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检索条件"任意字段=International Asia Conference on Informatics in Control, Automation, and Robotics"

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Full body motion adaption based on task-space distance meshes

Full body motion adaption based on task-space distance meshe...

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IEEE international conference on robotics and automation (ICRA)

作者： Thomas Nierhoff Sandra Hirche Wataru Takano Yoshihiko Nakamura Department of Mechano-Informatics University of Tokyo Tokyo Japan Faculty of Electrical Engineering Technische Universität München München Germany

This paper presents a novel robot pose measure for human movement imitation based entirely on the Euclidean distance information between any two links of a robot and any link and object in the robot's environment in a Cartesian task space. A Hidden Markov Model is used to encode the spatio-temporal information of multiple demonstrations. In combination with Gaussian Mixture Regression for extracting the important task properties, feasible full-body motion adaption can be achieved. The method is suited for use with a humanoid robot by considering additional constraints like balance control and collision avoidance. In order to tackle modeling errors occurring due to the human movement demonstration and the robotic reproduction, a manipulability based weighting scheme is proposed. Complexity reduction of the otherwise redundant pose measure is performed based upon a mechanical analogy of an interconnected spring system. Experiments are conducted using a HRP-4 robot and display the applicability of the presented methods for robotic full-body motion imitation tasks.

关键词： Robots Joints Vectors Collision avoidance Jacobian matrices Cost function Hidden Markov models

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Stochastic Bus Traffic Modelling and Validation Using Smart Card Fare Collection Data

Stochastic Bus Traffic Modelling and Validation Using Smart ...

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17th international IEEE conference on Intelligent Transportation Systems & The asia-Pacific Council on Systems Engineering conference 2014

作者： Jordan Ivanchev Heiko Aydt Alois Knoll TUM CREATE 1 CREATE Way10-02 CREATE TowerSingapore 138602 Technische Universitt M ünchen (TUM) Institute for InformaticsRobotics and Embedded Systems

This paper provides guidelines for designing bus transit simulations and justifies the need of a qualitatively and quantitatively correct model that is validated and can serve as a benchmark testing platform for the numerous optimisation strategies that researchers *** describes and comments on some of the most important contributions regarding bus transportation control and optimisation from a modelling ***,a case study concerning a bus line in Singapore is conducted where smart card data is used to extract the parameters needed in order to construct the model,while discussing the methods and challenges of this ***,the simulation is calibrated and validated in order to ensure maximum accuracy of its outputs.

关键词： Stochastic Bus Traffic Modelling and Validation Using Smart Card Fare Collection Data

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Continuum worm-like robotic mechanism with decentral control architecture

Continuum worm-like robotic mechanism with decentral control...

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IEEE international conference on automation Science and Engineering (CASE)

作者： Martin Eder Maximilian Karl Alois Knoll Stefan Riesner Faculty of Informatics Technische Universität München Garching bei München Germany Robotics Technology Leaders GmbH München Germany

ISBN: (纸本)9781479952847

Flexible continuum robots are utilized for operational areas, in which discretely structured robots are not suitable due to their kinematic limitations. Continuum mechanisms feature adaptiveness, which is a prerequisite for constrained spaces. Furthermore, such robots can be integrated within human-robot interaction scenarios. The crucial contribution of this work is a novel intrinsic continuum worm-like robot based on a modular and decentral control architecture. It is actuated by pneumatic artificial muscles (PAMs), which result in an inherently compliant robotic system. To realize the modularity, the setup deploys a central air supply that feeds locally arranged valve cluster units, which are connected with short stub lines. Keeping the supply tubes between the valves and the PAMs short, guarantees a very direct control with good precision. This paper presents an implementation of a continuum robot with four segments comprising twelve degrees of freedom.

关键词： Valves Robot sensing systems Hoses Muscles Pneumatic systems

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A novel tumor localization method using haptic palpation based on soft tissue probing data

A novel tumor localization method using haptic palpation bas...

