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3rd international conference on Speech Prosody, SP 2006

作者： Campbell, Nick Advanced Telecommunications Research Institute Media Information Science Laboratory Department of Cognitive Media Informatics Keihanna Science City Kyoto619-0288 Japan

The special structure of spoken language is often described as "ill-formed" but this paper shows that it is ideally suited to the simultaneous expression of (a) propositional content (i.e., linguistic information) and (b) speaker-state, discourse management cues, and speaker-listener-relationships (i.e., affective information). This paper shows that by the frequent insertion of so-called "fillers" and other repetitive fragments, the speaker provides the listener with constant reference points for evaluating affective states as displayed by voice-quality information. Keywords expressing affect, spontaneous communication, 'wrappers & fillers', sentence structure, discourse control. © 2006 Proceedings of the international conference on Speech Prosody.

关键词： Fillers

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Using prosodic and voice quality features for paralinguistic information extraction 3

Using prosodic and voice quality features for paralinguistic...

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3rd international conference on Speech Prosody, SP 2006

作者： Ishi, Carlos Toshinori Ishiguro, Hiroshi Hagita, Norihiro Intelligent Robotics and Communication Laboratories ATR Kyoto Japan

The use of voice quality features in addition to prosodic features is proposed for automatic extraction of paralinguistic information (like speech acts, attitudes and emotions) in dialog speech. Perceptual experiments and acoustic analysis are conducted for monosyllabic utterances spoken in several speaking styles, carrying a variety of paralinguistic information. Acoustic parameters related with prosodic and voice quality features potentially representing the variations in speaking styles are evaluated. Experimental results indicate that prosodic features are effective for identifying some groups of speech acts with specific functions, while voice quality features are useful for identifying utterances with an emotional or attitudinal expressivity. © 2006 Proceedings of the international conference on Speech Prosody.

关键词： Quality control

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Active stereo vision-based mobile robot navigation for person tracking

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INTEGRATED COMPUTER-AIDED ENGINEERING 2006年第3期13卷 203-222页

作者： Enescu, V. De Cubber, G. Cauwerts, K. Sahli, H. Demeester, E. Vanhooydonck, D. Nuttin, M. Vrije Univ Brussels Dept Elect & Informat ETRO Brussels Belgium Katholieke Univ Leuven Dept Mech Engn PMA B-3000 Louvain Belgium

In this paper, we propose a mobile robot architecture for person tracking, consisting of an active stereo vision module (ASVM) and a navigation module (NM). The first uses a stereo head equipped with a pan-tilt mechanism to track a moving target (selected by an operator) and keep it centered in the visual field. Its output, i.e. the 3D position of the person, is fed to the NM, which drives the robot towards the target while avoiding obstacles. For this, a hybrid navigation algorithm is adopted with a reactive part that efficiently reacts to the most recent sensor data, and a deliberative part that generates a globally optimal path to a target destination, such as the person's location. As a peculiarity of the system, there is no feedback from the NM or the robot motion controller (RMC) to the ASVM. While this imparts flexibility in combining the ASVM with a wide range of robot platforms, it puts considerable strain on the ASVM. Indeed, besides the changes in the target dynamics, it has to cope with the robot motion during obstacle avoidance. These disturbances are accommodated via a suitable stochastic dynamic model for the stereo head-target system. Robust tracking is achieved by combining a color-based particle filter with a method to update the color model of the target under changing illumination conditions. The main contributions of this paper lie in (1) devising a robust color-based 3D target tracking method, (2) proposing a hybrid deliberative/reactive navigation scheme, and (3) integrating them on a wheelchair platform for the final goal of person following. Experimental results are presented for ASVM separately and in combination with a wheelchair platform-based implementation of the NM.

