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2003 ieee/RSJ international conference on intelligent Robots and systems

作者： Hu, Chao Meng, Max Qinghu Liu, Peter Xiaoping Wang, Xiang Dept. of Electrical Engineering University of Alberta Edmonton Alta. T6G 2V4 Canada Department of Systems Engineering Carleton University Ottawa Ont. K1S 5B6 Canada

This paper presents a new visual gesture recognition method for the human-machine interface of mobile robot teleoperation. The interface uses seven static hand gestures, each of which represents an individual control command for the motion control of the remote robot. All the important aspects to develop such a interface are explored, including image acquisition, adaptive object segmentation with color image in RGB, HLS representation, morphological filtering, hand finding and labeling, and recognition with edge codes, template matching, and skeletonizing. By choosing processing methods and procedures properly, a higher ratio of correct recognition and a faster speed are achieved from the experiments.

关键词： Gesture recognition

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intelligent mobile manipulator navigation using adaptive neuro-fuzzy systems

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INFORMATION SCIENCES 2005年第4期171卷 447-474页

作者： Mbede, JB Ele, P Mveh-Abia, CM Toure, Y Graefe, V Ma, SG Ibaraki Univ Fac Engn Hitachi Ibaraki 3168511 Japan Univ Yaounde Ecole Natl Super Polytech Yaounde Cameroon Univ Orleans Lab Vis & Robot F-18020 Bourges France Univ Armed Forces Munich Fac Aerosp Engn D-85577 Neubiberg Germany

The work presented in this paper deals with the problem of autonomous and intelligent navigation of mobile manipulator, where the unavailability of a complete mathematical model of robot systems and uncertainties of sensor data make the used of approximate reasoning to the design of autonomous motion control very attractive. A modular fuzzy navigation method in changing and dynamic unstructured environments has been developed. For a manipulator arm, we apply the robust adaptive fuzzy reactive motion planning developed in [J.B. Mbede, X. Huang, M. Wang, Robust neuro-fuzzy sensor-based motion control among dynamic obstacles for robot manipu- lators, ieee Transactions on Fuzzy systems 11 (2) (2003) 249-261]. But for the vehicle platform, we combine the advantages of probabilistic roadmap as global planner and fuzzy reactive based on idea of elastic band. This fuzzy local planner based on a computational efficient processing scheme maintains a permanent flexible path between two nodes in network generated by a probabilistic roadmap approach. In order to consider the compatibility of stabilization, mobilization and manipulation, we add the input of system stability in vehicle fuzzy navigation so that the mobile manipulator can avoid stably unknown and/or dynamic obstacles. The purpose of an integration of robust controller and modified Elman neural network (MENN) is to deal with uncertainties, which can be translated in the output membership functions of fuzzy systems. (c) 2004 Elsevier Inc. All rights reserved.

关键词： autonomous mobile manipulator fuzzy reactive navigation robust neuro-fuzzy controllers

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1987 PROCEEDINGS - FOURTH international ieee VLSI MULTILEVEL INTERCONNECTION conference.

1987 PROCEEDINGS - FOURTH INTERNATIONAL IEEE VLSI MULTILEVEL...

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1987 Proceedings - Fourth international ieee VLSI Multilevel Interconnection conference.

作者： Anon

The following topics are dealt with: fault-tolerant computers;associative processors and memories;defect-tolerant components;systolic array processors;signal processing architectures;emerging architectures;multiprocessors;distributed systems;image processing architectures;logic and system simulation;circuit and interconnection simulation;hierarchical design and silicon compilers;logic synthesis and design languages;device modeling and simulation;testing;hardware accelerators;knowledge-based tools;WSI;packaging;physical design;automation and robotics;image processing and graphics;computer networks;parallel/multiprocessing systems;supercomputers;application-specific ICs;intelligent workstations;technology transfer;and reliabiity and maintainability. 251 papers were presented, of which 243 are published in full in the present proceedings, and 8 as abstracts only.

关键词： INTEGRATED CIRCUITS, VLSI

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Lift Generation of Hummingbird Wing Models with Flexible Loosened Membranes

Lift Generation of Hummingbird Wing Models with Flexible Loo...

