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Interface for non-haptic control in automation

Interface for non-haptic control in automation

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IEEE international conference on Industrial informatics (INDIN)

作者： C. Roesener A. Perner S. Zerawa S. Hutter Institute of Computer Technology University of Technology Vienna Austria School Centre Ungargasse Vienna Austria

the approach extends control principles of standard building automation. Introducing control commands based on information from 3D head pose estimation and tracking systems, new methods in communication and contactless controlled systems are made accomplishable. Using a visual user-interface, visually detected movements can be transformed into standard control commands. Using a defined markup language, an application dependent command set is correlated with actual head movements. the mapping itself can be adapted to application dependent demands and the individual needs of the users. the concept of “visual control” is intended to be a further step towards bridging the information gap between (physically challenged) people and their smart environments. the concept is applied to a prototype used in different settings of a building automation, utilising cutting-edge software with standard control devices and sensors.

关键词： Automatic control Communication system control control systems robotics and automation Magnetic heads Buildings Senior citizens Cameras Prototypes Educational institutions

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Hardware and Software Architecture for AUV based on Low-cost Sensors

Hardware and Software Architecture for AUV based on Low-cost...

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international conference on control, automation, robotics and Vision

作者： Alain Martinez Yidier Rodriguez Luis Hernandez Carlos Guerra Hichem Sahli Departamento de Automatica y Sistemas Computacionales Universidad Central "Marta Abreu" de Las Villas (UCLV) Santa Clara Cuba Dept. of Electronics and Informatics (ETRO) Vrije Universiteit Brussel (VUB) Brussel Belgium

ISBN: (纸本)9781424478149

the use of Autonomous Underwater Vehicles (AUV) as robots for exploration and oceanology science has been a field of interest of several universities and research center's around the world in the last decade. Cuba being a country surrounded by the Caribbean Sea, having most of it's resources in it. Researchers from the Central University of Las Villas (UCLV) and the Hydrographic Research Center (HRC) have joined forces in the development of the HRC-AUV project, whit the objective of the implementation of a AUV capable to operate in the Cuban sea for exploration and supervision. the platform is based on low cost sensors and hardware. In the present document the hardware and software architectures of the AUV are presented. Also a set of experimental results are presented to validate the system.

关键词： AUV Hardware architecture Software archi-tecture

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Performance optimization of exhaustive rules in graph rewriting systems

Performance optimization of exhaustive rules in graph rewrit...

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作者： Mészáros, Tamás Asztalos, Mark Mezei, Gergely Charaf, Hassan Department of Automation and Applied Informatics Budapest University of Techology and Economics Goldmann György tér 3 Budapest Hungary

ISBN: (纸本)9789898425225

Graph rewriting-based model transformation is a well known technique with strong mathematical background to process domain specific models represented as graphs. the performance optimization techniques realized in today's graph transformation engines usually place focus on the optimization of a single execution of the individual rules, and do not consider the optimization possibilities in the repeated execution. In this paper we present a performance optimization technique called deep exhaustive matching for exhaustively executed rules. Deep exhaustive matching continues the matching of the same rule from the next possible position after a successful rewriting phase, thus we can achieve noticeable performance gain.

关键词： Mathematical transformations

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Stylized motion generalization through adaptation of velocity profiles

Stylized motion generalization through adaptation of velocit...

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19th IEEE international conference on Robot and Human Interactive Communication, RO-MAN 2010

作者： Gielniak, Michael J. Liu, C. Karen thomaz, Andrea L. Department of Electrical and Computer Engineering Georgia Institute of Technology 777 Atlantic Dr. NW Atlanta GA 30332 United States School of Interactive Computing Georgia Institute of Technology 85 5th St. NE Atlanta GA 30308 United States Robotics and Intelligent Machines Center Georgia Institute of Technology 801 Atlantic Dr. NW Atlanta GA 30332 United States

ISBN: (纸本)9781424479917

Stylized motion is prevalent in the field of Human- Robot Interaction (HRI). Robot designers typically hand craft or work with professional animators to design behaviors for a robot that will be communicative or life-like when interacting with a human partner. A challenge is to apply this stylized trajectory in varied contexts (e.g. performing a stylized gesture with different end-effector constraints). the goal of this research is to create useful, task-based motion with variance that spans the reachable space of the robot and satisfies constraints, while preserving the "style" of the original motion. We claim the appropriate representation for adapting and generalizing a trajectory is not in Cartesian or joint angle space, but rather in joint velocity space, which allows for unspecified initial conditions to be supplied by interaction with the dynamic environment. the benefit of this representation is that a single trajectory can be extended to accomplish similar tasks in the world given constraints in the environment. We present quantitative data using a continuity metric to prove that, given a stylized initial trajectory, we can create smoother generalized motion than with traditional techniques such as cyclic-coordinate descent. © 2010 IEEE.

关键词： Trajectories

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Practical evaluation of robots for elderly in Denmark — an overview

Practical evaluation of robots for elderly in Denmark — an ...

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ACM/IEEE international conference on Human-Robot Interaction (HRI)

作者： Soren Tranberg Hansen Hans Jorgen Andersen thomas Bak Centre of Robot Technology Danish Technological Institute Odense Denmark Media Technology University of Aalborg Aalborg Denmark Automation and Control University of Aalborg Aalborg Denmark

ISBN: (纸本)9781424448920;9781424448937

Robots for elderly have drawn a great deal of attention as it is a controversial topic being pushed forward by the fact that there will be a dramatic increase of elderly in most western countries. Within the field of HRI, much research has been conducted on robots interacting with elderly and also a number of commercial products have been introduced to the market. Since 2006, a number of projects have been launched in Denmark in order to evaluate robot technology in practice in elder care. this paper gives an brief overview of a selected number of projects and outlines the characteristics and results. Finally it is discussed how HRI can benefit from these.