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IEEE international conference on robotics and automation (ICRA)

作者： Min Li Angela Faragasso Jelizavata Konstantinova Vahid Aminzadeh Lakmal D. Seneviratne Prokar Dasgupta Kaspar Althoefer Department of Informatics Kings College London U. K. College of Engineering Khalifa University of Science Technology and Research Abu Dhabi U.A.E. King's College London DTIMB and NIHR BRC

Current surgical tele-manipulators do not provide explicit haptic feedback during soft tissue palpation. Haptic information could improve the clinical outcomes significantly and help to detect hard inclusions within soft-tissue organs indicating potential abnormalities. However, system instability is often caught by direct force feedback. In this paper, a new approach to intra-operative tumor localization is introduced. A virtual-environment tissue model is created based on the reconstructed surface of a soft-tissue organ using a Kinect depth sensor and the organ's stiffness distribution acquired during rolling indentation measurements. Palpation applied to this tissue model is haptically fed back to the user. In contrast to previous work, our method avoids the control issues inherent to systems that provide direct force feedback. We demonstrate the feasibility of this method by evaluating the performance of our tumor localization method on a soft tissue phantom containing buried stiff nodules. Results show that participants can identify the embedded tumors; the proposed method performed nearly as well as manual palpation.

关键词： Force Surface reconstruction Biological tissues Three-dimensional displays Robots Force feedback

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Innovative approach in analysis of EEG and EMG signals — Comparision of the two novel methods

Innovative approach in analysis of EEG and EMG signals — Co...

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

作者： Aleksandra Kawala-Janik Michal Podpora Jerzy Baranowski Waldemar Bauer Mariusz Pelc Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Opole Poland Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering AGH University of Science and Technology Krakow Poland Old Royal Naval College University of Greenwich London U.K.

In this paper comparison of the two innovative signal processing methods for analysis of both EEG and EMG biomedical signals is in short presented. The reason for that is caused by the fact, that nowadays the broad analysis of various biomedical signals is extremely popular. The first method presented in this paper relies on kernel density estimators application. Implementation of such method enables construction of densitograms for the examined bio-signals. One of the biggest advantages of this method is that it allows to obtain statistically filtered signals, which results in making the whole signal processing task significantly quicker. The second method described in this paper is based on basic mathematical operations only. Despite its simplicity the whole process can be implemented on almost any hardware platform, including those with very limited computational capabilities. Also it makes the task quick. In accordance with the conducted experiments - the method is also efficient and as it can also be implemented on embedded platform and the algorithm can be rewritten in any programming language, the potential application of this method is wide.

关键词： Electroencephalography Electromyography Electrodes Signal processing Educational institutions Headphones Hardware

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Conceptual design of BCI in the formal basis of Hierarchical System

Conceptual design of BCI in the formal basis of Hierarchical...

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international Carpathian control conference (ICCC)

作者： Kanstantsin Miatliuk Agata Nawrocka Karolina Holewa Department of Automation and Robotics Bialystok University of Technology Bialystok Poland Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

The use of Hierarchical Systems (HS) technology in conceptual design of BCI is proposed in the work. Being biomechatronic by nature BCI system contains, biological (brain), computer, visual informatics (LCD, GUI), electronic (sensors) and executive mechanical (mobile robot) or virtual mechanical (virtual keyboard) subsystems. So, conceptual model of the BCI system being designed should contain connected systemic models of the above subsystems presented in the general formal basis. The BCI system structure, its dynamic presentation as the unit in its environment and BCI environment should be also described in this basis. Inter-level dynamics fulfilled by system-environment (e.g., brain-computer) interactions have to be taken into account by BCI Conceptual Model as well. Traditional models of mathematics and AI do not allow such a description. So, aed model of HS was chosen as theoretical basis of BCI Conceptual Model development in the work. Results of BCI detailed design and testing are also given.

关键词： Robot kinematics Biological system modeling Process control Computational modeling Color Brain modeling

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Design and Implementation of Driving control System for Autonomous Vehicle

Design and Implementation of Driving Control System for Auto...

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17th international IEEE conference on Intelligent Transportation Systems & The asia-Pacific Council on Systems Engineering conference 2014

作者： Linhai Xu Yingzhou Wang Hongbin Sun Jingmin Xin Nanning Zheng Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University

The control system design that is responsible for the path tracking and driving safety,is one of the most important technologies for autonomous *** paper describes the design of driving control system,including both longitudinal and lateral controls,for the Kuafu-II autonomous *** with most of previous works that inevitably require a large amount of parameters,the presented control system design integrates several typical and yet efficient controllers to significantly reduce the system sensitivity to these parameters,and hence is able to achieve the system robustness under diversified *** effectiveness of presented control system design has been extensively evaluated under simulation and vehicle test on road.

