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Fish-Inspired Swimming Simulation and Robotic Implementation

Fish-Inspired Swimming Simulation and Robotic Implementation

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Joint international symposium on robotics

作者： Junzhi Yu Min Tan Jianwei Zhang Lab of COMPSYS Institute of Automation Chinese Academy of Sciences Group TAMS Dept of Informatics University of Hamburg

ISBN: (纸本)9783800732739

this paper describes our efforts to develop a Digital Fish Simulator (DFS), particularly aiming at creating a controlled kinematic centered environment to further shed light on how to design and control artificial fish robots. Compared to a 3D simulator for autonomous robotic fish by Liu and Hu, an improved body wave equation capable of multimodal swimming motions is adopted in our simulator and artificial swimming data can be further imported enabling various fictive swimming patterns. Furthermore, the swimming data generated from the simulator can directly be fed into the fish robots for verification, and vice versa. Finally, a series of fishlike robots with different mechanical design have been built to validate our well-formed ideas and to reach a new level of performance close to actual fish for real applications.

关键词： simulator Swimming Level of Performance Robot Fishes Verification

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Using proxemics to evaluate human-robot interaction

Using proxemics to evaluate human-robot interaction

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

作者： David Feil-Seifer Maja Matarić Interaction Laboratory Viterbi School of Engineering University of Southern California Los Angeles CA USA

ISBN: (纸本)9781424448920;9781424448937

Recent feasibility studies involving children with autism spectrum disorders (ASD) interacting with socially assistive robots have shown that children can have both positive and negative reactions to robots. these reactions can be readily identified by a human observer watching videos from an overhead camera. Our goal is to automate the process of such behavior analysis. this paper shows how a heuristic classifier can be used to discriminate between children that are attempting to interact socially with a robot and children that are not.

关键词： Variable speed drives Robot vision systems Cameras robotics and automation Autism Human robot interaction Laboratories Viterbi algorithm Videos Humanoid robots

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Robust control for a quasi-linear parameter varying Sun-Earth L2 formation flying

Robust control for a quasi-linear parameter varying Sun-Eart...

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international conference on Methods and Models in automation and robotics (MMAR)

作者： Feng Wang Antonios Tsourdos Rafał Zbikowski Brian A. White Department of Informatics and Sensors Cranfield University Shrivenham Swindon United Kingdom

ISBN: (数字)9781424478279

ISBN: (纸本)9781424478286

A nonlinear controller is designed for a L 2 formation flying control system, and robust stability is investigated for the closed-loop system with uncertainties. the L 2 formation flying is modeled as a second-order quasi-linear parameter-varying model, which is obtain from the nonlinear formation flying model with Barbashin method by including explicit dependence of the dynamic derivatives on states and external parameters. Base on this QLPV model, a polynomial eigenstructure assignment approach is applied to complete the controller design for the system. As function of state and external parameters, the controller realize the independence between the closed-loop system and the operating point to ensure the performance of the closed-loop system is independent with every operating equilibrium. Simulation is carried out to validate the control performance. Considering the uncertainties in the controller parameters and dynamic derivatives, parametric stability margins of system are analyzed by using Kharitonov's approach. Analysis results show the controller is fairly robust with respect to these uncertainties.

关键词： control systems Uncertainty Polynomials Mathematical model Stability analysis Robustness

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Multimodal interaction with an autonomous forklift

Multimodal interaction with an autonomous forklift

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

作者： Andrew Correa Matthew R. Walter Luke Fletcher Jim Glass Seth Teller Randall Davis Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA

ISBN: (纸本)9781424448920;9781424448937

We describe a multimodal framework for interacting with an autonomous robotic forklift. A key element enabling effective interaction is a wireless, handheld tablet with which a human supervisor can command the forklift using speech and sketch. Most current sketch interfaces treat the canvas as a blank slate. In contrast, our interface uses live and synthesized camera images from the forklift as a canvas, and augments them with object and obstacle information from the world. this connection enables users to ¿draw on the world,¿ enabling a simpler set of sketched gestures. Our interface supports commands that include summoning the forklift and directing it to lift, transport, and place loads of palletized cargo. We describe an exploratory evaluation of the system designed to identify areas for detailed study. Our framework incorporates external signaling to interact with humans near the vehicle. the robot uses audible and visual annunciation to convey its current state and intended actions. the system also provides seamless autonomy handoff: any human can take control of the robot by entering its cabin, at which point the forklift can be operated manually until the human exits.

