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Remote Mine Sensing Technology Using a Mobile Wheeled Robot RAT-1
Nobuhiro Shimoi,Yoshihiro Takita 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
To conduct mine detection experiments using an octal wheeled prototype robot RAT-1, we developed end effectors to be attached to the driving wheels of the robot. This enables the robot to step safely and stably without hitting hidden mines. We created a simulation model for this study to test the movement of a robot having metal sensors attached to the front of its wheels and a driving algorithm with effect control based on IR cameras. We verified the efficiency of the system in actual walking experiments. We also studied remote sensing technology uses for IR cameras combined with other metal sensors. Tests with trial mines were used to study the detection characteristics of IR cameras and various technologies for collecting and processing image data in real time for optimum mine detection.
Nobuhiro Shimoi,Carlos H. Cuadra 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
As the initial step to evaluate its seismic vulnerability, a traditional Japanese wooden structure was selected for investigation of its structural condition. The target building, an old farmhouse, was declared a local architecture heritage site in 1973. Therefore, structural evaluation should be performed using noninvasive procedures that permit material properties and architectural characteristics to remain intact. For this study, infrared thermography was used to detect metallic elements inside the structure that can affect its structural characteristics. Location of these elements can be important to construct accurate analytical structure models and might also facilitate repair or conservation work. Most of these metallic elements were nails used to fix the flooring table. Accurate locations of these nails were obtained using an infrared ray camera. Ambient vibration measurements were taken to estimate vibration properties of the structure. By performing a Fourier analysis of the recorded micro-vibration wave, the predominant period of vibration of the target structure was estimated. Applicability of the infrared thermography and ambient vibration measurements was verified for structural evaluation of the historical wooden structure.
Unrestrained Sensors Using Piezoelectric Elements for Bed-Leaving Prediction
Hirokazu Madokoro,Nobuhiro Shimoi,Kazuhito Sato 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
This paper presents a sensor system that predicts behavior patterns that occur when a patient leaves a bed. We originally developed plate-shaped sensors using piezoelectric elements. Existing sensors such as clip sensors and mat sensors require that patients be restrained. The features of our sensors are that they require no power supply or patient restraint for privacy problems. Moreover, we developed machine-learning algorithms to predict behavior patterns without setting thresholds. We evaluated our system for three subjects at an experimental environment constructed in reference to a clinical site. The mean recognition accuracy was 78.6% for seven behavior patterns. Especially, the recognition accuracies of lateral sitting and terminal sitting were each 94.4%. We consider that these capabilities are useful for bed-leaving prediction in practical use.
Development of Micro Air Vehicle Using Aerial Photography for Safe Rowing and Coaching
Hirokazu Madokoro,Kazuhito Sato,Nobuhiro Shimoi 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
This study was undertaken to establish basic technologies and knowledge of aerial photography and its application to support safe rowing. For the water sport of rowing, managers and coaches use a motorboat to follow a rowing boat for coaching and safe rowing observation. Utilization of a motorboat gives rise to numerous problems in terms of pulled waves, narrow visual ranges, limited tracking of boats at any one time, fuel consumption, and maintenance costs. Moreover, rowing boats present collision risks to other rowing boats or obstacles floating on water, especially for a cox-less rowing boat because the visual direction for rowers is opposite to the moving direction. The aim of this study is to actualize rowing aerial photography using a Micro Air Vehicle (MAV): a radio-controlled small multi-rotor helicopter that has become popularly used for numerous applications recently. We obtained rowing movies using three-camera compositional patterns with changing altitudes and tilt angles. We examined the benefits of rowing aerial photography compared with movies obtained from a motorboat with consideration of safety improvement.
Estimation of Dynamic Properties of Traditional Wooden Structures Using New Bolt Sensor
Carlos H. Cuadra,Nobuhiro Shimoi,Tetsuya Nishida,Masahiro Saijo 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
Dynamic properties of traditional wooden structures are estimated from forced vibration test performed on a prototype constructed for this purpose. The prototype corresponds to a framed wooden construction with traditional connections between columns and beams without nails and with wedges inserted into joints to fix them. To verify the applicability of a new type of piezoelectric bolt sensor the test series were performed using also commercial accelerometers and laser displacement transducer for comparison. The new bolt sensor is intended to be used for structural health monitoring of important and small structures like historical shrines or other small historical buildings. Bolt sensors were installed in selected frame joints and changes in the voltage signal were detected when the prototype is subjected to dynamic excitation. The response of the new sensor is comparable with that obtained by high precision commercial accelerometers and laser displacement transducer. In addition the dynamic response of the structure and the response of the bolt senor were verified analytically using finite element method. For analytical modeling semi-rigid joint is used where the moment rotation relationship is specified for each beam end. The research serves also to calibrate the analytical model by using experimental results obtained from forced vibration test.
