Robotic sensing
Encyclopedia
Robotic sensing is a branch of robotics science intended to give robots sensing capabilities, so that robots are more human-like. Robotic sensing mainly gives robots the ability to see, touch, hear and move and uses algorithms that require environmental feedback.
, sonar
, and laser
to the new technology radio frequency identification
(RFID), which transmits radio signals to a tag on an object that emits back an identification code. All four methods aim for three procedures—sensation, estimation, and matching.
is important in applications that require excellent robotic vision. Algorithm based on wavelet transform for fusing images of different spectra
and different foci improves image quality. Robots can gather more accurate information from the resulting improved image.
, which relies on the prior knowledge of signal statistics that are assumed to be stationary. Recent solution applies an adaptive filter
to the robot’s logic. It enables the robot to predict the resulting sensor signals of its internal motions, screening these false signals out. The new method improves contact detection and reduces false interpretation.
, contact time, repetition, and contact area change—can effectively categorize touch patterns through the temporal decision tree classifier to account for the time delay and associate them to human emotions with up to 83% accuracy. The Consistency Index is applied at the end to evaluate the level of confidence of the system to prevent inconsistent reactions.
Robots use touch signals to map the profile
of a surface in hostile environment
such as a water pipe. Traditionally, a predetermined path was programmed into the robot. Currently, with the integration of touch sensors, the robots first acquire a random data point; the algorithm of the robot will then determine the ideal position of the next measurement according to a set of predefined geometric primitives. This improves the efficiency by 42%.
, so that the vibration
that is causing the internal noise could be eliminated. On average, internal noise up to about 7dB
can be reduced.
Robots may interpret strayed noise as speech instructions. Current voice activity detection
(VAD) system uses the complex spectrum circle centroid (CSCC) method and a maximum signal-to-noise ratio (SNR) beamformer. Because humans usually look at their partners when conducting conversations, the VAD system with two microphones enable the robot to locate the instructional speech by comparing the signal strengths of the two microphones. Current system is able to cope with background noise generated by televisions and sounding devices that come from the sides.
and linguistic
features are generally used to characterize emotions. The combination of seven acoustic features and four linguistic features improves the recognition performance when compared to using only one set of features.
molecule as an inert body and three catalytic legs is able to start, follow, turn and stop when came across different DNA
origami
. The DNA-based nano-robots can move over 100 nm with a speed of 3 nm/min.
In a TSI
operation, which is an effective way to identify tumors and potentially cancer by measuring the distributed pressure at the sensor’s contacting surface, excessive force may inflict a damage and have the chance of destroying the tissue. The application of robotic control to determine the ideal path of operation can reduce the maximum forces by 35% and gain a 50% increase in accuracy compared to human doctors.
Method
The visual sensing system can be based on anything from the traditional cameraCamera
A camera is a device that records and stores images. These images may be still photographs or moving images such as videos or movies. The term camera comes from the camera obscura , an early mechanism for projecting images...
, sonar
Sonar
Sonar is a technique that uses sound propagation to navigate, communicate with or detect other vessels...
, and laser
Laser
A laser is a device that emits light through a process of optical amplification based on the stimulated emission of photons. The term "laser" originated as an acronym for Light Amplification by Stimulated Emission of Radiation...
to the new technology radio frequency identification
Radio Frequency Identification
Radio-frequency identification is a technology that uses radio waves to transfer data from an electronic tag, called RFID tag or label, attached to an object, through a reader for the purpose of identifying and tracking the object. Some RFID tags can be read from several meters away and beyond the...
(RFID), which transmits radio signals to a tag on an object that emits back an identification code. All four methods aim for three procedures—sensation, estimation, and matching.