关键词： Robots Senior citizens Medical services robotics and automation Seals Demography Cleaning Automatic control Medical treatment Personnel

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the step-on interface (SOI) on a mobile platform: Basic functions

The step-on interface (SOI) on a mobile platform: Basic func...

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ACM/IEEE international conference on Human-Robot Interaction (HRI)

作者： Takafumi Matsumaru Yuichi Ito Wataru Saitou Bio-robotics and Human-mechatronics laboratory Shizuoka University Hamamatsu Japan

ISBN: (纸本)9781424448920;9781424448937

this video shows the basic functions of HFAMRO-2 equipped with the step-on interface (SOI). In the SOI the projected screen is used as a bilateral interface. It not only presents information from the equipment to the user but also delivers the instructions from the user to the equipment. HFAMRO is intended to represent the concept based on which robots interact with users. It assumes, for example, the ability to play `tag' - in this case, playing tag with light, similar to `shadow' tag. the HFAMRO-2 mobile robot, developed to study the SOI's application with mobility, has two sets of the SOI consisting of a projector and a range scanner on a mobile platform. the projector displays a direction screen on a travel surface and the two-dimensional range scanner detects and measures the user's stepping to specify the selected button.

关键词： Mobile robots Legged locomotion Robot kinematics Foot robotics and automation Two dimensional displays Robot control Automatic control control systems Indium tin oxide

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Mechatronic Systems and Materials: Mechatronic Systems and robotics

Mechatronic Systems and Materials: Mechatronic Systems and R...

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5th international conference on Mechatronic Systems and Materials, MSM 2009

ISBN: (纸本)3908451841

the proceedings contain 75 papers. the topics discussed include: the feedback control of drives with low acceleration and deceleration rate of motor;development of a novel micro-actuator driven by shape memory alloy;application of non-linear correction systems for control of work movements of the mobile crane under a threat of stability loss;determination of ability of hydrotronic systems to start in low ambient temperatures;control algorithms in mechatronic systems with parallel processes;coordination of rated power of wind turbine with a bar graph of wind speed by means of flexible control algorithm of the hydraulic drive;about dynamics problems of the vibroisolation system with the gyroscopic stabilizer;optimum control of gyroscopic systems;influence of dynamic viscosity on automatic dynamic balance;high resolution high power low frequency digital-to-analog converter;self-tuning controller for nonlinear object;and the correction and compensation motors for the gyroscopic stabilizer.

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Increasing crossover operator efficiency in multiobjective nonlinear systems identification

Increasing crossover operator efficiency in multiobjective n...

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IEEE international conference on Intelligent Systems

作者： Patelli, Alina Ferariu, Lavinia Dept. of Automatic Control and Applied Informatics Gheorghe Asachi Technical University Iasi Romania

ISBN: (纸本)9781424451647

An elitist multiobjective optimization methodology, based on genetic programming, is suggested in the following, as means of identifying complex nonlinear systems. the structure and parameters of the nonlinear models are selected simultaneously as result of the conjoint usage of customized genetic operators and of a deterministic parameter computation procedure. this symbiosis is configured to efficiently exploit the nonlinear, linear in parameters formalism, a proven universal approximator, according to which the models are generated. In order to protect useful model terms from fragmentation via crossover, the authors have introduced a novel encapsulation mechanism supervised by a fuzzy controller. To meet the specific requirements of systems identification in engineering applications, the optimization procedure considers two evaluation criteria, namely accuracy and parsimony, exploited from an elitist standpoint. the approach also features an original similarity analysis technique, meant to encourage population diversity. the practical efficiency of the proposed identification algorithm was tested in the framework of a real life industrial system. © 2010 IEEE.

关键词： Multiobjective optimization

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Towards robust human robot collaboration in industrial environments

Towards robust human robot collaboration in industrial envir...

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ACM/IEEE international conference on Human-Robot Interaction (HRI)

作者： Batu Akan Baran Cürüklü Giacomo Spampinato Lars Asplund Mälardalens Högskola Västeras Sweden

ISBN: (纸本)9781424448920;9781424448937

In this paper a system, which is driven through natural language, that allows operators to select and manipulate objects in the environment using an industrial robot is proposed. In order to hide the complexities of robot programming we propose a natural language where the user can control and jog the robot based on reference objects in the scene. We used semantic networks to relate different types of objects in the scene.

关键词： Robustness Humans Service robots Collaboration Natural languages robotics and automation Layout Robot programming Speech synthesis Automatic speech recognition

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Textual syntax mapping can enable syntactic merging

Textual syntax mapping can enable syntactic merging

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作者： Angyal, László Lengyel, László Mészáros, Tamás Charaf, Hassan Department of Automation and Applied Informatics Budapest University of Technology and Economics Goldmann György tér 3 H-1111 Budapest Hungary

ISBN: (纸本)9789898425225

As the support is increasing for textual domain-specific languages (DSL), the reconstruction of visual models from the generated textual artifacts has also come into focus. the state-of-the-art bidirectional approaches support reversible text generation from models using single syntax mapping. However, even these tools have not gone such far to facilitate the synchronization between models and generated artifacts. this paper presents the importance of synchronization and how these mappings can enable syntactic reconciliation for custom DSLs. Our approach provides algorithms for supporting incremental DSL-driven software development, which enables the freedom of choosing between the textual or visual editing of artifacts. It depends on the developer which representation is more effective for her/him at a specific moment.

关键词： Synchronization

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