Jinan, China

Overview of the proposed closed-loop localization framework

Robot Control via Output Regulation in Cardiac Surgery

• Analyzed the heart motion data using dual Fourier series model.

• Presented an output regulation control approach for tracking of a beating heart.

• Proved the effectiveness of an output regulator with reduced-order observer.

• Demonstrated the advantage of output regulator over model predictive control.

Xiaorui Zhu and Jingdan MinHarbin Institute of Technology Shenzhen Graduate School, China

Wei LinCase Western Reserve University, USA

Dynamic Hand Gesture Early Recognition based on Hidden Semi-Markov Models

• A dynamic hand gesture early recognition system is proposed.

• A better model is based on the Hidden semi-Markov Model.

• HSMM, allowing the underlyingprocess to be a semi-Markov chain.

Qianqian Wang1,2 and Yong Wang1

1.Lab of Vibration Control&Vehicle Control, University of Science and Technology of China, China

Yuanrong Xu2 , Yen-lun Chen2 and Xinyu Wu2,3

2.Shenzhen Institutes of Advanced Technology, Chinese Academy of Science3.Dept. Mechanical and Automation Engineering,

The Chinese University of Hong Kong ,China


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D04: Stereo VisionSession Chairs: Hong Liang and Mu Fang


View enhancement in stereo streams assisted by object model

Objective: Object registration between virtual model and real object in a 3D-3D way.

Mu Fang, Yunhui Liu, Ronald C.-K. Chung and Luyang LiDepartment of Mechanical and Automation Engineering,

The Chinese University of Hong Kong, Hong Kong

Method:• Dense reconstruction by stereo-motion under perspective camera model;• ICP based registration between partial reconstructions and model templates;• Visual augmentation.

Difference of Visual Perception Performance in Detection of Imminent Collision Events in Stereo

and Non-stereo Viewing Conditions

• Participants participate the visual experiments in both stereo and non-stereo viewing conditions.

• Stimuli simulated a 3D scene of imminent collision events.

• Hit rate, false alarm rate, sensitivity, and bias were calculated and analyzed.

• Performance of participants’ visual perception in stereo viewing condition are better.

Ya Zhao, Yanyu Lu, Dan Huang, and Shan FuSchool of Aeronautics & Astronautics, Shanghai Jiao Tong U, China

The experiment environment and one sample scene.

A figure here

Motion Recovery Using the Image InterpolationAlgorithm and an RBG-D Camera

Jiefei Wang, Matthew Garratt, Ping Li, Sreenatha AnavattiSchool of Engineering and Information Technology, UNSW, Canberra, Australia

Kinect sensor mounted on a Pioneer-AT Wheeled Robot

A figure here

The Real-time Segmentation of Indoor Scene Based on RGB-D Sensor

• The real-time indoor scene segmentationcan be obtained at frame rate of 22Hz

• The depth filtering may decrease the white hole to get the better detail information

• The segmented regions were extended to get the better edge information

• The segmentation results were applied into the object recognition to validate the effectiveness of segmentation

Chunnian Zeng and Hong Liangthe School of Automation,Wuhan University of

Technology, ChinaChengpeng Du and Fan Xu

the School of Information and Engineering,WuhanUniversity of Technology,China

The segmentation and recognition of doll

Person Verification based on Skeleton Biometrics by RGB-D Camera

• A hierarchical skeleton feature model (HSFM)was proposed based on skeletal data forperson verification.

• 2-fold cross-validations with SVM and KNNwere carried out 200 times to validate ourmethod.

• Experiments results show that HSFM haveobtained good performances in accuracy andefficiency aspects.

Wenzheng Chi, Jiaole Wang and Max Q.-H. MengElectronic Engineering Dept., The Chinese University of Hong Kong, China

Real Time Person Detection and Tracking by Mobile Robots using RGB-D Images

• An algorithm for mobile robots to detect and track people reliably.

• Robust to complicated changes of human poses and partial occlusions.

• Real time performance.