关键词： MOBILE robots AUTOMATIC tracking ROBOTS robotics MOTION control devices

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ORTHO-BOT:: A modular reconfigurable space robot concept

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8th international conference on Climbing and Walking Robots (CLAWAR 2005)

作者： Ramchurn, V. Richardson, R. C. Nutter, P. Univ Manchester Sch Comp Sci Kilburn BldgOxford Rd Manchester M13 9PL Lancs England

ISBN: (纸本)3540264132

A new set of challenging tasks are envisaged for future robotic planetary space missions. In contrast to conventional exploration rovers, industrial robotic roles are required for object manipulation and transportation in e.g. habitat construction. This prompts research into more robust failsafe robot designs, having greater mission redundancy for cost-effectiveness, with adjustable structures for multi-tasking. A Modular Reconfigurable design is investigated to meet these requirements using linear actuation over revolute since this alternative approach to modular robotics can form truss type structures providing inherently stable structures appropriate to the given task type. For ease of reconfiguration a connectivity solution is sought that may be simple enough to allow self-reconfiguration thus enabling extremely remote autonomous operation. In effort to meet this challenge the ORTHO-BOT developmental concept is introduced in this paper. Based on the core module developed thus far, a walking design has been successfully demonstrated in simulation to fulfil the key requirement of locomotion. Though the focus for this research is aimed at space-based roles conceptual solutions developed should also find useful application in terrestrial remote or hazardous environments.

关键词： modular robot prismatic actuation connectivity industrial simulation

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PVDF-based biomimetic sensor for application in crawling soft-body mini-robots

PVDF-based biomimetic sensor for application in crawling sof...

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2006 IEEE/RSJ international conference on Intelligent Robots and Systems, IROS 2006

作者： Liu, Weiting Menciassi, A. Scapellato, S. Dario, P. Chen, Yuquan Biosensor National Special Lab. of China Zhejiang University Zheda Rd. 38 310027 Hangzhou China Center for Research in Micro-Engineering-CRIM Lab. Scuola Superiore sant'Anna P.za Martiri della Libertá 33 56127 Pisa Italy Biorobotics Engineering School IMT Lucca Institute for Advanced Studies Via S. Micheletto 3 55110 Lucca Italy

ISBN: (纸本)142440259X

This paper focus on developing a flexible biomimetic sensor, which is embedded in a soft earthworm-like crawling minirobot and mimics exteroceptive and proprioceptive functions of invertebrates, such as its biological counterpart-earthworm. A polyvinylidene fluoride (PVDF) film is selected as the sensing element because it is flexible, highly sensitive and easy to be integrated in different shapes. Thin and narrow PVDF strips are embedded with an innovative molding-embedding-remolding fabrication procedure in a segmented compliant silicone shell which serves as skin and passive actuation of a crawling earthworm-like minirobot with the ability to elongate and contract. Several experiments were performed by using a purposely developed test-bench in order to test sensor behaviour. The results show that the biomimetic flexible PVDF-based sensor can detect both the external contact and the internal actions, thus imitating the exteroceptive and proprioceptive sensing capabilities of real earthworms. The developed biomimetic sensors are promising in order to achieve an useful sensor feedback for the earthworm-like minirobot motion control. © 2006 IEEE.

关键词： Biosensors

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Automated NDT of floating production storage oil tanks with a swimming and climbing robot

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8th international conference on Climbing and Walking Robots (CLAWAR 2005)

作者： Sattar, T. P. Rodriguez, H. E. Leon Shang, J. Bridge, B. South Bank Univ Dept Elect Comp & Commun Engn 103 Borough Rd London SE1 0AA England

ISBN: (纸本)3540264132

This paper describes the design and development of a prototype swimming and wall-climbing robot that gains access to internal tank wall and floor surfaces on Floating Production Storage Oil (FPSO) tanks for the purposes of carrying out Non-Destructive Testing (NDT) of welds while the tank is in-service and full of oil. A brief description is given of the inspection environment and the three NDT techniques (ultrasonic phased arrays, eddy current arrays, and Alternating Current Field Measurement ACFM arrays) that will be used to detect weld cracks and floor corrosion and pitting.

关键词： FPSONDT swimming & climbing robot

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The Study of Positioning with High-precision by Single Camera based on P3P Algorithm

The Study of Positioning with High-precision by Single Camer...

