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Applications of Augmented Reality in Assisting Structure Surface Data Collection Using Unmanned Aerial Vehicles
This paper investigates the feasibility and effectiveness of applying AR (Augmented Reality) technology to assist UAV (Unmanned Aerial Vehicle) pilots in collecting data for structure inspections. The challenge of using UAVs to collect inspection data is that pilots could not precisely determine where to collect qualified data. Using AR technology to provide visual assistance to pilots is expected...Show More
Evaluation and Enhancement of Resolution-Aware Coverage Path Planning Method for Surface Inspection Using Unmanned Aerial Vehicles
Weitong Wu;Yuki Funabora;Shinji Doki;Kae Doki;Satoru Yoshikawa;Tetsuji Mitsuda;Jingyu Xiang
We implemented and evaluated our previous path planning method for inspection using unmanned aerial vehicles (UAVs) in real-world, and identified its shortcomings in handling positioning errors. Then, we proposed an enhanced method to address this problem. The previous method theoretically guaranteed complete coverage of targets and data quality. However, we verified it in bridge inspection experi...Show More
Clustering Method of Driving Scenes based on Road Shape by using Road Map Images
Kohjiro Hashimoto;Daichi Yanagihara;Hiroshi Kuniyuki;Kae Doki;Yuki Funabora;Shinji Doki
2023 International Conference on Electrical, Communication and Computer Engineering (ICECCE)
Year: 2023 | Conference Paper |
Currently, vehicles are equipped with various sensors that can collect a series of driving behavior data while driving. The driving behavior data obtained in this way can be used to analyze the causes of traffic accidents and evaluate driver skills. However, when performing the above analysis, a specific driving scene is defined and driving behavior data for that driving scene is required. On the ...Show More
Study on a Detection Method of Driving Scenes Using Driver’s Operation Data and In-Vehicle Camera Videos
Kohjiro Hashimoto;Daichi Yanagihara;Hiroshi Kuniyuki;Kae Doki;Yuki Funabora;Shinji Doki
2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference (ONCON)
Year: 2023 | Conference Paper |
In this paper, a method to detect arbitrary driving scenes from actual driving behavior data is proposed. This is positioned as a necessary technology to evaluate a driver’s cognitive ability from actual driving behavior data. In order to evaluate a driver’s cognitive ability from actual driving behavior data, it is first necessary to be able to detect scenes in which cognitive ability can be eval...Show More
Acquisition of Association Rules between a Situation and an Operation of Driving Behavior by using Time Series Clustering based on Coupled-GP-HSMM
Kohjiro Hashimoto;Daichi Yanagihara;Hiroshi Kuniyuki;Kae Doki;Yuki Funabora;Shinji Doki
2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference (ONCON)
Year: 2023 | Conference Paper |
With the progress of information and communication technology, it has become easier to observe and store a large amount of digital data. In the field of automobiles, various sensors such as Controller Area Network, GPS sensor, and in-vehicle camera are mounted in vehicles, and it is possible to collect location, operation, and surrounding environment information while driving. The collected drivin...Show More
Study on Clustering Method of Driving Behavior Data Based on Variational Auto Encoder and Coupled-GP-HSMM
Kohjiro Hashimoto;Daichi Yanagihara;Hiroshi Kuniyuki;Kae Doki;Yuki Funabora;Shinji Doki
2022 IEEE 20th International Conference on Industrial Informatics (INDIN)
Year: 2022 | Conference Paper |
Cited by: Papers (1)
In Japan, where the population is aging, traffic accidents caused by elderly drivers have become a social problem. The main cause of the accident is a decline in cognitive ability, and there is an urgent need to develop technology for early detection of decline in the ability. The authors have been developing a technology to evaluate the cognitive ability of a driver from the driving behavior data...Show More
Operator Assistance for Remote Driving with Augmented Image based on Gaze Information
Kae Doki;Kenya Suzuki;Yuki Funabora;Shinji Doki;Yoshikazu Yano
2022 IEEE 31st International Symposium on Industrial Electronics (ISIE)
Year: 2022 | Conference Paper |
Cited by: Papers (1)
The authors have been aiming to realize a remote driving system with an HMD(Head Mounted Display) and a 360-degree camera to decrease the task load of the operator. Therefore, we have been tackling an operator assistance method of remote driving applying Augmented Reality(AR). In the previously proposed methods, AR video presented to the operator is generated based on sensing information of 3D LiD...Show More
Effect of Angle Offset of the Power Receiving Coil in Underwater Wireless Power Transfer Using a Cone Spiral Coil
2022 International Power Electronics Conference (IPEC-Himeji 2022- ECCE Asia)
Year: 2022 | Conference Paper |
Cited by: Papers (3)
In this study, the angle offset of the receiving coil in undersea wireless power transfer using a cone spiral coil is studied. A simulation model based on the actual measurement environment is created, and the power transmission efficiency is compared when the receiving coil tilt from 0 to 50 degrees in the vertical direction of the transmission coil surface. The power transmission efficiency in t...Show More