关键词： Humans Robots Glass Speech robotics and automation Storage automation Material storage Computer science Artificial intelligence Laboratories

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Robots asking for directions — the willingness of passers-by to support robots

Robots asking for directions — The willingness of passers-b...

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

作者： Astrid Weiss Judith Igelsböck Manfred Tscheligi Andrea Bauer Kolja Kühnlenz Dirk Wollherr Martin Buss ICT&S Center University of Salzburg Salzburg Austria Institute of Automatic Control Engineering Technische Universität München Munich Germany

ISBN: (纸本)9781424448920;9781424448937

this paper reports about a human-robot interaction field trial conducted with the autonomous mobile robot ACE (Autonomous City Explorer) in a public place, where the ACE robot needs the support of human passers-by to find its way to a target location. Since the robot does not possess any prior map knowledge or GPS support, it has to acquire missing information through interaction with humans. the robot thus has to initiate communication by asking for the way, and retrieves information from passers-by showing the way by gestures (pointing) and marking goal positions on a still image on the touch screen of the robot. the aims of the field trial where threefold: (1) Investigating the aptitude of the navigation architecture, (2) Evaluating the intuitiveness of the interaction concept for the passers-by, (3) Assessing people's willingness to support the ACE robot in its task, i.e. assessing the social acceptability. the field trial demonstrates that the architecture enables successful autonomous path finding without any prior map knowledge just by route directions given by passers-by. An additional street survey and observational data moreover attests the intuitiveness of the interaction paradigm and the high acceptability of the ACE robot in the public place.

关键词： Mobile robots Human robot interaction Navigation Orbital robotics robotics and automation Cities and towns Information retrieval Humanoid robots Automatic control Global Positioning System

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Learning context-based feature descriptors for object tracking

Learning context-based feature descriptors for object tracki...

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

作者： Ali Borji Simone Frintrop Institute of Computer Science III Rheinische Friedrich-Wilhelms-Universität Bonn Germany

ISBN: (纸本)9781424448920;9781424448937

A major problem with previous object tracking approaches is adapting object representations depending on scene context to account for changes in illumination, viewpoint changes, etc. To adapt our previous approach to deal with background changes, here we first derive some clusters from a training sequence and the corresponding object representations for those clusters. Next, for each frame of a separate test sequence, its nearest background cluster is determined and then the corresponding descriptor of that cluster is used for object representation in this frame. Experiments show that the proposed approach tracks objects and persons in natural scenes more effectively.

关键词： Particle tracking Target tracking Prototypes Human robot interaction robotics and automation Layout Lighting Testing Particle filters Robot vision systems

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DB-SMoT: A direction-based spatio-temporal clustering method

DB-SMoT: A direction-based spatio-temporal clustering method

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international IEEE conference on Intelligent Systems, IS

作者： Jose Antonio M. R. Rocha Valeria C. Times Gabriel Oliveira Luis O. Alvares Vania Bogorny Departamento de Pesca UFR PE Brazil Instituto de Informatica UFRGS Brazil Departamento de Informatica e Estatistica UFSC Brazil Informatics Center UFPE Brazil

Existing works for semantic trajectory data analysis have focused on the intersection of trajectories with application important geographic information and the use of the speed to find interesting places. In this paper we present a novel approach to find interesting places in trajectories, considering the variation of the direction as the main aspect. the proposed approach has been validated with real trajectory data associated to oceanic fishing vessels, with the objective to automatically find the real places where vessels develop fishing activities. Results have demonstrated that the method is very appropriate for applications in which the direction variation plays the essential role.

