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Perspectives on the emerging field of autonomous systems and its theoretical foundations

Perspectives on the emerging field of autonomous systems and...

引用

2021 ieee international conference on Autonomous systems, ICAS 2021

作者： Wang, Yingxu Plataniotis, Konstantinos N. Mohammadi, Arash Marcenaro, Lucio Asif, Amir Hou, Ming Leung, Henry Gavrilova, Marina University of Calgary FIEEEs Dept. of Electrical and Software Engineering Canada University of Toronto FIEEE Dept. of Electrical and Computer Engineering ON Canada Concordia University SMIEEEs Dept. of Computer Science Montreal Canada University of Genova SMIEEE Dept. of DITEN Italy SMIEEE Toronto Research Centre DRDC Canada University of Calgary SMIEEE Dept. of Computer Science Canada

ISBN: (纸本)9781728172897

Autonomous systems are advanced intelligent systems and general AI technologies triggered by the transdisciplinary development in intelligence science, system science, brain science, cognitive science, robotics, computational intelligence, and intelligent mathematics. AS are driven by the increasing demands in the modern industries of cognitive computers, deep machine learning, robotics, brain-inspired systems, self-driving cars, internet of things, and intelligent appliances. This paper presents a perspective on the framework of autonomous systems and their theoretical foundations. A wide range of application paradigms of autonomous systems are explored. © 2021 ieee.

关键词： intelligent systems

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Fast and Robust Bio-inspired Teach and Repeat Navigation

Fast and Robust Bio-inspired Teach and Repeat Navigation

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ieee/RSJ international conference on intelligent Robots and systems (IROS)

作者： Dall'Osto, Dominic Fischer, Tobias Milford, Michael Queensland Univ Technol QUT Ctr Robot Brisbane Qld 4000 Australia

ISBN: (纸本)9781665417143

Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or inventory transport, a route repeating capability can be sufficient and offers potential practical advantages over a full navigation stack. Previous teach and repeat research has achieved high performance in difficult conditions predominantly by using sophisticated, expensive sensors, and has often had high computational requirements. Biological systems, such as small animals and insects like seeing ants, offer a proof of concept that robust and generalisable navigation can be achieved with extremely limited visual systems and computing power. In this work we create a novel asynchronous formulation for teach and repeat navigation that fully utilises odometry information, paired with a correction signal driven by much more computationally lightweight visual processing than is typically required. This correction signal is also decoupled from the robot's motor control, allowing its rate to be modulated by the available computing capacity. We evaluate this approach with extensive experimentation on two different robotic platforms, the Consequential robotics Miro and the Clearpath Jackal robots, across navigation trials totalling more than 6000 metres in a range of challenging indoor and outdoor environments. Our approach continues to succeed when multiple state-of-the-art systems fail due to low resolution images, unreliable odometry, or lighting change, while requiring significantly less compute. We also - for the first time - demonstrate versatile cross-platform teach and repeat without changing parameters, in which we learn to navigate a route with one robot and repeat that route using a completely different robot.

关键词： Visualization Image resolution Navigation Robot vision systems Visual systems Cameras Noise measurement

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Advances in autonomous systems: A summary of the autodefence summer school at ieee ICAS'21

Advances in autonomous systems: A summary of the autodefence...

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2021 ieee international conference on Autonomous systems, ICAS 2021

作者： Wang, Yingxu Yanushkevich, Svetlana Mohammadi, Arash Plataniotis, Konstantinos N. Coates, Mark Fidan, Baris Gavrilova, Marina L. Hu, Yaoping Karray, Fakhri Leung, Henry Hou, Ming University of Calgary AB Canada Univ. of Concordia MontrealQC Canada University of Toronto ON Canada McGill University MontrealQC Canada University of Waterloo ON Canada Defence Research and Development Canada

ISBN: (纸本)9781728172897

This paper presents a panel summary on the framework of Autonomous systems (AS) and paradigms in development. AS are advanced intelligent systems and general AI technologies triggered by the transdisciplinary development in intelligence science, system science, brain science, cognitive science, robotics, computational intelligence, and intelligent mathematics. It is recognized that, in a rigorous perspective, the only matured AS is human brains and human collective intelligence. It explains why there was rarely man-made AS in the past half century, because of the theoretical, mathematical, computational, and programming language unreadiness. Therefore, the ultimate goal of AS is to implement a brain-inspired system that may think and behave as a human counterpart in hybrid intelligent systems and general AI implementations. There is no doubt that AS will be increasingly demanded by the intelligence-based industries and societies for cognitive computers, deep machine learning systems, robotics, brain-inspired systems, mission-critical systems, self-driving vehicles, and intelligent appliances. © 2021 ieee.

