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检索条件"主题词=Control Engineering Computing"

共 1551 条记录，以下是671-680 订阅

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GPU-based Motion Planning under Uncertainties using POMDP

GPU-based Motion Planning under Uncertainties using POMDP

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Lee, Taekhee Kim, Young J. Ewha Womans Univ Dept Comp Sci & Engn Seoul South Korea

ISBN: (纸本)9781467356411;9781467356435

We present a novel GPU-based parallel algorithm to solve continuous-state POMDP problems. We choose the MCVI (Monte Carlo Value Iteration) method as our base algorithm [1], and parallelize this algorithm using multi-level parallel formulation of MCVI. For each parallel level, we propose efficient algorithms to effectively utilize the massive data parallelism of GPUs. To obtain the maximum parallel performance at highest level, we introduce two workload distribution techniques such as data/compute interleaving and workload balancing. To the best of our knowledge, our algorithm is the first parallel algorithm that executes POMDP efficiently on GPUs. Our GPU-based algorithm outperforms the existing CPU-based algorithm by a factor of 75 similar to 90 on different benchmarks.

关键词： Markov processes Monte Carlo methods control engineering computing decision theory graphics processing units iterative methods parallel algorithms path planning resource allocation

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Optimal controls of Fleet Trajectories for Fuel and Emissions

Optimal Controls of Fleet Trajectories for Fuel and Emission...

引用

IEEE Intelligent Vehicles Symposium

作者： Ma, Xiaoliang KTH Royal Inst Technol ITS Lab S-10044 Stockholm Sweden

ISBN: (纸本)9781467327541

Increased demand for transport, coupled with energy, climate and environmental concerns, has put more and more pressure for improved performance on traffic systems. The recent development in vehicle-to-infrastructure (V2I) communication provides an effective means for continuous management of vehicle driving. This study presents an essential step of the work towards a dynamic fleet management system that takes advantages of real-time traffic information and communication. Based on the optimal control theory, a methodological approach is developed to control the environmental impacts of live vehicle fleets. In particular, vehicle trajectories that minimize local environmental objectives are derived by applying a discrete dynamic programming method. Numerical examples show that the method is promising for local V2I based traffic management applications and can be further extended for more complex optimal control problems in dynamic fleet management.

关键词： automated highways control engineering computing dynamic programming mobile communication optimal control road vehicles

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Insertion planning for steerable flexible needles reaching multiple planar targets

Insertion planning for steerable flexible needles reaching m...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Lee, Jaeyeon Park, Wooram Univ Texas Dallas Dept Elect Engn 800 W Campbell Rd Richardson TX 75083 USA Univ Texas Dallas Dept Mech Engn Richardson TX USA

ISBN: (纸本)9781467363587

In this paper, we propose a new insertion plan for steerable flexible needles with which we can target multiple locations in the plane with a single entry point (i.e. port). The method is developed based on the observation that multiple locations can be reached by a flexible needle through insertion, partial retraction, rotation, and re-insertion of the needle. We show that in 2D space this problem can be solved using a geometric relationship between multiple tangent circles. Specifically we find a needle insertion point, a corresponding insertion direction and lengths for insertion and retraction with which we can generate the optimal needle trajectory that reaches two or three planar targets with the minimum tissue damage. This minimization problem is solved using exhaustive search of a cost function on the 1D bounded domain. We build a prototype of a needle insertion system and develop C#-based software to compute the optimal needle paths and perform the planned insertion as an open-loop controller. Finally, actual insertion examples are presented.

关键词： C language biological tissues biomedical equipment control engineering computing geometry medical computing medical control systems minimisation needles open loop systems optimal control search problems trajectory control

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Autonomous Navigation and Sign Detector Learning

Autonomous Navigation and Sign Detector Learning

引用

IEEE Workshop on Robot Vision (WORV)

作者： Ellis, Liam Pugeault, Nicolas Ofjall, Kristoffer Hedborg, Johan Bowden, Richard Felsberg, Michael Linkoping Univ CVL Linkoping Sweden

ISBN: (纸本)9781467356480;9781467356466

This paper presents an autonomous robotic system that incorporates novel Computer Vision, Machine Learning and Data Mining algorithms in order to learn to navigate and discover important visual entities. This is achieved within a Learning from Demonstration (LfD) framework, where policies are derived from example state-to-action mappings. For autonomous navigation, a mapping is learnt from holistic image features (GIST) onto control parameters using Random Forest regression. Additionally, visual entities (road signs e.g. STOP sign) that are strongly associated to autonomously discovered modes of action (e.g. stopping behaviour) are discovered through a novel Percept-Action Mining methodology. The resulting sign detector is learnt without any supervision (no image labeling or bounding box annotations are used). The complete system is demonstrated on a fully autonomous robotic platform, featuring a single camera mounted on a standard remote control car. The robot carries a PC laptop, that performs all the processing on board and in real-time.

