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检索条件"任意字段=Conference on Next-Generation Robots and Systems"

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Sensory prediction for autonomous robots

Sensory prediction for autonomous robots

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IEEE-RAS International conference on Humanoid robots

作者： Ryo Saegusa Francesco Nori Giulio Sandini Giorgio Metta Sophie Sakka Robotics Brain and Cognitive Sciences Department Italian Institute of Technology Italy LIRA-Laboratory University of Genoa Italy Laboratory of Solids Mechanics University of Poitiers France

For a complex autonomous robotic system such as a humanoid robot, the learning-based sensory prediction is considered effective to develop a perceptual environment model by itself. We developed a learning system for an autonomous robot to predict the next sensory information from the current sensory information and the expected action. The system we consider contains a learning procedure and a behavior generation procedure. The learning procedure uses a multi layer perceptron minimizing the error between a given sensory input and its predicted value. The behavior generation procedure is based on a uniform probablistic density function to sample the learning data randomly, which is the effective strategy when the system does not have any assumption or knowledge of the environment. We also investigated sensory blind prediction which should allow action plannning as well as offer a reliable forecast for a safe evolution of the robot in the environment. The simulation and experimental results show that the system learns interaction between the robot and the environment in high fidelity.

关键词： Robot sensing systems Humanoid robots Predictive models Cognitive robotics Learning systems Pattern recognition Brain modeling Solid modeling Density functional theory Robotic assembly

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Analyzing gaussian proposal distributions for mapping with rao-blackwellized particle filters

Analyzing gaussian proposal distributions for mapping with r...

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2007 IEEE/RSJ International conference on Intelligent robots and systems

作者： Cyrill Stachniss Giorgio Grisetti Wolfram Burgard Nicholas Roy Department of Computer Science University of Freiburg Freiburg im Breisgau Germany MIT Cambridge MA USA

Particle filters are a frequently used filtering technique in the robotics community. They have been successfully applied to problems such as localization, mapping, or tracking. The particle filter framework allows the designer to freely choose the proposal distribution which is used to obtain the next generation of particles in estimating dynamical processes. This choice greatly influences the performance of the filter. Many approaches have achieved good performance through informed proposals which explicitly take into account the current observation. A popular approach is to approximate the desired proposal distribution by a Gaussian. This paper presents a statistical analysis of the quality of such Gaussian approximations. We also propose a way to obtain the optimal proposal in a non-parametric way and then identify the error introduced by the Gaussian approximation. Furthermore, we present an alternative sampling strategy that better deals with situations in which the target distribution is multi-modal. Experimental results indicate that our alternative sampling strategy leads to accurate maps more frequently that the Gaussian approach while requiring only minimal additional computational overhead.

关键词： Proposals Particle filters Gaussian approximation Sampling methods Intelligent robots Filtering Robustness Simultaneous localization and mapping USA Councils

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A highly stretchable tactile distribution sensor for smooth surfaced humanoids

A highly stretchable tactile distribution sensor for smooth ...

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IEEE-RAS International conference on Humanoid robots

作者： Hassan Alirezaei Akihiko Nagakubo Yasuo Kuniyoshi Grad. School of Information Science and Technology University of Tokyo Tokyo Japan National Institute of Advanced Industrial Science and Technology Tsukuba Japan

Stretchable tactile distribution sensors are significantly important in realizing natural and rich tactile interactions for next generation humanoids with soft and smooth surfaces. We have developed such a sensor which has no wiring in most of the sensing area and is based on inverse problem technique - EIT. At first, we show the ability of the sensor to detect novel and rich tactile interactions involving skin deformation such as pinching and rubbing. Furthermore, by using our newly developed conductive knitted fabric, we demonstrate how the sensor can be extremely useful for sensing pressure distributions as well as for covering complex 3D surfaces such as the face. Also, we show a successful implementation of the highly stretchable sensor over movable joints, the repeatability of the sensor value against joint movements and the detectability of external tactile stimuli for various joint angles are also demonstrated.

