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Development of jaw exoskeleton for rehabilitation of temporomandibular disorders 2

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2nd international conference on robot intelligence technology and applications, RiTA 2013

作者： Wang, Xiaoyun Potgieter, Johan Diegel, Olaf School of Engineering & Advanced Technology Massey University Private Bag 102 904 North Shore City0745 New Zealand Department of Mechanical Engineering University of Auckland New Zealand

ISBN: (纸本)9783319055817

A jaw exoskeleton is proposed in this paper to assist the exercise for the purpose of practical rehabilitation of temporomandibular disorder (TMD). The jaw, attached to the skull by muscles and pivoted at the condyle via the temporomandibular joint (TMJ), can be simplified as moving in the twodimensional sagittal plane. Based on the in-vivo recording the jaw movement from the healthy subject, the motion pattern is justified to be the primary specification to design the jaw exoskeleton. A planar four-bar linkage is synthesized to reproduce the specified normal jaw motion in terms of incisor and condyle trajectory on the coupler point to meet the kinematic specification. Adjustable lengths of the links are used to achieve a group of trajectories of any possibility. © Springer international Publishing Switzerland 2014.

关键词： Specifications

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Estimation of Vehicle Pose Using Artificial Landmarks for Navigation of an Underwater Vehicle 2

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2nd international conference on robot intelligence technology and applications, RiTA 2013

作者： Kim, Tae Gyun Choi, Hyun-Taek KO, Nak Yong Korea Institute of Ocean Science and Technology Korea Republic of Dept. Control Instrumentation and Robot Eng. Chosun University Korea Republic of

ISBN: (纸本)9783319055817

This paper describes a localization method to localize a mobile vehicle in underwater environment. Particle filter based localization method isimplemented, which is based on Bayesian filter to deal with non-linear *** method comprises prediction step and correction step to estimate the pose of the vehicle. The prediction step is achieved by a motion model of the vehicle with inertial sensor data acquired from Doppler Velocity Log, inertia sensors,and electronic compass. In the correction step, the pose of the vehicle is updated using range and bearing information of externally fixed landmarks in the vehicle work space. The performance of the proposed localization method is verified by experiment in a tank environment using four artificial landmarks. In the experiment, the motion information of the underwater vehicle is used as surge and yaw velocities obtained from DVL and AHRS sensors. The landmark information is acquired from the artificial landmarks using an image sensor. The experimental result shows that the proposed method successfully estimated the pose of the vehicle. © Springer international Publishing Switzerland 2014.

关键词： Vehicles

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A New Approach of Detection and Recognition for Artificial Landmarks from Noisy Acoustic Images 2

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2nd international conference on robot intelligence technology and applications, RiTA 2013

作者： Lee, Yeongjun Kim, Tae Gyun Choi, Hyun-Taek Korea Institute of Ocean Science and Technology Korea Republic of

ISBN: (纸本)9783319055817

This paper presents a framework for underwater object detection and recognition using acoustic image from an imaging sonar. It is difficult to get a stable acoustic image from any type object because of characteristic of ultrasonic wave. To overcome the difficulties, the framework consists of the selection of candidate, the recognition, and tracking of identified object. In selection of candidate phase, we select candidate as possible objects using an initial image processing and get rid of noise or discontinuous object using a probability based method in series of images. The selected candidate is processed in adaptive local image processing and recognitionusing shape matrix recognition method. Identified object in previous phase is tracked without selection of candidate, and recognition phase. We perform two simple tests for the verification of each phase and whole framework operability © Springer international Publishing Switzerland 2014.

关键词： Underwater acoustics

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Automatic salient object detection using principal component analysis 2

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2nd international conference on robot intelligence technology and applications, RiTA 2013

作者： Lee, Hansang Kim, Jiwhan Kim, Junmo Dept. of Electrical Engineering Korea Advanced Institute of Science and Technology 291 Daehak-ro Yuseong-gu Daejeon305-701 Korea Republic of

ISBN: (纸本)9783319055817

In this paper, a novel method for salient object detection from natural images is proposed. In order to extract the object from an image which is visually attractive, non-redundancy is conceptually incorporated to define the saliency of image pixels by applying principal component analysis (PCA) to color components of an image. From the principal component images, seed pixels for object and background are extracted. Using these object and background seed pixels as training samples, linear discriminant analysis (LDA) is applied to image pixels so that the pixels are classified as object or background. Experiments on test images show that not only the performance of the proposed method is promising, but also it works competitively with state-of-the-art salient object detection methods. © Springer international Publishing Switzerland 2014.