AR Image Presentation based on Gaze Information for Operator support in teleoperation
2022 IEEE 20th Jubilee World Symposium on Applied Machine Intelligence and Informatics (SAMI)
Year: 2022 | Conference Paper |
The authors have been tackling a new teleoperation system with a head-mounted display (HMD) and an omnidirectional camera to reduce the workload of an operator. Some experimental results verified that presentation of AR images based on sensor information could reduce the workload and prevent the deterioration of the task quality due to the transmission delay of images. However, the range of the fi...Show More
AR Image Presentation Based on Sensor Data for Operator Support in Remote Car Driving : -Aiming for Remote Car Driving-
Kae Doki;Kenya Suzuki;Yoshikazu Yano;Yuki Funabora;Shinji Doki
2021 IEEE 10th Global Conference on Consumer Electronics (GCCE)
Year: 2021 | Conference Paper |
In order to realize a remote car driving in an emergency situation or complicated environment, we propose a new method for operator support in teleoperation in this paper. In the proposed teleoperation system, it is supposed that there are two communication lines between an operator and the target remote driving car. The one is called as the main line, in which large data like image or sound are t...Show More
Application of Augmented Reality based on Sensing Data to Teleoperation System for Operator Support
Kae Doki;Kenya Suzuki;Akihiro Torii;Suguru Mototani;Yuki Funabora;Shinji Doki
2021 22nd IEEE International Conference on Industrial Technology (ICIT)
Year: 2021 | Conference Paper |
Cited by: Papers (2)
In this paper, we propose a new system for operator support in teleoperation using Augmented Reality(AR) based on sensing data . In the proposed system, an 360-degree camera is equipped with a mobile machine in a remote place which is controlled by an operator, and the captured 360-degree image is displayed to the head mounted display put on the head of the operator. The operator can control the m...Show More
AR video presentation using 3D LiDAR information for operator support in mobile robot teleoperation
Kae Doki;Kenya Suzuki;Akihiro Torii;Suguru Mototani;Yuki Funabora;Shinji Doki
2021 IEEE 19th World Symposium on Applied Machine Intelligence and Informatics (SAMI)
Year: 2021 | Conference Paper |
Cited by: Papers (7)
In this paper, we propose a new teleoperation system of a mobile robot using Augmented Reality(AR) based on 3D LiDAR information for operator support. In the proposed system, an 360-degree camera is equipped with a robot which works in a remote place controlled by an operator, and the captured 360-degree image is displayed to the head mounted display put on the head of the operator. The operator c...Show More
Possibility of the Undersea Wireless Power Transfer Using a Cone Spiral Coil
2020 IEEE Wireless Power Transfer Conference (WPTC)
Year: 2020 | Conference Paper |
Cited by: Papers (2)
In this study, the shape of receiving coil for undersea wireless power transfer via coupled magnetic resonance was studied. A simulation model based on the actual measurement environment was created, and transmission efficiencies using two shapes of coils were compared. The simulation results show that the power transfer efficiency of the cone spiral coil in the sea is 81.5%, which is useful for u...Show More
Three-dimensional Deformation Control System for Fabric Actuator
2020 IEEE/SICE International Symposium on System Integration (SII)
Year: 2020 | Conference Paper |
Cited by: Papers (2)
This paper presents a control system for a fabric-type actuator consisting of 12 extra thin pneumatic artificial muscles and enabling three-dimensional movements. The basic structure of the fabric-type actuator has proposed in previous researches, however, the controller of it has designed heuristically and realized only six patterned deformations. In order to control its three-dimensional deforma...Show More
Quantification of Contributing Degree to Braking Operation of Driver based on the Hidden Markov Model
Kohjiro Hashimoto;Tadashi Miyosawa;Tetsuyasu Yamada;Takeshi Tsuchiya;Kae Doki;Shinji Doki
2019 IEEE 28th International Symposium on Industrial Electronics (ISIE)
Year: 2019 | Conference Paper |
In order to assist cognitive of driver, it is effective for driver to teach the objects that he should recognize in a visual way. However, it is expected that too much information is provided for a driver from the system and it cause him distraction. Therefore, information presentation without exaggeration and without omission is demanded for assistant system. In this paper, it is assumed that the...Show More
Control System Based on Contact Force Distribution for Wearable Robot with Tactile Sensor
2019 IEEE/SICE International Symposium on System Integration (SII)
Year: 2019 | Conference Paper |
To improve safety of wearable assist robots, the authors verified the control system based on contact force distribution with an actual robot. Because wearable assist robots contact a user and apply force directly, ensuring safety of the user is most important. In order to improve safety from the aspect of control, the contact force distribution feedback control system has been researched. The sys...Show More