关键词： Tactile sensors Wiring Face detection Robot sensing systems Human robot interaction Humanoid robots Intelligent robots Tomography Information science Inverse problems

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Trends in Embedded systems--A Microsoft Perspective

Trends in Embedded Systems--A Microsoft Perspective

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IEEE International conference on Microelectronic systems Education

作者： Stewart Tansley Microsoft Research Limited USA

A poster on my office door declares, "98% of all CPUs shipped today are destined for devices"; I declare, Embedded systems are one of the most exciting areas in contemporary computer systems engineering. Microsoft has addressed this field, not only with research activities where I am focused, but in a wide range of products from the powerhouse Xbox 360 game console, through the increasingly ubiquitous Windows Mobile PDAs and Smartphones, to the diminutive MSN Direct watch and its cousin devices. We are also well-known for our hardware devices such as mice, keyboards and other input devices - all of which are embedded systems in their own right. For third party device manufacturers, we provide a rich range of platform technologies in the Windows Embedded family. Last but not least, in December 2006 we released the Microsoft Robotics Studio, with a view to helping the birth of a new generation of intelligent embedded machines. My talk will aim to provide a personal perspective on Microsoft's interests in this vast and exciting field, with a view to suggesting some implications on the teaching of such technologies to prepare the next generation of engineers.

关键词： Embedded system Intelligent robots Embedded computing Pervasive computing Power engineering computing Power engineering and energy systems engineering and theory Personal digital assistants Smart phones Watches

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Towards autonomous object reconstruction for visual search by the humanoid robot HRP-2

Towards autonomous object reconstruction for visual search b...

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IEEE-RAS International conference on Humanoid robots

作者： O. Stasse D. Larlus B. Lagarde A. Escande F. Saidi A. Kheddar K. Yokoi F. Jurie JRL CNRS Tsukuba Ibaraki Japan LEAR INRIA Rhone-Alpes Saint Ismier France JRL AIST Tsukuba Ibaraki Japan

This paper deals with the problem of object reconstruction for visual search by a humanoid robot. Three problems necessary to achieve the behavior autonomously are considered: full-body motion generation according to a camera pose, general object representation for visual recognition and pose estimation, and far-away visual detection of an object. First we deal with the problem of generating full body motion for a HRP-2 humanoid robot to achieve camera pose given by a next Best View algorithm. We use an optimization based approach including self-collision avoidance. This is made possible by a body to body distance function having a continuous gradient. The second problem has received a lot of attention for several decades, and we present a solution based on 3D vision together with SIFTs descriptor, making use of the information available from the robot. It is shown in this paper that one of the major limitation of this model is the perception distance. Thus a new approach based on a generative object model is presented to cope with more difficult situations. It relies on a local representation which allows handling occlusion as well as large scale and pose variations.

关键词： Humanoid robots Robot vision systems Cameras Object detection Solid modeling Simultaneous localization and mapping Motion estimation Motion detection Large-scale systems Humans

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The great challenge of multimodal interfacestowards symbiosis of human and robots 07

The great challenge of multimodal interfacestowards symbiosi...

引用

Proceedings of the 9th international conference on Multimodal interfaces

作者： Norihiro Hagita ATR Kyoto Japan

ISBN: (纸本)9781595938176

This paper introduces the possibilities of symbiosis between human and communication robots fromthe viewpoint of multi-modal interfaces. Current communication abilities of robots, such as speech recognition, are insufficient for practical use and needs to be improved. A network robot system integrating ubiquitous networking and robot technologies, has been introduced in Japan, Korea and EU countries in order to improve the abilities. Recent field experiments on communication robots based on the system were made in a science museum, a train station and a shopping mall in Japan. Results suggests that network robot systems may be used more as the next-generation communication media. The improvement of communication ability causes problems on privacy policy, since the history of human robot interaction often includes personal information. For example,when a robot askes me, "Hi, Nori. I know you," and I have never met it before, how should I respond to it? Therefore, access control method based on multi-modal interfaces would be requiredand discussed. Android science will be introduced as an ultimate human interface. The research aimsto clarify the difference between "existence" for robot-like robots and "presence" for human-like robots. Once the appearance of robots becomes more similar to that of humans, how should I respond to it? The development of communication robots at our lab, including privacy policy and android science is outlined.

关键词： humanoid robot communication robot

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Combined Trajectory Planning and Gaze Direction Control for Robotic Exploration

Combined Trajectory Planning and Gaze Direction Control for ...

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IEEE International conference on Robotics and Automation (ICRA)

作者： Georgios Lidoris Kolja Kuhnlenz Dirk Wollherr Martin Buss Institute of Automatic Control Engineering (LSR) Technische Universität München München Germany

In this paper, a control scheme that combines trajectory planning and gaze direction control for robotic exploration is presented. The objective is to calculate the gaze direction and simultaneously plan the trajectory of the robot over a given time horizon, so that localization and map estimation errors are minimized while the unknown environment is explored. Most existing approaches perform a greedy optimization for the trajectory generation only over the next time step and usually neglect the limited field of view of visual sensors and consequently the need for gaze direction control. In the proposed approach an information-based objective function is used, in order to perform multiple step planning of robot motion, which quantifies a trade-off between localization, map accuracy and exploration. Relative entropy is used as an information metric for the gaze direction control. The result is an intelligent exploring mobile robot, which produces an accurate model of the environment and can cope with very uncertain robot models and sensor measurements

关键词： Trajectory Robot control Robot sensing systems Intelligent robots Intelligent sensors Mobile robots Estimation error Motion planning Robot motion Entropy

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An Open System Architecture for Condition Based Maintenance Overview

An Open System Architecture for Condition Based Maintenance ...