Duc My Vo, Lixing Jiang and Andreas ZellDepartment of Cognitive Systems, University of Tuebingen, Germany

A figure here


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E04: Multi-scale Robot Sensing and ManipulationSession Chairs: Yajing Shen and Qing Shi


Development of an Omnidirectional Vision System for Environment Perception

Yongbo Song, Qing Shi, Qiang Huang and Toshio FukudaIntelligent Robotics Institute, Beijing Institute of Technology, Beijing, China

Qing ShiFaculty of Science and Engineering, Waseda University, Tokyo, Japan

OVSEP

• A portable omnidirectional vision system for environment perception (OVSEP) is developed with five cameras (a stereo camera and three wide angle cameras).

• OVSEP can provide surrounding information for different kinds of robots, and it especially shows promise in preventing a humanoid robot from falling.

• OVSEP is endowed with advanced visual processing modules as face recognition and 3D reconstruction.

Output Torque Regulation through Series Elastic Actuation with Torsion Spring Hysteresis

• A prototype device has been developed for output torque regulation through series elastic actuation.

• Hysteresis effect of torsion spring is well investigated and identified through an experimental procedure.

• A compensated feedback control scheme is developed in order to alleviate the hysteresis effect and achieve high quality of output torque regulation

Wei Wang and Shigeki SuganoDepartment of Modern Mechanical Engineering, Waseda University, Japan


A figure here

Development of a Nerve Model of Eyeball Motion Nerves to Simulate the Disorders of Eyeball

Movements for Neurologic Examination Training

• Developed a novel head robot to simulate thedisorders of eyeball movements

• Designed the eyeball presenter with LCDscreen and Lens

• Developed an eyeball movements nerve modelto simulate the effects of diseases

• Proposed a new methodology for humanlikeability simulating

The normal eyeball image and the abnormal eyeball image with

oculomotor palsy

Lin Wang1,2,Chunbao Wang1,2,3,6,Lihong Duan6, Ai Nibori3,Yusaku Miura3, Yurina Sugamiya3, Weisheng Kong3, Qing Shi4, Hiroyuki Ishii3, Salvatore SESSA3,

Massimiliano ZECCA7, Atsuo Takanishi3, Zhengzhi Wu3, Jian Qin1, Weiguang Li51, Sun Yat-sen University, China; 2, Shenzhen Second People’s Hospital;

3,Takanishi Lab, Waseda University, Japan; 4, Beijing Institute of Technology; 5, South China of University; 6, Shenzhen Institute of Geriatrics, China;

7, Loughborough University, United Kingdom

Development of a Human-like Motor Nerve Model to Simulate the Diseases Effects on Muscle

Tension for Neurologic Examination Training

• Developed a novel humanlike elbow robot tosimulate the symptoms of motor nerve disorders

• Developed a humanlike motor nerve model frommimicking the human real motor nerve structure

• Simulated the abilities and disease effects ofmain regions and pathway

• Provided a new methodology for humanlike nervesystem simulation

Chunbao Wang1,2,3,6, Lihong Duan6, Qing Shi4, Ai Nibori3, Yusaku Miura3, Yurina Sugamiya3, Weisheng Kong3, Di Zhang3, Hiroyuki Ishii3, Salvatore SESSA3,

Massimiliano ZECCA7, Atsuo Takanishi3, Zhengzhi Wu3, Jian Qin1, Weiguang Li51, Sun Yat-sen University, China; 2, Shenzhen Second People’s Hospital;

3,Takanishi Lab, Waseda University, Japan; 4, Beijing Institute of Technology; 5, South China of University; 6, Shenzhen Institute of Geriatrics, China;

7, Loughborough University, United Kingdom

Motor nerve simulation model

Effect of Endeffector’s Contact Area on Single Cell Manipulation at Small Scale

• Endeffectors with different tip size are fabricated by focused ion beam (FIB) etching.

• Cell pushing is performed by endeffector with small tip size. The pushing force is calculated based image processing.

• The cell can be picked up if the contact area is large between the tip and the cell.

• Effect of the endeffector on the cell manipulation is discussed.