Markerless Measurement System of Body Surface Deformation for Structure Determination of Wearable Robot
2019 IEEE/SICE International Symposium on System Integration (SII)
Year: 2019 | Conference Paper |
The authors aim to realize a wearable robot that supports the motion of entire torso. The first task to realize the robot is to determine its structure suitable for motion support. Focusing on the body surface where the robot makes direct contact, we examine the robot structure that can follow the deformation of the body surface. In order to clarify the robot structure, it is necessary to measure ...Show More
Flight Path Planning of Multiple UAVs for Robust Localization near Infrastructure Facilities
IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
Year: 2018 | Conference Paper |
Cited by: Papers (10)
To realize automatic inspections for infrastructure facilities by an Unmanned Aerial Vehicle (UAV), improvement of localization performance is needed. Especially, automatic flight does not work in environments near facilities such as under the bridge because GNSS signals does not reach the UAV. We research a localization system using subsidiary UAVs that assist localization of an inspection UAV (m...Show More
Evaluation in Real World of the Measuring Position Determination for Visual Inspection using UAV
IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
Year: 2018 | Conference Paper |
Cited by: Papers (5)
This paper evaluates our measuring position determination method of Unmanned Aerial Vehicles (UAVs) for automatic visual inspection through an experimentation in real world. This method is under the assumption that the 3D model of a target facility, required accuracy of gathering data and specs of instruments are given. The triangular polygons for shape description of the 3D model are reconstructe...Show More
Prototype of Wearable Robot with Tactile Sensor Measurable Contact Force Distribution with User
2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)
Year: 2018 | Conference Paper |
Cited by: Papers (3)
To improve safety of wearable assist robots, the authors make a prototype wearable robot suitable for the contact force distribution feedback control system. Because wearable assist robots contact the user and apply force directly, ensuring safety of the user is most important. In order to improve safety from the aspect of control, a contact force distribution feedback control system has been rese...Show More
Majority Rule Sensor Fusion System with Particle Filter for Robust Robot Localization
2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
Year: 2018 | Conference Paper |
Cited by: Papers (3)
This paper discusses a robust localization method that uses particle filtering. A particle filter can suppress the influence of temporary noise on a sensor based on past sensor data. However, localization fails when a sensor is affected by noise that lasts for several minutes even when using a particle filter. We have previously proposed a majority rule-based sensor fusion system that removes sens...Show More
Study on an Evaluation Method of Coincident Timing Skill of Driver Based on Driving Behavior Model of Brake Operation
2018 IEEE 27th International Symposium on Industrial Electronics (ISIE)
Year: 2018 | Conference Paper |
Cited by: Papers (2)
Traffic accidents caused by elderly drivers have become an important social issue in Japan. The primary factor of traffic accidents by elderly drivers is a reduction in their driving skill. In this case, in order to assist operation of driver whose driving skill is reduced, the system must be able to evaluate his driving behavior skill. In this paper, we propose a evaluation method of driver's dri...Show More
The authors aim for safe assistance by feedback control of the contact force in the wearable robot. Securing safety for users is of utmost importance for wearable robots. For safe assistance of complex body parts such as the torso, the robot is desirable to be able to sense the contact force: the force applied to the human body by the robot. The authors have been studying robots sensing contact fo...Show More
Impedance control system based on contact force distribution for wearable robot with tactile sensors
2017 IEEE/SICE International Symposium on System Integration (SII)
Year: 2017 | Conference Paper |
The authors aim for safe assistance by feedback control of the contact force distribution in wearable robots. Since the wearable robot is in direct contact with the user, safety control is important. In order to improve safety, robot is desirable to be able to be controlled based on contact force: the force applied to the human body by the robot. A control system that feeds back joint torque as co...Show More
Control system based on pressure distribution for wearable assist robot on multi-joint body part
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)
Year: 2016 | Conference Paper |
Cited by: Papers (6)
Wearable assist robots deliver power in form of direct contacts with the user, therefore, safety control is considered to be the prior requirement for wearable assist robots. To improve safety, the robot needs to be controlled based on the current contact state feedback. As a state estimation concept approach, a feedback control system based on joint torque has been proposed. The principle of this...Show More
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