Abstract: A touch sensing method and a serial manipulator using the same are disclosed. A serial manipulator using the method may detect and localize external torques by obtaining a torque value of each joint of a serial manipulator through a torque sensor at the joint; obtaining a preset joint angle of each joint from the serial manipulator; calculating a Jacobian matrices of the serial manipulator based on the joint angle of the joints; estimating joint torques of the serial manipulator based on the torque value of each joint and the Jacobian matrices; calculating an error between the torque value of each joint and the estimated joint torque corresponding to the joint; and determining a link of the serial manipulator that is connected to the joint with the minimum calculated error as having been touched.

Abstract: A system for assessment of neurocognitive and neuromotor control performance, the system comprising a portable force plate configured to collect force plate data indicative of movement and postural control of a subject as the subject performs a task, a depth sensing device configured to, simultaneously with the collection of the force plate data, collect depth data of the subject as the subject performs the task, an interface board configured to, simultaneously with the collection of the force plate data and the collection of the depth data, generate stimuli to instruct the subject to perform a particular task and to generate interface board data indication of input received from the subject in response to the stimuli, and a computer-based controller configured to execute one or more neurocognitive and neuromotor control performance assessment program to analyze the force plate data, the depth data, and the interface board data.

Abstract: An autonomous robotic exploration method based on a reduced approximated generalized Voronoi graph, the method including: 1) constructing a reduced approximated generalized Voronoi topological map based on a morphological method; 2) obtaining an Next-Best-View and planning a global path from the robot to the Next-Best-View; and 3) navigating to the Next-Best-View along the global path R={r0, r1, r2, . . . , pNBV} based on a visual force field (VFF) algorithm.

Abstract: A method, including: 1) inputting a multi-story point cloud, and segmenting a story and an inter-story connection region based on an elevation histogram of the point cloud in a vertical direction; 2) segmenting rooms for each story based on a grid map projected onto an XOY plane respectively, wherein the XOY plane is parallel to a flooring; 3) segmenting indoor space cells for each story based on a vector wall line respectively; constructing a vector indoor plan based on superimposition of the vector and the grid for each story respectively; and 5) establishing a three-dimensional model of a multi-story structure by deleting an overlapping surface between the story and the connection region according to the Boolean intersection.

Abstract: An autonomous robotic exploration method based on a reduced approximated generalized Voronoi graph, the method including: 1) constructing a reduced approximated generalized Voronoi topological map based on a morphological method; 2) obtaining an Next-Best-View and planning a global path from the robot to the Next-Best-View; and 3) navigating to the Next-Best-View along the global path R={r0, r1, r2, . . . , pNBV} based on a visual force field (VFF) algorithm.

Abstract: A method, including: 1) inputting a multi-story point cloud, and segmenting a story and an inter-story connection region based on an elevation histogram of the point cloud in a vertical direction; 2) segmenting rooms for each story based on a grid map projected onto an XOY plane respectively, wherein the XOY plane is parallel to a flooring; 3) segmenting indoor space cells for each story based on a vector wall line respectively; constructing a vector indoor plan based on superimposition of the vector and the grid for each story respectively; and 5) establishing a three-dimensional model of a multi-story structure by deleting an overlapping surface between the story and the connection region according to the Boolean intersection.