Yajing ShenMechanical and Biomedical Engineering Departmeng,

City University of Hong Kong,Hong Kong, China

ESEM Images of single cell pushing by nanomanipualtor

Action and Digit Recognition of Finger Using Kinect

• The paper will achieve the action and digit recognition of finger using depth map and skeleton joint information captured by somatosensory system of Kinect.

• The hand digit recognition mainly depends on the hand tracking data by hand segment, contour extraction, fitting hand contour with polygons.

Wanfeng Shang, Hongwei Ma, Hailong ZangSchool of Mechanical Engineering,

Xi’an University of Science & Technology,Xi’an, Shaanxi, China

Hand polygon fitting


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F04: Underwater RobotsSession Chairs: Eleni Kelasidi and Naoyuki Takesue


Dynamic Modeling and Path Planning of a Hybrid Autonomous Underwater Vehicle

• Proposed a novel motion planning technique to generate three-dimensional trajectories from a start to a goal configuration

• Our method integrates two Dubins curves.• A mechanical design of a conceptual hybrid

autonomous underwater vehicle is presented

• Developed a dynamic model to perform path tracking simulations

Bilal Wehbe, Elie Shammas, and Daniel AsmarMechanical Engineering, American University of Beirut, Lebanon

Joseph ZeaiterChemical Engineering, American University of Beirut, Lebanon

Intersection of two Dubins curves extrusions

Null-Space-Based Behavior Guidance of Planar Dual-Arm UVMS

• Calculating reference trajectories for dual-arm underwater vehicle manipulator system

• Several tasks with different priorities• Jacobian pseudo-inverse and nullspace• A leader-unit (vehicle body and manipulator 1)

and a follower unit (manipulator 2)

Signe Moe and Kristin Y. PettersenCenter for Autonomous Marine Operations and Systems, Norwegian University

of Science and Technology, NorwayGianluca Antonelli

Department of Electrical and Information Engineering, University of Cassino and Southern Lazio, Italy

A Control–Oriented Model of Underwater Snake Robots

• A model of the kinematics and dynamics of a planar underwater snake robot

• Extensive analysis of the Complex model has been presented

• A control – oriented model of underwater snake robots is proposed, aimed at control design and stability analysis

E. Kelasidi, K. Y. Pettersen and J. T. GravdahlDept. of Engineering Cybernetics, NTNU, Norway

A Miniature Mobile Robot Developed to beSocially Integrated with Species of Small Fish

• A robotic system was designed for fish-robot interaction experiments

• The acceptance of the fish-mimicking robot by a group of living zebrafish was analyzed

• Different factors were studied, such as the size of the lure and the speed of the robot

• Results showed that the living zebrafish could be attracted by the robotic fish

F. Bonnet, S. Binder, M. E. de Oliveira and F. MondadaSchool of Engineering, Polytechnic School of Lausanne, Switzerland

J. HalloyLaboratory of Tomorrow’s Energies, University Paris Diderot VII, France


A figure here

MINAMO: Multidirectional INtuitive Aquatic Mobility--- Improvement of Stability and Maneuverability ---

• We have developed the robotic vehicle on water that moves by the rider's balance.

• In this paper, the appropriate body shape and size that improves the stability was modeled.

• In addition, a force plate is introduced to improve the maneuverability as an interface.

• MINAMO realized the straight and whirl movement by the control of the rider weight shifting.

Daiki Kobayashi and Naoyuki TakesueGraduate School of System Design, Tokyo Metropolitan University, Japan

MINAMO

A figure here

Development of a Sea Snake-like Underwater Robot

• A sea snake-like underwater robot has been designed by simulation with considering the inertia effect from fluid

• A prototype based on the design has been fabricated.

• Efficient propulsion is confirmed by experimental results.

Aiguo Ming, Takahiro Ichikawa, Wenjing Zhao and Makoto Shimojo

Department of Mechanical Engineering and Intelligent Systems, The Univerisity of Electro-Communications, Japan

Prototype in swimming


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session chairs: juan manuel florez and shixin mao room...

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