引用

IEEE conference on Aerospace

作者： Kevin Swearingen Wayne Majkowski Brian Bruggeman Dan Gilbertson Jon Dunsdon Ben Sykes MS S270-3800 Boeing Company Saint Louis MO USA Smiths AeroSpace Glos UK

The Boeing Company is developing an open integrated vehicle health management (IVHM) architecture; Smiths aerospace is extending and applying it. The charter of the Boeing phantom works is to provide tools and assets that enable next generation vehicles to be more reliable, efficient, capable, and autonomous. In support of those goals Integrated vehicle health management (IVHM) is receiving increased attention. The open system architecture for condition based maintenance (OSACBM) is a standard for building IVHM applications that meet those goals. Boeing has created a software framework for developing generic tools based on OSACBM that support scaleable, efficient modules which simplify IVHM integration in two ways: First, the integration improves the IVHM software models, software algorithms, data, communications, and embedded processors. Second, integration facilitates the use of IVHM with command, control, communication, mission, flight, maintenance, and other vehicle major systems.

关键词： Open systems Remotely operated vehicles Embedded software Software tools Maintenance Imaging phantoms Mobile robots Computer architecture Buildings Application software

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Information security with real-time operation: performance assessment for next generation wireless distributed networked-control-systems

Information security with real-time operation: performance a...

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Annual conference of Industrial Electronics Society

作者： Rachana A Gupta Mo-Yuen Chow Avesh Kumar Agarwal Wenye Wang Electrical and Computer Engineering Department North Carolina State University Raleigh NC USA

Distributed network-control-systems (D-NCS) are a multidisciplinary effort whose aim is to produce a network structure and components that are capable of integrating sensors, actuators, communication, and control algorithms in a manner to suit real-time applications. They have been gaining popularity due to their high potential in widespread applications and becoming more realizable due to the rapid advancements in wireless communication and data transfer technologies. This paper addresses the issue of D-NCS information security as well its real-time performance with respect to network security protocols and encryption schemes. We use a wireless network based, robot navigation path tracking system called intelligent space (iSpace) as a D-NCS test bed in this paper. The paper classifies the data from every NCS module (sensors, actuators and controllers) according to bandwidth requirement, time and information sensitivity. We define performance parameters for this NCS test bed. Various system factors affecting these performance parameters are recognized. Network security algorithms DES and 3DES are integrated with the application to encrypt the sensitive information flow. These wireless security features are considered as an added factor to the NCS. Standard statistical approach (2 k factorial experiment design) is used to study and estimate the effect of each factor on the system performance especially security additions. Thorough experimental results, tables of detailed characterization and effect estimate analysis is presented followed by the discussion on the performance comparison of NCS with and without wireless security.

关键词： Information security next generation networking Communication system security Actuators Space technology Data security Cryptography Intelligent robots Intelligent sensors Wireless sensor networks

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Tactile Perception of Rotational Sliding

Tactile Perception of Rotational Sliding

引用

World Haptics conference

作者： William R. Provancher Brandt D. Erickson Federico Barbagli Hong Z. Tan Haptics and Embedded Mechatronics Laboratory University of Utah Salt Lake UT USA Stanford Robotics Laboratory University of Stanford Stanford CA USA Haptic Interface Research Laboratory Purdue University West Lafayette IN USA

We present a new tactile display for rendering rotational friction at the fingertips. To inform the design and control of this device, we have conducted an initial set of perceptual experiments to investigate perceptual thresholds for rates of rotational slipping at the fingertips. It was found that humans can discriminate a change in rotational sliding rate of 4.13-28.04 rad/sec from a reference rate of 1.57-25.13 rad/sec. An initial device design and prototype are presented. The device utilizes a small friction disk housed in a thimble, driven remotely from a motor worn on the user's wrist. The device directly integrates with a robotic force feedback arm, preserving the force feedback functionality while adding the tactile information on frictional sliding. Insights from the presented psychophysical experiments and initial device prototype will be utilized in the design of the next generation of rotation friction devices that will be used in multi-finger grasp studies

关键词： Displays Friction Haptic interfaces Humans robots Prototypes Force feedback Psychology Force control Mechatronics

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