Image processing
Image qualityImage Quality
Image quality is a characteristic of an image that measures the perceived image degradation . Imaging systems may introduce some amounts of distortion or artifacts in the signal, so the quality assessment is an important problem.-In photographic imaging:In digital or film-based photography, an...
is important in applications that require excellent robotic vision. Algorithm based on wavelet transform for fusing images of different spectra
Spectra
Spectra are conditions or values that vary over a continuum.Spectra may also refer to:* Kia Spectra, a car developed by Kia Motors from 2000-present* Optare Spectra, a bus body built by Optare...
and different foci improves image quality. Robots can gather more accurate information from the resulting improved image.
Usage
Visual sensors help robots to identify the surrounding and take appropriate action. Robots analyze the image of the immediate environment imported from the visual sensor. The result is compared to the ideal intermediate or end image, so that appropriate movement can be determined to reach the intermediate or final goal.Signal processing
Touch sensory signals can be generated by the robot's own movements. It is important to identify only the external tactile signals for accurate operations. Previous solutions employed the Wiener filterWiener filter
In signal processing, the Wiener filter is a filter proposed by Norbert Wiener during the 1940s and published in 1949. Its purpose is to reduce the amount of noise present in a signal by comparison with an estimation of the desired noiseless signal. The discrete-time equivalent of Wiener's work was...
, which relies on the prior knowledge of signal statistics that are assumed to be stationary. Recent solution applies an adaptive filter
Adaptive filter
An adaptive filter is a filter that self-adjusts its transfer function according to an optimization algorithm driven by an error signal. Because of the complexity of the optimization algorithms, most adaptive filters are digital filters. By way of contrast, a non-adaptive filter has a static...
to the robot’s logic. It enables the robot to predict the resulting sensor signals of its internal motions, screening these false signals out. The new method improves contact detection and reduces false interpretation.
Usage
Touch patterns enable robots to interpret human emotions in interactive applications. Four measurable features—forceForce
In physics, a force is any influence that causes an object to undergo a change in speed, a change in direction, or a change in shape. In other words, a force is that which can cause an object with mass to change its velocity , i.e., to accelerate, or which can cause a flexible object to deform...
, contact time, repetition, and contact area change—can effectively categorize touch patterns through the temporal decision tree classifier to account for the time delay and associate them to human emotions with up to 83% accuracy. The Consistency Index is applied at the end to evaluate the level of confidence of the system to prevent inconsistent reactions.
Robots use touch signals to map the profile
Profile
- Computing and technology :* Profile , a concept in Unified Modeling Language* Apple ProFile, a hard drive* User profile refers to the computer representation of user information...
of a surface in hostile environment
Hostile Environment
Hostile Environment is the third solo album of rapper/emcee Rasco. It was his second and last album with Copasetik Records. The album contains some familiar and new features, both lyrically and in terms of production. -Track listing:...
such as a water pipe. Traditionally, a predetermined path was programmed into the robot. Currently, with the integration of touch sensors, the robots first acquire a random data point; the algorithm of the robot will then determine the ideal position of the next measurement according to a set of predefined geometric primitives. This improves the efficiency by 42%.
Signal processing
Accurate audio sensor requires low internal noise contribution. Traditionally, audio sensors combine acoustical arrays and microphones to reduce internal noise level. Recent solutions combine also piezoelectric devices. These passive devices use the piezoelectric effect to transform force to voltageVoltage
Voltage, otherwise known as electrical potential difference or electric tension is the difference in electric potential between two points — or the difference in electric potential energy per unit charge between two points...
, so that the vibration
Vibration
Vibration refers to mechanical oscillations about an equilibrium point. The oscillations may be periodic such as the motion of a pendulum or random such as the movement of a tire on a gravel road.Vibration is occasionally "desirable"...
that is causing the internal noise could be eliminated. On average, internal noise up to about 7dB
DB
DB may refer to:In science and technology:*Decibel , a logarithmic unit of measurement in acoustics and electronics*Dubnium , a chemical element*DB connector, a size of D-subminiature electrical connector...
can be reduced.
Robots may interpret strayed noise as speech instructions. Current voice activity detection
Voice activity detection
Voice activity detection , also known as speech activity detection or speech detection, is a technique used in speech processing in which the presence or absence of human speech is detected.. The main uses of VAD are in speech coding and speech recognition...
