Path Planning and Motion Control of Indoor Mobile Robot under Exploration-Based SLAM (e-SLAM).

Indoor mobile robot (IMR) motion control for e-SLAM techniques with limited sensors, i.e., only LiDAR, is proposed in this research. The path was initially generated from simple floor plans constructed by the IMR exploration. The path planning starts from the vertices which can be traveled through, proceeds to the velocity planning on both cornering and linear motion, and reaches the interpolated discrete points joining the vertices. The IMR recognizes its location and environment gradually from the LiDAR data. The study imposes the upper rings of the LiDAR image to perform localization while the lower rings are for obstacle detection. The IMR must travel through a series of featured vertices and perform the path planning further generating an integrated LiDAR image. A considerable challenge is that the LiDAR data are the only source to be compared with the path planned according to the floor map. Certain changes still need to be adapted into, for example, the distance precision with relevance to the floor map and the IMR deviation in order to avoid obstacles on the path. The LiDAR setting and IMR speed regulation account for a critical issue. The study contributed to integrating a step-by-step procedure of implementing path planning and motion control using solely the LiDAR data along with the integration of various pieces of software. The control strategy is thus improved while experimenting with various proportional control gains for position, orientation, and velocity of the LiDAR in the IMR.

Effects of Interactive Music Tempo with Heart Rate Feedback on Physio-Psychological Responses of Basketball Players.

This paper introduces an interactive music tempo control with closed-loop heart rate feedback to yield a sportsperson with better physio-psychological states. A total of 23 participants (13 men, 10 women; 16−32 years, mean = 20.04 years) who are professionals or school team members further guide a sportsperson to amend their physical tempo to harmonize their psychological and physical states. The self-tuning mechanism between the surroundings and the human can be amplified using interactive music tempo control. The experiments showed that listening to interactive music had a significant effect on the heart rate and rating of perceived exertion (RPE) of the basketball player compared to those listening to asynchronous music or no music during exercise (p < 0.01). Synchronized interactive music allows athletes to increase their heart rate and decrease RPE during exercise and does not require a multitude of preplanned playlists. All self-selected songs can be converted into sports-oriented music using algorithms. The algorithms of synchronous and asynchronous modes in this study can be adjusted and applied to other sports fields or recovery after exercise. In the future, other musical parameters should be adjusted in real-time based on physiological signals, such as tonality, beats, chords, and orchestration.

Exploration-Based SLAM (e-SLAM) for the Indoor Mobile Robot Using Lidar.

This paper attempts to uncover one possible method for the IMR (indoor mobile robot) to perform indoor exploration associated with SLAM (simultaneous localization and mapping) using LiDAR. Specifically, the IMR is required to construct a map when it has landed on an unexplored floor of a building. We had implemented the e-SLAM (exploration-based SLAM) using the coordinate transformation and the navigation prediction techniques to achieve that purpose in the engineering school building which consists of many 100-m2 labs, corridors, elevator waiting space and the lobby. We first derive the LiDAR mesh for the orthogonal walls and filter out the static furniture and dynamic humans in the same space as the IMR. Then, we define the LiDAR pose frame including the translation and rotation from the orthogonal walls. According to the MSC (most significant corner) obtained from the intersection of the orthogonal walls, we calculate the displacement of the IMR. The orientation of the IMR is calculated from the alignment of orthogonal walls in the consecutive LiDAR pose frames, which is also assisted by the LQE (linear quadratic estimation) method. All the computation can be done in a single processor machine in real-time. The e-SLAM technique leads to a potential for the in-house service robot to start operation without having pre-scan LiDAR maps, which can save the installation time of the service robot. In this study, we use only the LiDAR and compared our result with the IMU to verify the consistency between the two navigation sensors in the experiments. The scenario of the experiment consists of rooms, corridors, elevators, and the lobby, which is common to most office buildings.

Electronic cam motion generation with special reference to constrained velocity, acceleration, and jerk.

Electronic cam motion involves velocity tracking control of the master motor and trajectory generation of the slave motor. Special concerns such as the limits of the velocity, acceleration, and jerk are beyond the considerations in the conventional electronic cam motion control. This study proposes the curve-fitting of a Lagrange polynomial to the cam profile, based on trajectory optimization by cubic B-spline interpolation. The proposed algorithms may yield a higher tracking precision than the conventional master-slaves control method does, providing an optimization problem is concerned. The optimization problem contains three dynamic constraints including velocity, acceleration, and jerk of the motor system.