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Advanced robotics 2009年第12-13期23卷 1687-1702页

作者： Wang, Chieh-Chih Lin, Chi-Hao Hu, Jwu-Sheng Department of Computer Science and Information Engineering Graduate Institute of Networking and Multimedia National Taiwan University Taipei 10617 Taiwan Intelligent Robotics Program of Industrial Technology Research Institute Department of Electrical and Control Engineering National Chiao Tung University HsinChu 310 Taiwan

Auditory perception is one of the most important functions for robotics applications. Microphone arrays are widely used for auditory perception in which the spatial structure of microphones is usually known. In practice, microphone array calibration can be tedious and other devices or means are required. The structure from sound (SFS) approach addresses the problem of simultaneously localizing a set of microphones and a set of acoustic events that provides a great flexibility to calibrate different setups of microphone arrays. However, the existing method does not take measurement uncertainty into account and does not provide uncertainty estimates of the SFS results. In this paper, we propose a probabilistic structure from sound (PSFS) approach using the unscented transform in which the uncertainties of the PSFS results are also available. In addition, a probabilistic sound source localization approach using the PSFS results is provided to improve sound source localization accuracy. The ample results of simulation and experiments using low-cost, off-the-shelf microphones demonstrate the feasibility and performance of the proposed PSFS approach. © 2009 VSP.

关键词： Microphone array

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Biomimetic evolutionary analysis: Robotically-simulated vertebrates in a predator-prey ecology

Biomimetic evolutionary analysis: Robotically-simulated vert...

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IEEE Symposium on Artificial Life, ALIFE

作者： Nicole Doorly Kira Irving Gianna McArthur Keon Combie Virginia Engel Hassan Sakhtah Elise Stickles Hannah Rosenblum Andres Gutierrez Robert Root Chun Wai Liew John H. Long Mechanical and Aerospace Engineering Department Case Western Reserve University Cleveland OH USA Interdisciplinary Robotics Research Laboratory and the Cognitive Science Program Vassar College Poughkeepsie NY USA Neuroscience Institute Stanford University School of Medicine Stanford CA USA Neuroscience and Behavior Program Vassar College Poughkeepsie NY USA Memorial Sloan Kettering Cancer Care Center New York NY USA Department of Biology Vassar College Poughkeepsie NY USA Biochemistry Program Vassar College Poughkeepsie NY USA College of Medicine Howard University College of Medicine Washington D.C. USA School of Oceanography University of Washington Seattle WA USA Vassar College Poughkeepsie NY USA Department of Mathematics Lafayette College Easton PA USA Computer Science Department Lafayette College Easton PA USA Interdisciplinary Robotics Research Laboratory the Department of Biology and the Cognitive Science Program Vassar College Poughkeepsie NY USA

To test adaptation hypotheses about the evolution of animals, we need information about the behavior of phenotypically-variable individuals in a specific environment. To model behavior of ancient fish-like vertebrates, we previously combined evolutionary robotics and software simulations to create autonomous biomimetic swimmers in a simple aquatic environment competing and foraging for a single source of food. This system allowed us to test the hypothesis that selection for improved forage navigation drove the evolution of stiffer tails. In this paper, we extend our framework to evaluate more complex environments and hypotheses. Specifically, we test the hypothesis that predator-prey dynamics and the need for effective foraging strategies, operating simultaneously, were key selection pressures driving the evolution of morphological and sensory traits in early, fish-like vertebrates. Three evolvable traits were chosen because of their importance in propulsion and predator avoidance: (1) the number of vertebrae in the axial skeleton, (2) the trailing edge span of the caudal fin, and (3) the sensitivity of the sensory lateral line. To produce variable offspring, we used a genetic algorithm that rewarded parents with high fitness, allowing them to mate randomly and combine their mutated gametes. Offspring were then instantiated as autonomous embodied robots, the prey. These prey were chased by a non-evolving autonomous predator. Both kinds of robots were surface swimmers. The prey used a control architecture based on that of living fish: a two-layer subsumption architecture with predator escape over-riding steady swimming during foraging. The performance of six different prey robots in each generation was judged with a relative fitness function that rewarded a combination of high speed, rapid escape acceleration, escape responses, and the ability to stay away from the predator while at the same time staying close to the food source. This approach, which we call biomimet

关键词： Biomimetics Environmental factors Biological system modeling System testing Evolution (biology) Robot sensing systems Animals Navigation Tail Propulsion

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The new robotics engineering bs program at WPI

The new robotics engineering bs program at WPI

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2008 ASEE Annual Conference and Exposition

作者： Ciaraldi, Michael Cobb, Eben Cyganski, David Gennert, Michael Demetroiu, Michael Looft, Fred Michalson, William Miller, Bradley Rong, Yiming Schachterle, Lance Stafford, Kenneth Tryggvason, Gretar Van De Ven, James Worcester Polytechnic Institute Worcester Polytechnic Institute 100 Institute Rd. Worcester MA 01609 United States Department of Computer Science Department of Mechanical Engineering Department of Electrical and Computer Engineering Robotics Engineering Program Robotics Resource Center Department of Mechanical Engineering Department of English

In the spring of 2007, Worcester Polytechnic Institute introduced a BS degree program in robotics engineering. The degree program is a collaborative effort, involving faculty from the departments of computer Science, Electrical and computer engineering and Mechanical engineering. The motivation for establishing the program is two-fold: needs of the rapidly growing robotics industry and student interest as demonstrated by numerous high school robotics competitions. The program relies in part on already existing courses, but the core curriculum consists of five new "unified robotics engineering" courses. Although robotics engineering is not recognized as a distinct engineering field by ABET, the program is designed to be accreditable under the "General engineering" ABET criteria. While the program is less than a year old, there is already significant student interest. © American Society for engineering Education, 2008.