(VAD) system uses the complex spectrum circle centroid (CSCC) method and a maximum signal-to-noise ratio (SNR) beamformer. Because humans usually look at their partners when conducting conversations, the VAD system with two microphones enable the robot to locate the instructional speech by comparing the signal strengths of the two microphones. Current system is able to cope with background noise generated by televisions and sounding devices that come from the sides.
Usage
Robots can perceive our emotion through the way we talk. AcousticAcoustics
Acoustics is the interdisciplinary science that deals with the study of all mechanical waves in gases, liquids, and solids including vibration, sound, ultrasound and infrasound. A scientist who works in the field of acoustics is an acoustician while someone working in the field of acoustics...
and linguistic
Language
Language may refer either to the specifically human capacity for acquiring and using complex systems of communication, or to a specific instance of such a system of complex communication...
features are generally used to characterize emotions. The combination of seven acoustic features and four linguistic features improves the recognition performance when compared to using only one set of features.
Acoustic feature
- Duration
- EnergyEnergyIn physics, energy is an indirectly observed quantity. It is often understood as the ability a physical system has to do work on other physical systems...
- PitchPitchPitch may refer to:* Pitch , a viscous substance produced by plants or formed from petroleum* Pitch * sales pitch** elevator pitch, a very short sales pitch such as that made during an elevator ride* Pitch accent-Music and acoustics:...
- SpectrumSpectrumA spectrum is a condition that is not limited to a specific set of values but can vary infinitely within a continuum. The word saw its first scientific use within the field of optics to describe the rainbow of colors in visible light when separated using a prism; it has since been applied by...
- Cepstral
- Voice quality
- Wavelets
Linguistic feature
- Bag of words
- Part-of-speech
- Higher semanticsSemanticsSemantics is the study of meaning. It focuses on the relation between signifiers, such as words, phrases, signs and symbols, and what they stand for, their denotata....
- VariaVariaVaria may refer to:* Varia , character on Xena: Warrior Princess* Varia Suit, armor expansion in the Metroid video game series* Vicovaro or Varia, a town in Italy...
Usage
Automated robots require a guidance system to determine the ideal path to perform its task. However, in the molecular scale, nano-robots lack such guidance system because individual molecules cannot store complex motions and programs. Therefore, the only way to achieve motion in such environment is to replace sensors with chemical reactions. Currently, a molecular spider that has one streptavidinStreptavidin
Streptavidin is a 60000 dalton protein purified from the bacterium Streptomyces avidinii. Streptavidin homo-tetramers have an extraordinarily high affinity for biotin . With a dissociation constant on the order of ≈10-14 mol/L, the binding of biotin to streptavidin is one of the strongest...
molecule as an inert body and three catalytic legs is able to start, follow, turn and stop when came across different DNA
DNA
Deoxyribonucleic acid is a nucleic acid that contains the genetic instructions used in the development and functioning of all known living organisms . The DNA segments that carry this genetic information are called genes, but other DNA sequences have structural purposes, or are involved in...
origami
Origami
is the traditional Japanese art of paper folding, which started in the 17th century AD at the latest and was popularized outside Japan in the mid-1900s. It has since then evolved into a modern art form...
. The DNA-based nano-robots can move over 100 nm with a speed of 3 nm/min.
In a TSI
TSI
-Science, technology and engineering:*Thyroid Stimulating Immunoglobulin*Time-Slot Interchange, a technique used to switch networks*Total Solar Irradiance, the total energy output of the sun*Trophic state index...
operation, which is an effective way to identify tumors and potentially cancer by measuring the distributed pressure at the sensor’s contacting surface, excessive force may inflict a damage and have the chance of destroying the tissue. The application of robotic control to determine the ideal path of operation can reduce the maximum forces by 35% and gain a 50% increase in accuracy compared to human doctors.