Structural Damage Detection in a Steel Column-Beam Joint Using Piezoelectric Sensors
Carlos H. Cuadra,Nobuhiro Shimoi 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
Piezoelectric materials are used in sensors to detect sudden changes in stress condition that permits to its piezoelectric part to emit an electrical signal. Therefore, piezoelectric sensors are recommended to detect impacts, number of occurrences of impacts, vibrations, etc. In this research, application of piezoelectric sensors to detect structural damage due to seismic action on building structures is investigated. Film-type piezoelectric sensor was developed and proposed for this task. This film-type piezoelectric sensor was attached to a thin steel plate that was set up at a steel column-beam joint of a test specimen that was subjected to bending moment. Potential applicability of this piezoelectric sensors to detect structural damages was verified. However, detailed analysis and additional experimental tests are required to establish standard parameters for standardized evaluation of the level of damages in building structures.
Hirokazu Madokoro,Kantarou Kakuta,Ryo Fujisawa,Nobuhiro Shimoi,Kazuhito Sato,Li Xu 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper presents a bed-leaving detection method using Elman-type Counter Propagation Networks (ECPNs), a novel machine-learning-based method used for time-series signals. In our earlier study, we used CPNs, a form of supervised model of Self-Organizing Maps (SOMs), to produce category maps to learn relations among input and teaching signals. For this study, we inserted a feedback loop as the second Grossberg layer for learning time-series features. Moreover, we developed an original caster-stand sensor using piezoelectric films to measure weight changes of a subject on a bed to be loaded through bed legs. The features of our sensor are that it obviates a power supply for operations and that it can be installed on existing beds. We evaluated our sensor system by examining 10 people in an environment representing a clinical site. The mean recognition accuracy for seven behavior patterns is 71.1%. Furthermore, the recognition accuracy for three behavior patterns of sleeping, sitting, and leaving the bed is 83.6% Falsely recognized patterns remained inside of respective categories of sleeping and sitting. We infer that this system is applicable to an actual environment as a novel sensor system requiring no restraint of patients.
Invisible and Cost-Effective Sensors with a Network Robot for an IoT House for Tourists
Mimori Kamiyama,Hirokazu Madokoro,Kazuhisa Nakasho,Nobuhiro Shimoi,Hanwool Woo,Kazuhito Sato 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
This paper presents a novel application of our previously developed sensor system to recognition of behavior patterns using a network robot and cost-effective invisible sensors. We set up the system at an actual house as a concept of an internet of things (IoT) house for tourists. We obtained 14 person-day benchmark datasets from ten people in their 20s. For constructing benchmark datasets, they recorded event times of seven patterns: getting up, sleeping, going out, coming home, emergency calls, opening or closing of a refrigerator, and the use of a TV remote control. As ground truth labels for cross-validation-based evaluation, we integrated them into three patterns: going out, staying at home, and sleeping on the bed. The experimentally obtained results revealed that the mean recognition accuracies with random forests were 99.60 %, 99.30 %, and 98.54 % for the respective three datasets.
Occlusion-Robust Segmentation for Multiple Objects using a Micro Air Vehicle
Asahi Kainuma,Hirokazu Madokoro,Kazuhito Sato,Nobuhiro Shimoi 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
This paper presents a novel object extraction method using a micro air vehicle (MAV) for improving the robustness of occlusion. The proposed method is based on saliency of objects for extracting regions of interest (RoIs) using scale invariant feature transform (SIFT) features and segmentation of target objects using GrabCut, which requires advance learning. We obtained original aerial photographic time-series image datasets using a MAV. Results of experiments revealed that object extraction accuracies measured using precision, recall, and F-measure improved according to the MAV movement for images with changing rates of collusion between two objects: a chair and a table. Especially for images of a chair, which is smaller than the table, our method functioned well for the extraction of object regions. For improving extraction accuracy based on the result to extract the table, an advanced mechanism combined with flight patterns is necessary to adjust the suitable distance between the MAV and a target object.