8 research outputs found
GRAINS: Proximity Sensing of Objects in Granular Materials
Proximity sensing detects an object's presence without contact. However,
research has rarely explored proximity sensing in granular materials (GM) due
to GM's lack of visual and complex properties. In this paper, we propose a
granular-material-embedded autonomous proximity sensing system (GRAINS) based
on three granular phenomena (fluidization, jamming, and failure wedge zone).
GRAINS can automatically sense buried objects beneath GM in real-time manner
(at least ~20 hertz) and perceive them 0.5 ~ 7 centimeters ahead in different
granules without the use of vision or touch. We introduce a new spiral
trajectory for the probe raking in GM, combining linear and circular motions,
inspired by a common granular fluidization technique. Based on the observation
of force-raising when granular jamming occurs in the failure wedge zone in
front of the probe during its raking, we employ Gaussian process regression to
constantly learn and predict the force patterns and detect the force anomaly
resulting from granular jamming to identify the proximity sensing of buried
objects. Finally, we apply GRAINS to a Bayesian-optimization-algorithm-guided
exploration strategy to successfully localize underground objects and outline
their distribution using proximity sensing without contact or digging. This
work offers a simple yet reliable method with potential for safe operation in
building habitation infrastructure on an alien planet without human
intervention.Comment: 35 pages, 5 figures,2 tables. Videos available at
https://sites.google.com/view/grains2/hom
A Review on Human-Computer Interaction and Intelligent Robots
In the field of artificial intelligence, human–computer interaction (HCI) technology and its related intelligent robot technologies are essential and interesting contents of research. From the perspective of software algorithm and hardware system, these above-mentioned technologies study and try to build a natural HCI environment. The purpose of this research is to provide an overview of HCI and intelligent robots. This research highlights the existing technologies of listening, speaking, reading, writing, and other senses, which are widely used in human interaction. Based on these same technologies, this research introduces some intelligent robot systems and platforms. This paper also forecasts some vital challenges of researching HCI and intelligent robots. The authors hope that this work will help researchers in the field to acquire the necessary information and technologies to further conduct more advanced research