关键词： control engineering computing data mining feature extraction learning (artificial intelligence) path planning regression analysis robot vision telerobotics

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Learning How to Increase the Chance of Human-Robot Engagement

Learning How to Increase the Chance of Human-Robot Engagemen...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Macharet, Douglas G. Florencio, Dinei A. Univ Fed Minas Gerais Dept Comp Sci Comp Vis & Robot Lab VeRLab Belo Horizonte MG Brazil Microsoft Corp Redmond WA 98052 USA

ISBN: (纸本)9781467363587

The increasing use of mobile robots in social contexts makes it important to provide them with the ability to behave in the most socially acceptable way possible. In this paper we investigate the problem of making a robot learn how to approach a person in order to increase the chance of a successful engagement. We propose the use of Gaussian Process Regression (GPR), combined with ideas from reinforcement learning to make sure the space is properly and continuously explored. In the proposed example scenario, this is used by the robot to predict the best decisions in relation to its position in the environment and approach distance, each one accordingly to a certain time of the day. Numerical simulations show a significant performance improvement when compared with a random technique. The robot is able to improve performance after just one day of interaction (a few dozens of trials), and achieves the maximum expected value for the proposed approach within sixty days.

关键词： Gaussian processes control engineering computing human-robot interaction learning (artificial intelligence) mobile robots regression analysis

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Robotics Education: A Case Study in Soft-Bodied Locomotion

Robotics Education: A Case Study in Soft-Bodied Locomotion

引用

IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)

作者： Yu, Xiaoxiang Assaf, Dorit Wang, Liyu Iida, Fumiya Swiss Fed Inst Technol Inst Robot & Intelligent Syst Bioinspired Robot Lab Zurich Switzerland Univ Zurich Dept Informat Artificial Intelligence Lab Zurich Switzerland

ISBN: (纸本)9781479923687

Locomotion has been one of the frequently used case studies in hands-on curricula in robotics education. Students are usually instructed to construct their own wheeled or legged robots from modular robot kits. In the development process of a robot students tend to emphasize on the programming part and consequently, neglect the design of the robot's body. However, the morphology of a robot (i.e. its body shape and material properties) plays an important role especially in dynamic tasks such as locomotion. In this paper we introduce a case study of a tutorial on soft-robotics where students were encouraged to focus solely on the morphology of a robot to achieve stable and fast locomotion. The students should experience the influence material properties exert on the performance of a robot and consequently, extract design principles. This tutorial was held in the context of the 2012 Summer School on Soft Robotics at ETH Zurich, which was one of the world's first courses specialized in the emerging field. We describe the tutorial set-up, the used hardware and software, the students assessment criteria as well as the results. Based on the high creativity and diversity of the robots built by the students, we conclude that the concept of this tutorial has great potentials for both education and research.

关键词： control engineering computing control engineering education courseware legged locomotion

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Defining Positioning in a Core Ontology for Robotics

Defining Positioning in a Core Ontology for Robotics

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Carbonera, Joel Luis Fiorini, Sandro Rama Prestes, Edson Jorge, Vitor A. M. Abel, Mara MadhavanO, Raj Locoro, Angela Goncalves, Paulo Haidegger, Tamas Barreto, Marcos E. Schlenoff, Craig Univ Fed Rio Grande do Sul Inst Informat Porto Alegre RS Brazil

ISBN: (纸本)9781467363587

Unambiguous definition of spatial position and orientation has crucial importance for robotics. In this paper we propose an ontology about positioning. It is part of a more extensive core ontology being developed by the IEEE RAS Working Group on ontologies for robotics and automation. The core ontology should provide a common ground for further ontology development in the field. We give a brief overview of concepts in the core ontology and then describe an integrated approach for representing quantitative and qualitative position information.