关键词： Principal component analysis

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Design of a multi-purpose low-cost mobile robot for research and education

Design of a multi-purpose low-cost mobile robot for research...

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15th Annual conference on Advances in Autonomous robotics Systems, TAROS 2014

作者： Pedre, Sol Nitsche, Matías Pessacg, Facundo Caccavelli, Javier De Cristóforis, Pablo Centro Atómico Bariloche Comisión Nacional de Energa Atómica Argentina Departamento de Computación Facultad de Ciencias Exactas Y Naturales Universidad de Buenos Aires Argentina

ISBN: (纸本)9783319104003

Mobile robots are commonly used for research and education. Although there are several commercial mobile robots available for these tasks, they are often costly, do not always meet the characteristics needed for certain applications and are very difficult to adapt because they have proprietary software and hardware. In this paper, we present the design principles, and describe the development and applications of a mobile robot called ExaBot. Our main goal was to obtain a single multi-purpose low-cost robot -more than ten times cheaper than commercially available platforms- that can be used not only for research, but also for education and public outreach activities. The body of the ExaBot, its sensors, actuators, processing units and control board are described in detail. The software and printed circuit board developed for this project are open source to allow the robotics community to use and upgrade the current version. Finally, different configurations of the ExaBot are presented, showing several applications that fulfill the requirements this robotic platform was designed for. © 2014 Springer international Publishing.

关键词： Mobile robots

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5th international conference on Information technology for Manufacturing Systems, ITMS 2014

5th International Conference on Information Technology for M...

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2014 5th international conference on Information technology for Manufacturing Systems, ITMS 2014

ISBN: (纸本)9783038353263

The proceedings contain 131 papers. The special focus in this conference is on Materials Sciences and Materials Processing, Control Engineering and Artificial intelligence, intelligence Automation, Information technology and Software applications. The topics include: Study on the synthetic process of the cefprozil;research on synthesis of triazine ring and its isomerization;research on detection and distribution of organic chlorine content in the Chin-sha river basin;evaluation of asphalt-aggregate adhesion using surface free energy theory;study on preparation of ceramic material and its properties;research on polymer materials in bio medical and its application;study on the determination of cypermethrin residues in vegetable;texture classification of 3D surface textures via directional quincunx lifting;an application of fuzzy logic control algorithm in hydro mechanical deep drawing process;researches on the robot obstacle avoidance based on fuzzy control;researches on the optimal design of intersection signal lights fuzzy control;design of control scheme for variable air volume air-conditioning system;research on wearable human motion capture and virtual control;research on fuzzy control of mine ventilation based on embedded systems;research of oil quality online monitoring system;information technology for processing and treating aircraft end of life;study on the application of PLC in coal sorting system;monitoring equipment for sailing based on ARM;study on tourism electronic platform based on large data background and study on smart grid technology based on internet of things.

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Road edge and obstacle detection on the SmartGuard navigation system

Road edge and obstacle detection on the SmartGuard navigatio...

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international conference on Applied robotics for the Power Industry (CARPI)

作者： Li Li Binhai Wang Haipeng Wang Jingjing Zhang Yiqi Luan Wanguo Wang Rui Guo State Grid Shandong Electric Power Research Institute Shandong Luneng Intelligence Technology Co. Ltd. Jinan China

ISBN: (纸本)9781479964239

This paper discusses an application of the IPM (inverse perspective mapping) geometrical transform on the inspection power robot (SmartGuard). The SmartGuard is an autonomous robotic system for inspection substation equipment instead of people. Based on the stereo vision system, we proposed a Vision base road edge and obstacle detection system. Firstly, we construct the IPM( Inverse perspective mapping) structure from the vision system structure and the road plane in the substation. Secondly, make the monocular image transform of IPM, and get the edge of the road based on the line detection. Thirdly, do the stereo images IPM, based the transformed images, detect the different of the stereo remapping images to get the probable obstacle. Continues, we give a hypothesis testing obstacle detection approach to make the obstacle information more exactly. At last, we make the 2D map both the road edge and obstacle which could provide enough information for the robot navigation in the substation.

关键词： Roads Image edge detection Cameras Substations robot kinematics Transforms

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Learning through Imitation and Reinforcement Learning: Toward the Acquisition of Painting Motions

Learning through Imitation and Reinforcement Learning: Towar...