关键词： Design and Implementation of Driving control System for Autonomous Vehicle

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Predictive Risk Maps

Predictive Risk Maps

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17th international IEEE conference on Intelligent Transportation Systems & The asia-Pacific Council on Systems Engineering conference 2014

作者： Florian Damerow Julian Eggert the Control Methods and Robotics Lab Technical University of Darmstadt64283 DarmstadtGermany

This paper addresses the problem of risk assessment in dynamic traffic environments for future behavior evaluation and *** assessment has to be driven from behavioral needs of the acting scene entity to evaluate the best possible future *** present a general approach for a temporally continuous future risk *** this risk estimation,we introduce predictive risk maps based on the variation of the acting entities’ possible *** predictive risk maps indicate how critical a certain behavior will be in the future and we use them for future behavior evaluation and *** introducing risk indicators for the collision case of moving entities we show the generality of our approach by applying it to several different traffic scene types.

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Fast Fog Detection for Camera Based Advanced Driver Assistance Systems

Fast Fog Detection for Camera Based Advanced Driver Assistan...

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17th international IEEE conference on Intelligent Transportation Systems & The asia-Pacific Council on Systems Engineering conference 2014

作者： Rita Spinneker Carsten Koch Su-Birm Park Jason Jeongsuk Yoon Hochschule Emden/Leer University of Applied Sciences Institute of InformaticsAutomation and Robotics (I2AR)EmdenGermany LG Electronics Future IT Lab Computer Vision Team SeoulRepublic of Korea

In an increasing number of cars,the driver is supported by Advanced Driver Assistance Systems(ADAS).In particular camera based ADAS are a key component for further improvements in safety and driving *** imaging sensors are performing well under good weather conditions,their efficiency suffers under adverse environmental influences such as heavy rain,fog or *** handle such optical threats and to estimate information quality of cameras in order to warn the assistance system of possible critical working conditions,a self-diagnosis mechanism is of great importance for reliable operation of an optical *** this paper an approach of camera based fog detection as part of a self-diagnosis mechanism for ADAS based on the blurring effect of fog is *** encouraging results of our experiments have shown that the presented approach of analysing the power spectrum slope(PSS) of a small image block in close proximity to the vanishing point enables a fast discrimination of street scenes with and without fog.

关键词： image Fast Fog Detection for Camera Based Advanced Driver Assistance Systems

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Bio-inspired tactile sensor sleeve for surgical soft manipulators

Bio-inspired tactile sensor sleeve for surgical soft manipul...

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IEEE international conference on robotics and automation (ICRA)

作者： S. Sareh A. Jiang A. Faragasso Y. Noh T. Nanayakkara P. Dasgupta L.D. Seneviratne H.A. Wurdemann K. Althoefer Department of Informatics King's College London UK

Robotic manipulators for Robot-assisted Minimally Invasive Surgery (RMIS) pass through small incisions into the patient's body and interact with soft internal organs. The performance of traditional robotic manipulators such as the da Vinci Robotic System is limited due to insufficient flexibility of the manipulator and lack of haptic feedback. Modern surgical manipulators have taken inspiration from biology e.g. snakes or the octopus. In order for such soft and flexible arms to reconfigure itself and to control its pose with respect to organs as well as to provide haptic feedback to the surgeon, tactile sensors can be integrated with the robot's flexible structure. The work presented here takes inspiration from another area of biology: cucumber tendrils have shown to be ideal tactile sensors for the plant that they are associated with providing useful environmental information during the plant's growth. Incorporating the sensing principles of cucumber tendrils, we have created miniature sensing elements that can be distributed across the surface of soft manipulators to form a sensor network capable of acquire tactile information. Each sensing element is a retractable hemispherical tactile measuring applied pressure. The actual sensing principle chosen for each tactile makes use of optic fibres that transfer light signals modulated by the applied pressure from the sensing element to the proximal end of the robot arm. In this paper, we describe the design and structure of the sensor system, the results of an analysis using Finite Element Modeling in ABAQUS as well as sensor calibration and experimental results. Due to the simple structure of the proposed tactile sensor element, it is miniaturisable and suitable for MIS. An important contribution of this work is that the developed sensor system can be ”loosely” integrated with a soft arm effectively operating independently of the arm and without affecting the arm's motion during bending or elongation.

关键词： Tactile sensors Manipulators Rubber Force

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