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

作者： Tanaka, Hiroto Suzuki, Haruka Kitamura, Ikuo Maeda, Masateru Liu, Hao Shanghai Jiao Tong Univ Shanghai 200030 Peoples R China Chiba Univ Grad Sch Eng Chiba Japan

ISBN: (纸本)9781467363587

Hummingbirds are promising reference for small flying robots in terms of their excellent ability to hover. Wing kinematics and shape of a hovering hummingbird were measured with four high-speed video cameras. Four types of wing models consisting of carbon fiber rods and polymer membranes with the same planform as the hummingbird wing were fabricated. 1-degree-of-freedom (DOF) flapping experiments with the wing models were performed, where the wing deformation and vertical force (hereafter called 'lift') were measured. The model wings demonstrated similar feathering deformation as that of the hummingbird in the upstroke. In addition, the model wing with a loosened membrane which caused larger feathering deformation produced lift enough to support the weight of the hummingbird. The results suggest that hovering hummingbirds could be modeled as a pair of 1-DOF flapping wings with a thin membrane which passively feathers.

关键词： aerospace components aerospace robotics deformation image sensors membranes mobile robots polymers robot kinematics robot vision rods (structures) video signal processing

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On Performance Evaluation of Driver Hand Detection Algorithms: Challenges, Dataset, and Metrics 18

On Performance Evaluation of Driver Hand Detection Algorithm...

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18th ieee international conference on intelligent Transportation systems

作者： Das, Nikhil Ohn-Bar, Eshed Trivedi, Mohan M. Univ Calif San Diego Lab Intelligent & Safe Automobiles La Jolla CA 92093 USA

ISBN: (纸本)9781467365963

Hands are used by drivers to perform primary and secondary tasks in the car. Hence, the study of driver hands has several potential applications, from studying driver behavior and alertness analysis to infotainment and human-machine interaction features. The problem is also relevant to other domains of robotics and engineering which involve cooperation with humans. In order to study this challenging computer vision and machine learning task, our paper introduces an extensive, public, naturalistic video-based hand detection dataset in the automotive environment. The dataset highlights the challenges that may be observed in naturalistic driving settings, from different background complexities, illumination settings, users, and viewpoints. In each frame, hand bounding boxes are provided, as well as left/right, driver/passenger, and number of hands on the wheel annotations. Comparison with an existing hand detection datasets highlights the novel characteristics of the proposed dataset.

关键词： computer vision learning (artificial intelligence) object detection road vehicles traffic engineering computing video signal processing automotive environment driver alertness analysis driver behavior driver hand detection algorithms machine learning task naturalistic video-based hand detection dataset Cameras Detectors Image color analysis Lighting Training Vegetation Vehicles

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Robot phonotaxis in the wild: a biologically inspired approach to outdoor sound localization

Robot phonotaxis in the wild: a biologically inspired approa...

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11th international conference on Advanced robotics (ICAR 2003)

作者： Horchler, AD Reeve, RE Webb, B Quinn, RD Case Western Reserve Univ Dept Mech & Aerosp Engn Biol Inspired Robot Lab Cleveland OH 44106 USA Univ Edinburgh Sch Informat JCMB Edinburgh EHG 3JZ Midlothian Scotland

ISBN: (纸本)9729688982

Cricket phonotaxis (sound localization behavior) was implemented on an autonomous outdoor robot platform inspired by cockroach locomotion. This required the integration of a novel robot morphology (Whegs) with a biologically based auditory processing circuit and neural control system, as well as interfacing this to a new tracking device and software architecture for running robot experiments. In repeated tests, the robot is shown to be capable of tracking towards a simulated male cricket song over natural terrain. Range fractionation and gain control were added to the auditory control circuit in order to deal with the substantial change in amplitude of the signal as the robot approached the outdoor sound stimulus. We also discuss issues related to acoustic interference from motor noise, the need for a motor feedback mechanism to better regulate the drive signal and plans for future work incorporating additional sensory systems on this platform.