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IIAI international conference on Advanced Applied Informatics (IIAIAAI)

作者： Tatsuya Sakato Motoyuki Ozeki Natsuki Oka Graduate School of Science and Technology Kyoto Institute of Technology Kyoto Japan

Learning is essential for an autonomous agent to adapt to an environment. One method of learning is through trial and error, however, this method is impractical in a complex environment because of the long learning time required by the agent. Therefore, guidelines are necessary in order to expedite the learning process in such environments, and imitation is one such guideline. Sakato, Ozeki, and Oka (2012-2013) recently proposed a computational model of imitation and autonomous behavior by which an agent can reduce its learning time through imitation. They evaluate the model in discrete and continuous spaces, and apply the model to a real robot in order to acquire painting skills. Their experimental results indicate that the model adapted to the experimental environment by imitation. In this paper, we introduce the model and discuss what are needed to improve the model.

关键词： Adaptation models Learning (artificial intelligence) Computational modeling Guidelines Painting Autonomous agents robots

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Optimization of the anticipatory reflexes of a computational model of the cerebellum

Optimization of the anticipatory reflexes of a computational...

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3rd international conference on Biomimetic and Biohybrid Systems, Living Machines LM 2014

作者： Brandi, Santiago Herreros, Ivan Verschure, Paul F. M. J. SPECS Technology Department Universitat Pompeu Fabra Carrer de Roc Boronat 138 Barcelona08018 Spain ICREA Institucio Catalana de Recerca i Estudis Avan cats Passeig Llu s Companys 23 Barcelona08010 Spain

ISBN: (纸本)9783319094342

The cerebellum is involved in avoidance learning tasks, where anticipatory actions are developed to protect against aversive stimuli. In the execution and acquisition of discrete actions we can distinguish errors of omission and commission due to a failure to execute a required defensive Conditioned Response (CR) to avoid an aversive Unconditioned Stimulus (US), and the energy expenditure of triggering an unnecessary CR in the absence of a US respectively. Hence, a motor learning cost function must consider both these components of performance and energy expenditure. Unlike remaining noxious stimuli, unnecessary actions are not directly sensed by the cerebellum. It has been suggested that the Nucleo-Olivary Inhibition (NOI) serves to internally rely information about these needless protective actions. Here we argue that the function of the NOI can be interpreted in broader terms as a signal that is used to learn optimal actions in terms of cost. We work with a computational model of the cerebellum to address: (i) how can the optimum balance between remaining aversive stimuli and preventing effort be found, and (ii) how can the cerebellum use the overall cost information to establish this optimum balance through the adjusting of the gain of the NOI. In this paper we derive the value of the NOI that minimizes the overall cost and propose a learning rule for the cerebellum through which this value is reached. We test this rule in a collision avoidance task performed by a simulated robot. © Springer international Publishing Switzerland 2014.

关键词： Cost functions

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Extending and applying a framework for the cryptographic verification of Java programs

Extending and applying a framework for the cryptographic ver...

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3rd international conference on Principles of Security and Trust, POST 2014 - Held as Part of the European Joint conferences on Theory and Practice of Software, ETAPS 2014

作者： Küsters, Ralf Scapin, Enrico Truderung, Tomasz Graf, Jürgen University of Trier Germany Karlsruhe Institute of Technology Germany

ISBN: (纸本)9783642547911

In our previous work, we have proposed a framework which allows tools that can check standard noninterference properties but a priori cannot deal with cryptography to establish cryptographic indistinguishability properties, such as privacy properties, for Java programs. We refer to this framework as the CVJ framework (Cryptographic Verification of Java Programs) in this paper. While so far the CVJ framework directly supports public-key encryption (without corruption and without a public-key infrastructure) only, in this work we further instantiate the framework to support, among others, public-key encryption and digital signatures, both with corruption and a public-key infrastructure, as well as (private) symmetric encryption. Since these cryptographic primitives are very common in security-critical applications, our extensions make the framework much more widely applicable. To illustrate the usefulness and applicability of the extensions proposed in this paper, we apply the framework along with the tool Joana, which allows for the fully automatic verification of noninterference properties of Java programs, to establish cryptographic privacy properties of a (non-trivial) cloud storage application, where clients can store private information on a remote server. © 2014 Springer-Verlag.

关键词： Crime

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