关键词： control engineering computing ontologies (artificial intelligence) position control robots

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Stereo Vision based indoor/outdoor Navigation for Flying Robots

Stereo Vision based indoor/outdoor Navigation for Flying Rob...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Schmid, Korbinian Tomic, Teodor Ruess, Felix Hirschmueller, Heiko Suppa, Michael German Aerosp Ctr DLR Robot & Mech Ctr RMC Dept Percept & Cognit Munchner Str 20 D-82234 Wessling Germany

ISBN: (纸本)9781467363587

We introduce our new quadrotor platform for realizing autonomous navigation in unknown indoor/outdoor environments. Autonomous waypoint navigation, obstacle avoidance and flight control is implemented on-board. The system does not require a special environment, artificial markers or an external reference system. We developed a monolithic, mechanically damped perception unit which is equipped with a stereo camera pair, an Inertial Measurement Unit (IMU), two processor-and an FPGA board. Stereo images are processed on the FPGA by the Semi-Global Matching algorithm. Keyframe-based stereo odometry is fused with IMU data compensating for time delays that are induced by the vision pipeline. The system state estimate is used for control and on-board 3D mapping. An operator can set waypoints in the map, while the quadrotor autonomously plans its path avoiding obstacles. We show experiments with the quadrotor flying from inside a building to the outside and vice versa, traversing a window and a door respectively. A video of the experiments is part of this work. To the best of our knowledge, this is the first autonomously flying system with complete on-board processing that performs waypoint navigation with obstacle avoidance in geometrically unconstrained, complex indoor/outdoor environments.

关键词： aerospace computing aerospace control aerospace robotics cameras collision avoidance control engineering computing field programmable gate arrays image fusion image matching robot vision state estimation stereo image processing

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Using Robotic Exploratory Procedures to Learn the Meaning of Haptic Adjectives

Using Robotic Exploratory Procedures to Learn the Meaning of...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Chu, Vivian McMahon, Ian Riano, Lorenzo McDonald, Craig G. He, Qin Perez-Tejada, Jorge Martinez Arrigo, Michael Fitter, Naomi Nappo, John C. Darrell, Trevor Kuchenbecker, Katherine J. Univ Penn Hapt Grp Grasp Lab Dept Mech Engn & Appl Mech Philadelphia PA 19104 USA Univ Calif Berkeley Dept Elect Engn & Comp Sci Berkeley CA 94720 USA

ISBN: (纸本)9781467356411;9781467356435

Delivering on the promise of real-world robotics will require robots that can communicate with humans through natural language by learning new words and concepts through their daily experiences. Our research strives to create a robot that can learn the meaning of haptic adjectives by directly touching objects. By equipping the PR2 humanoid robot with state-of-the-art biomimetic tactile sensors that measure temperature, pressure, and fingertip deformations, we created a platform uniquely capable of feeling the physical properties of everyday objects. The robot used five exploratory procedures to touch 51 objects that were annotated by human participants with 34 binary adjective labels. We present both static and dynamic learning methods to discover the meaning of these adjectives from the labeled objects, achieving average F1 scores of 0.57 and 0.79 on a set of eight previously unfelt items.

关键词： biomimetics control engineering computing haptic interfaces humanoid robots natural language processing tactile sensors

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Tool-Assisted Verification of Behaviour Networks

Tool-Assisted Verification of Behaviour Networks

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Armbrust, Christopher Kiekbusch, Lisa Ropertz, Thorsten Berns, Karsten Univ Kaiserslautern Dept Comp Sci Robot Res Lab D-67653 Kaiserslautern Germany

ISBN: (纸本)9781467356411;9781467356435

This paper deals with the problem of assisting developers when verifying properties of complex behaviour-based systems. A central aspect of behaviour-based systems is the interaction between the behaviours, as a lot of the functionality of a system typically arises from this interaction. Hence, verification has to deal with the specialities of behaviour interaction. Previous work has introduced a concept for modelling behaviour-based systems as networks of finite-state automata and for applying model checking as verification technique. As the manual verification of large networks is tedious and error-prone, the work at hand introduces a concept for assisting developers by partly automating the verification process. The applicability of the presented approach is demonstrated using the behaviour-based control system of an autonomous bucket excavator.

关键词： control engineering computing finite state machines formal verification graphical user interfaces robots

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