关键词： autonomous robot cricket phonotaxis biorobotics sensory systems auditory processing

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The joy of learning DSP in a large class

The joy of learning DSP in a large class

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ieee international conference on Acoustics, Speech, and signal processing

作者： Yong, L Natl Univ Singapore Dept Elect & Comp Engn Singapore 117548 Singapore

ISBN: (纸本)0780376633

This paper presents a new teaching method that effectively integrates IT technology into teaching and teaming process. The method is well suited for teaching engineering subject in large class and contains three major components: conceptual visualizing, just-in-time teaching, and knowledge transferring. The success of the method is based on an all-in-on Educator-to-Learning portal that provides course material management, dynamic tutorial publication, intelligent tutorial diagnosis, multimedia demonstrations for visualization of difficult concepts, online simulation, virtual laboratory, and etc. The new method brings a new learning experience to students in a learner centered environment.

关键词： teaching electrical engineering education signal processing computer based training courseware intelligent tutoring systems multimedia systems portals DSP learning teaching method learning process engineering subjects conceptual visualization just-in-time teaching knowledge transfer educator-to-learning portal course material management dynamic tutorial publication intelligent tutorial diagnosis multimedia demonstrations online simulation virtual laboratory

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Generalized Virtual Fixtures for Shared-Control Grasping in Brain-Machine Interfaces

Generalized Virtual Fixtures for Shared-Control Grasping in ...

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

作者： Clanton, Samuel T. Rasmussen, Robert G. Zohny, Zohny Velliste, Meel Rehabil Inst Chicago Chicago IL 60611 USA

ISBN: (纸本)9781467363587

""In brain-machine interface (BMI) prosthetic systems, recordings of brain activity are used to control external devices such as computers or robots. BMI systems that have shown the highest fidelity of control use neural signals recorded directly from microelectrodes in the brain to control upper-limb prostheses. These have progressed from allowing control of 2 and 3 dimensional movement of a cursor on a computer screen [1], [2] to control of robot arms in first four [3], [4] and more recently seven degrees-of-freedom (DoF) (Fig. 1) [5], [6]. These types of systems require methods to train users to control large numbers of DoF simultaneously. In this paper we present a new method for shared-control guidance. This method of """"Positive-Span"""" Virtual Fixturing extends the concept of Virtual Fixtures to guide both translational and rotational DoF of a brain-controlled robot hand toward whole sets of robot poses that would allow an object to be grasped. This system was used to successfully train monkeys to operate the 7-DoF BMI [5], leading directly to the simplified system of """"ortho-impedance"""" used to guide human subject BMI control in a similar experiment [6].""

关键词： artificial limbs biomedical electrodes brain brain-computer interfaces manipulators medical robotics medical signal processing neurophysiology pose estimation

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PROCEEDINGS OF THE 1986 ieee international conference ON systems, MAN, AND CYBERNETICS.

PROCEEDINGS OF THE 1986 IEEE INTERNATIONAL CONFERENCE ON SYS...

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Proceedings of the 1986 ieee international conference on systems, Man, and Cybernetics.

作者： Anon

The following topics are dealt with: cognitive systems;user interface;adaptive and learning systems;human-robot interaction;bioengineering;decision-making;expert systems;ergonomics of software development;robotics;medical imaging;complex systems;knowledge-based systems;physiological modeling;man-machine systems;biological cybernetics;advanced AI architectures;human information processing;neural models;pattern recognition;manufacturing systems;intelligent systems;mental models;image processing;human performance;computer-aided instruction;large-scale systems;machine vision;workload studies;information systems;system modeling;training and tutoring systems;flight systems;participant systems;space systems;computer-aided design;display effectiveness;system control;image and signal processing;and office automation. 315 papers were presented, of which 314 are published in full in the present proceedings, and 1 as an abstract only. Abstracts of individual papers can be found under the relevant classification codes in this or other issues.

关键词： systems SCIENCE AND CYBERNETICS

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Humanoid robot and its application possibility

Humanoid robot and its application possibility

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ieee international conference on robotics, intelligent systems and signal processing

作者： K. Tanie Intelligent Systems Institute AIST Japan

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