关键词： Clustering methods Birds Traffic control Automatic control informatics Data analysis Global Positioning System Feeds Cities and towns Cellular phones

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Modeling and analyzing nano-particle pushing with an AFM by using nano-hand strategy

Modeling and analyzing nano-particle pushing with an AFM by ...

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IEEE international conference on Nano/Micro Engineered and Molecular Systems (NEMS)

作者： Jing Hou Zhidong Wang Lianqing Liu Yongliang Yang Zaili Dong Chengdong Wu College of Information Science and Engineering Northeastern University China School of Information and Control Engineering Shenyang Jianzhu University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Department of Advanced Robotics Chiba Institute of Technology Chiba Japan

One of the major limitations for Atomic Force Microscopy (AFM) based nanoparticle pushing is that AFM only has one sharp tip as the end-effector. the interaction force between the nanoparticle and the tip is applied through a single point, which often leads the AFM tip to slip-away from the nanoparticle due to their small touch area. then several minutes is needed to relocate the missed nanoparticle by a new image scan. Moreover, if the nanoparticle is very soft, the sharp tip may damage the particle instead of pushing it away due to the cutting effect of the sharp tip. In this paper, a nano-hand strategy is proposed to resolve this problem. Based on the theoretical analysis to the behavior model of nanoparticle, the pushing points, pushing step-length and pushing speed of AFM tip are planned artfully, through which a multi-tip manipulation effect can be imitated with a single tip. the nanoparticle is pushed as by a virtual nano-hand during manipulation,. In this way, the slip-away problem due to single AFM tip pushing can be get rid of efficiently. the simulation and experiments results show the increased effectiveness of AFM based nanomanipulation.

关键词： Force Friction Real time systems Substrates Mathematical model Nanoparticles Kinematics

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Tutorial: Cognitive analysis methods applied to human-robot interaction

Tutorial: Cognitive analysis methods applied to human-robot ...

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

作者： Julie A. Adams Robin R. Murphy Electrical Engineering and Computer Science Department Vanderbilt University Nashville TN USA Computer Science and Engineering Department Texas A and M University College Station TX USA

this half-day tutorial will cover topics related to conducting cognitive task analysis and cognitive work analysis for purposes of informing humanrobot interaction design and development. the goal of the tutorial is to provide attendees with an overview and comparison of various cognitive task analysis and cognitive work analysis methods, an understanding of how to conduct these types of analyses, collect the necessary data for analysis, and provide real-world case studies for specific cognitive task analysis and cognitive work analysis. the tutorial will include examples from actual analyses and data collection activities.

关键词： Tutorial Computer science Human robot interaction robotics and automation USA Councils Data analysis Man machine systems Robot sensing systems Laboratories Multirobot systems

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MeBot: A robotic platform for socially embodied telepresence

MeBot: A robotic platform for socially embodied telepresence

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

作者： Sigurdur Orn Adalgeirsson Cynthia Breazeal MIT Media Laboratory Cambridge MA USA

ISBN: (纸本)9781424448920;9781424448937

Telepresence refers to a set of technologies that allow users to feel present at a distant location; telerobotics is a subfield of telepresence. this paper presents the design and evaluation of a telepresence robot which allows for social expression. Our hypothesis is that a telerobot that communicates more than simply audio or video but also expressive gestures, body pose and proxemics, will allow for a more engaging and enjoyable interaction. An iterative design process of the MeBot platform is described in detail, as well as the design of supporting systems and various control interfaces. We conducted a human subject study where the effects of expressivity were measured. Our results show that a socially expressive robot was found to be more engaging and likable than a static one. It was also found that expressiveness contributes to more psychological involvement and better cooperation.

关键词： Human robot interaction Orbital robotics Teleconferencing Cognitive robotics Laboratories Telerobotics Psychology Process design control systems Surveillance

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