关键词： robotics

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Modeling and Experimental Characterization of Magnetic Membranes as Soft Smart Actuators for Medical robotics

Modeling and Experimental Characterization of Magnetic Membr...

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ieee international conference on Advanced intelligent Mechatronics (AIM)

作者： Zhou, Hao Alici, Gursel Univ Wollongong Sch Mech Mat Mechatron & Biomed Engn Wollongong NSW 2522 Australia Univ Wollongong ARC Ctr Excellence Electromat Sci Wollongong NSW 2522 Australia

ISBN: (纸本)9781509060009

In this study, new isotropic magnetic membrane-type actuators are fabricated and characterized by both theoretical and experimental approaches in terms of their deflections and delivered actuation forces when an external magnetic field is applied. The effects of diameter, thickness, concentration of magnetic particles are investigated. The actuation force depends on the amount of magnetic substance (iron particles in this case) contained in the membranes. As the diameter or thickness or the concentration of iron increases, the magnetic actuation force increases. On the other hand, the deflection does not show a straightforward relationship with one parameter. It is affected by the combination of profile, elasticity of material and magnetic force exerted on the membrane. This work provides a useful reference for selecting and optimizing magnetic membranes as the actuators for soft robotic applications.

关键词： Estimation Field programmable gate arrays OFDM Modulation Filtration Clocks signal processing algorithms

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Real-time Light Field processing for Autonomous robotics

Real-time Light Field Processing for Autonomous Robotics

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25th ieee/RSJ international conference on intelligent Robots and systems (IROS)

作者： Bajpayee, Abhishek Techet, Alexandra H. Singh, Hanumant MIT 77 Massachusetts Ave Cambridge MA 02139 USA Northeastern Univ Boston MA 02115 USA

ISBN: (纸本)9781538680940

Typical autonomous robotics systems incorporate multiple cameras, LIDAR sensors and sophisticated computing resources. In this paper we present a software framework for utilizing any array of multiple cameras with sufficient field-of-view (FOV) overlap as a light field imaging system. We show that the typical linear arrays that exist on autonomous cars are sufficient to capture stable time resolved light fields even when moving at highway speeds. We elaborate on the potential pitfalls associated with such a technique namely loss of calibration between cameras due to high frequency vibrations and sudden shocks associated with driving over potholes and highlight a method that can compensate for such effects. We demonstrate that the light fields collected by simple linear arrays can be processed in real time for a wide variety of useful applications including occlusion removal, for signal enhancement in featureless images captured in very low light, for reflection removal and for improved visibility in extreme conditions associated with snow and heavy rain.

关键词： Cameras Robot vision systems Vibrations Calibration Three-dimensional displays

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The application of direction basis function networks for adaptive regulations of nonlinear continuous time systems

The application of direction basis function networks for ada...

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international conference on Neural Networks and signal processing

作者： Cao, WM Xiao, G Lu, F Li, P Wang, SJ Zhejiang Univ Technol Inst Intelligent Informat Syst Hangzhou 310032 Zhejiang Peoples R China

ISBN: (纸本)0780377028

For a class of nonlinear continuous time systems x = f(x) + Bu + d, when the nonlinear function f(x) is bounded or satisfies linear growth condition with un-known growth coefficient, we first prove that x falls into a compact set, then two adaptive regulators are proposed based on the approximation capability of direct basis function networks. According to the Lyapunov stability theory, the control algorithms are proved to be globally stable, the state of closed-loop system is uniformly ultimately bounded and the control law is continuous.

关键词： Closed loop systems

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Thermally-Controlled Coiled Polymeric Wire as a Novel Variable Elastic Element

Thermally-Controlled Coiled Polymeric Wire as a Novel Variab...