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IEEE international conference on Industrial informatics (INDIN)

作者： Jia. Qingxuan Zheng. Ping Sun. Hanxu Automation School Beijing University of Posts and Telecommunications Beijing China

Binocular method is always used in the object location of robot, but the matching problem of the control points in the images is not settled perfectly. This paper introduces a method of Real-time positioning with high-precision by single camera based on P3P algorithm. When the camera and the control points were set on specific spatial location, we could get the position of the object. The experiment results show that the technique is fit for the robot operation.

关键词： Cameras Robot vision systems Robot kinematics robotics and automation Optical control Sun Automatic control Telecommunication control Optical sensors Robot sensing systems

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Centralised Fetal Monitoring System with Hardware-Based Data Flow control

Centralised Fetal Monitoring System with Hardware-Based Data...

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2006 IET 3rd international conference On Advances in Medical, Signal and Information Processing - MEDSIP 2006

作者： J. Jezewski J. Wrobel K. Horobal T. Kupka A. Matonia Department of Biomedical Informatics Institute Medical Technology and Equipment Zabrze Poland

Central patient monitoring has become the standard approach in modem medicine. In the fetal surveillance system the bedside monitor as an input device enables fetal heart rate, uterine contractions and fetal movement information to be accessed by a computer. However, connection of several fetal monitors (various types sometimes) to the system meets a few serious software and hardware problems. The efforts that have been taken to solve these problems during the development of the centralised fetal monitoring system are discussed in this paper.

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ZIP60: an enhanced variant of the ZIP trading algorithm

ZIP60: an enhanced variant of the ZIP trading algorithm

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IEEE international conference on e-Commerce Technology (CEC)

作者： D. Cliff Foreign Exchange Complex Risk Group Deutsche Bank London UK

The "ZIP" adaptive automated trading algorithm has been shown to outperform human traders in experimental studies of continuous double auction (CDA) markets populated by mixtures of human and "software robot" traders. This paper introduces a more sophisticated version of the ZIP algorithm, called ZIP60 because it requires the values of 60 parameters to be set correctly. ZIP60 is shown here to produce significantly improved results in comparison to the original ZIP algorithm (called "ZIP8" hereafter). A genetic algorithm is used to search the 60-dimensional parameter space, and it finds parameter values that yield ZIP60 traders with mean scores that are significantly better than those of ZIP8s. Principal component analysis of the best evolved ZIP60 parameter-sets establishes that no ZIP8 solutions are embedded in the 60-d space. Moreover, the results presented here cast doubt on earlier ZIP8 results concerning the evolution of new 'hybrid' auction mechanisms that appeared to be improvements on the CDA

关键词： Humans Automatic control Genetic algorithms Principal component analysis Winches robotics and automation Consumer electronics Computer science Performance analysis Algorithm design and analysis

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Design and Realization of a Novel Reconfigurable Robot with Serial and Parallel Mechanisms

Design and Realization of a Novel Reconfigurable Robot with ...

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IEEE international conference on robotics and Biomimetics

作者： Wei Wang Houxiang Zhang Guanghua Zong Jianwei Zhang Robotics Institute Beihang University Beijing China TAMS Department of Informatics University of Hamburg Hamburg Germany

Civil rescue and military reconnaissance are domains that involve a great amount of manpower; and it is quite dangerous and laborious in a hostile environment. This paper presents a novel field robot JL-I based on reconfiguration for these applications. The robotic system consists of 3 uniform modules; each module is an entire robotic system that can perform distributed activities. In order to meet the requirements of highly adaptive locomotion capabilities, the applied mechanical structure of the robot is employed to drive the serial and parallel mechanisms to form an active joint for changing shape in three dimensions. After summarizing the basic functions provided by this system, the mechanical structure, the control system and the locomotion capabilities of JL-I are introduced in detail. Finally the successful on-site tests confirm the principles described above and the robot's ability.

关键词： Parallel robots Mobile robots Service robots robotics and automation Reconnaissance Inspection Orbital robotics Shape Wheels Surveillance

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