647 research outputs found
Musical NAO: Instrument Playing Humanoid Using Monocular Vision
No full textHumanoid robots are becoming part of modern societies mainly involving the education and entertainment fields. Therefore, providing techniques that enable a humanoid to autonomously play instruments like the metallophone we enrich its usefulness. In this work we present an approach for making humanoid robot NAO play the metallophone. Specifically, we provide an application which can be used by everyone owned a NAO robot. In our approach, no markers are necessary to be attached on the robot, making the procedure of playing music, seems natural. We propose an efficient real-time approach for recognizing and estimate the metallophone in 3D space using a single camera. Our vision approach performs well in camera displacements, illumination and aspect changes. For accurate playing, the robot automatically validates the computed IK configurations based on a vision-based robot control approach and adapts its arm configurations if it is necessary. To achieve this, we rely on the estimated pose of the musical instrument and the detection of the beaters in 2D, based on natural features and then we apply inverse kinematics. Concerning kinematics, we use singularity-robust approach by pre-computing forward kinematics which are used to efficiently solve inverse kinematics (IK) problems. In our approach we limited on moving only NAO's arms for playing the metallophone. Therefore, we developed a human-robot interaction phase in which the robot uses its perception about the position of the instrument in 3D space and it guides a human in order to place it in a reachable for the robot position. Moreover, in our system we provide a simple way to add songs, which NAO can immediately play
Polypedilum (Uresipedilum) bingoparadoxum Kawai, Inoue et Imabayashi 1998
No full textPolypedilum (Uresipedilum) bingoparadoxum Kawai, Inoue et Imabayashi, 1998 Polypedilum (Uresipedilum) bingoparadoxum Kawai, Inoue et Imabayashi, 1998: 378. Microtendipes iriocedeus Sasa et Suzuki, 2000a: 12. syn. n. Polypedilum tsukubaense: Tang & Niitsuma, 2017: 550. misidentification. S pecimen examined: Japan: Okinawa Pref. Ishigaki Is., Kuira River, holotype ♂ of Microtendipes iriocedeus, 2. vii. 1999, H. Suzuki [specimen No. 385:34 (NSMT-I-Dip 5293)]. The following features are recognized in the holotype of Microtendipes iriocedeus: superior volsella robust, basal 1/2 sparsely covered with microtrichia, apical portion abruptly narrowed and hooked inwardly and anteriorly, basal portion with 2 inner setae and a dorsolateral seta inserted at about basal 1/3; anal point long and parallelsided, with pointed apex. These features and other morphological characters are quite identical to those of Polypedilum (Uresipedilum) bingoparadoxum.Published as part of Yamamoto, Nao & Yamamoto, Masaru, 2018, Taxonomic information on some Japanese Chironomidae (Diptera) described by Dr. M. Sasa (†), pp. 516-528 in Zootaxa 4514 (4) on page 526, DOI: 10.11646/zootaxa.4514.4.5, http://zenodo.org/record/260935
Thua nao: Thai fermented soybean
No full textAbstractThua nao is a traditionally fermented food in Thailand. It is manufactured by fermenting cooked soybeans with naturally occurring microbes. There are also similar products including natto in Japan, kinema in India, and chongkukjang in Korea. In Thailand, thua nao is widely consumed, especially by people in the northern part. The product is generally regarded as a protein supplement and widely used as a condiment. Two major types of thua nao can be distinguished; fresh and dried forms. To date, scientific information on thua nao is scarce and thus this article aims to document the updated knowledge of Thai thua nao
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