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ieee international conference on Advanced intelligent Mechatronics (AIM)

作者： Folgheraiter, Michele Aubakir, Bauyrzhan Varol, Huseyin Atakan Nazarbayev Univ Dept Robot & Mechatron 53 Kabanbay Batyr AveZ05HOP9 Astana Kazakhstan

ISBN: (纸本)9781509060009

In this work, we present a thermally-controlled coiled polymeric wire as a novel variable stiffness element for robotics applications. We characterized the stiffness behavior of a single twisted nylon wire with 1 mm diameter at different operating temperatures between 25 degrees C to 50 degrees C. We observed a linear relationship between the temperature and the stiffness of the nylon wire. This is promising since it would facilitate straightforward adjustment of spring behavior in variable stiffness actuated systems. In order to see the stiffness modulation through temperature change, we conducted dynamic tests on a single joint mechanism with two nylon springs connected in an antagonistic configuration. Specifically, the nylon springs were immersed in water and the temperature was controlled using a Peltier cell. Experimental results indicate that the natural frequency and the damping ratio of the second order system are proportional and inversely proportional to the temperature, respectively.

关键词： Estimation Field programmable gate arrays OFDM Modulation Filtration Clocks signal processing algorithms

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Analysis of the slip-related falls and fall prevention with an intelligent shoe system

Analysis of the slip-related falls and fall prevention with ...

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3rd ieee RAS and EMBS international conference on Biomedical robotics and Biomechatronics

作者： Onodera, Hiroshi Yamaguchi, Takeshi Yamanouchi, Hiroteru Nagamori, Kazumasa Yano, Masaru Hirata, Yasuhisa Hokkirigawa, Kazuo Natl Nishitaga Hosp Sendai Miyagi Japan Tohoku Univ Grad Sch Eng Sendai Miyagi Japan Tohoku Univ Dept Bioengn & Robot Sendai Miyagi Japan

ISBN: (纸本)9781424477098

We studied a relationship between a zero moment point (ZMP) and a base of support (BOS) during slipping. ZMP is the point on the ground where no moment may be transmitted about the whole body center of mass (COM). When subjects could walk without slipping, ZMP was located within the BOS at a single support phase. When a fall after a forward slip was observed, the ZMP remained outside of the BOS edge. The maximum distance between the ZMP and the BOS edge (L-max) was longer in the fall group than in the recovery group (p < 0.001). The maximum velocity of the slipping foot segment relative to the torso segment (vr_max) had a positive correlation with L-max. An intelligent shoe system, which can extend the shoe sole area (BOS) laterally, improved both static standing balance and dynamic standing balance. Thus, appropriate coefficient of sliding friction on the shoe sole and intelligent control of the shoe sole area would be of value in reducing the risk of falling, particularly for the people with movement disorders.

关键词： biomedical optical imaging center of mass dynamic standing balance fall prevention footwear forward slip gait analysis handicapped aids infrared imaging intelligent control intelligent control intelligent shoe system maximum distance maximum velocity mechanoception medical control systems medical signal processing movement disorders shoe sole area sliding friction sliding friction coefficient slip-related falls slipping slipping foot segment static standing balance support base torso segment walking zero moment point

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robotics cloud and robotics school

Robotics cloud and robotics school

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7th international conference on Natural Language processing and Knowledge Engineering, NLP-KE 2011

作者： Ren, Fuji Department of Information Science and Intelligent Systems Faculty of Engineering University of Tokushima 770-8506 Tokushima Japan

ISBN: (纸本)9781612847283

In the near future, robots with advanced intelligence will be used for the service of society, families, and individuals. In this paper, we propose the concept of an advanced intelligence machine, which is a device that uses both natural and artificial intelligence and is capable of affective recognition and generation of affective speech and behavior. We describe the concept of a "robotics cloud" for use by advanced intelligence machines in human-robot interactions and provide a theoretical framework and technology blueprint of the construction of a robotics cloud. In addition, we propose a "robotics school" for building robotics clouds and describe a framework for the school, its certification program, and a method for authentication of the school. The influence of robots on the development of society, scientific and technological progress, and human-robot relationships are also discussed. © 2011 ieee.

关键词： Human robot interaction

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Proceedings of the ieee international conference on systems Engineering August 24-26 1989 Dayton, Ohio

Proceedings of the IEEE International Conference on Systems ...

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ieee international conference on systems Engineering

The proceedings contains 145 papers. The following topics are dealt with: imaging systems, estimation and identification, robotics, detail preserving image restoration and smoothing, robust control, neural networks, hardwares and softwares for digital image processing, systems engineering with fuzzy requirements, automation systems, signal processing: algorithm to silicon, power electronic systems, control systems, intelligent machine systems, digital signal processing, telecommunications systems engineering, robustness in control system design, communication systems, linear and nonlinear control, and computer vision.

关键词： systems Engineering

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