关键词： engineering education

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Design of fuzzy controller for automatic steering

Design of fuzzy controller for automatic steering

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作者： Ko, Sang-Jin Lee, Jun-Woo Choi, Byoung-Suk Lee, Ju-Jang Graduate School of Automobile Technology KAIST Daejeon Korea Republic of Robotics Program KAIST Daejeon Korea Republic of Department of Electrical Engineering and Computer Science KAIST Daejeon Korea Republic of

ISBN: (纸本)9784990288020

Unmanned vehicle is future vehicle technology. Lateral control technology and longitudinal control technology are needed for unmanned vehicle. Automatic steering system is lateral control technology. A automatic steering system automatically controls the steering to keep the vehicle in its land and also to follow the lane as it curves around. This paper proposes automatic steering system based on fuzzy logic. If the fuzzy rules are set properly, the fuzzy controller can control the objective system nicely. To design an automatic steering system, lateral error dynamics of a vehicle is derived. The proposed automatic steering system is evaluated by SIMULINK in MATLAB. The simulation results show that the proposed automatic steering system works satisfactorily for keeping the vehicle in its land and following the lane. ©ISAROB 2008.

关键词： Fuzzy control

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Abandoned object position prediction based on mobile robot

Abandoned object position prediction based on mobile robot

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Soung Min Im Ju Jang Lee Robotics program KAIST Daejeon South Korea Department of Electrical Engineering and Computer Science KAIST Daejeon South Korea

Visual surveillance with dynamic background is one of the most active research topics in computer vision. Especially, researches for abandoned detection in the public place have been caused by preventing terror and accident. Previous researches for abandoned detection have been based on a static image and used an image difference. In this paper we present an algorithm for a mobile robot and we use optical flow for detecting a static object and distances from abandoned objects. For this purpose, we find abandoned objects and predict a position of objects using a mobile robot visual system with a single camera.

关键词： Mobile robots Surveillance computer vision Accidents Image motion analysis Object detection Optical detectors Visual system Robot vision systems Cameras

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The Third International Conference on human-robot interaction

The Third International Conference on human-robot interactio...

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作者： Fong, Terry Dautenhahn, Kerstin Scheutz, Matthias Demiris, Yiannis Intelligent Robotics Group NASA Ames Research Center Department of Artificial Intelligence School of Computer Science University of Herfordshire Herfordshire United Kingdom Adaptive Systems Research Group University of Herfordshire Herfordshire United Kingdom Department of Cognitive Science Computer Science and Informatics Cognitive Science Program Indiana University Bloomington IN United States Intelligent Robotics Team Department of Electrical Engineering Imperial College London London United Kingdom

The third international conference on Human-Robot Interaction (HRI-2008) was held in Amsterdam, The Netherlands, March 12-15, 2008. The theme of HRI-2008, "living with robots," highlights the importance of the technical and social issues underlying human-robot interaction with companion and assistive robots for long-term use in everyday life and work activities. More than 250 researchers, practitioners, and exhibitors attended the conference, and many more contributed to the conference as authors or reviewers. HRI-2009 will be held in San Diego, California, from March 11-13, 2009. Copyright © 2008, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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Annual business and news:: Beginning the 31st year of the Journal of Guidance, Control, and Dynamics

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2008年第1期31卷 1-1页

作者： Schmidt, George T. Aeronautics and Astronautics Massachusetts Institute of Technology (MIT) AIAA Institute of Electrical and Electronics Engineers Russian Federation Academy of Navigation and Motion Control Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla(UMR) Lockheed Electronics Company Center for Space Research University of Texas Austin United States Wright Laboratory Eglin Air Force Base UMR AIAA Guidance Navigation and Control Technical Committee American Automatic Control Council Lockheed Martin Aeronautics Company Palmdale CA United States C4ISR and Unmanned Air Vehicle (UAV) Programs for Air Vehicle Sciences and Systems Accreditation Board Engineering and Technology Inc./Aeronautical National Technical Committee on Guidance Navigation and Control Department of Mechanical and Aerospace Engineering University at Buffalo State University of New York (SUNY) AIAA Technical Committee on GN and C Air Vehicles Directorate Air Force Research Laboratory (AFRL) Wright-Patterson Air Force Base Space Access and Hypersonic Vehicle Guidance and Control Group Control Science Center of Excellence AFRL AIAA Technical Committee on Guidance Navigation and Control Department of Mechanical and Aeronautical Engineering University of California (UC) Davis United States Boeing Company Modernized Flight Control System for the Apache Longbow AIAA Institute of Electrical and Electronics Engineers AHS Jet Propulsion Laboratory California Institute of Technology Boeing Company Flight Sciences and Advanced Design Group Guidance Navigation and Control (GN and C) Systems Engineer Distributed Space Systems NASA Goddard Space Flight Center (GSFC) AIAA GN and C Technical Committee Department of Aerospace Engineering and Engineering Mechanics University of Texas Austin United States Institute of Navigation American Astronautical Society AIAA Guidance Navigation (GN and C) and Control Technical Committee Department of Aerospace Engineering Iowa State University Iowa

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MIRA V: An integrated system for minimally invasive robot-assisted lung brachytherapy

MIRA V: An integrated system for minimally invasive robot-as...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ana Luisa Trejos Amy W. Lin Shiva Mohan Harman Bassan Chandima Edirisinghe Rajni V. Patel Craig Lewis Edward Yu Aaron Fenster Richard A. Malthaner Department of Electrical and Computer Engineering University of Western Ontario Canada Canadian Surgical Technologies & Advanced Robotics Lawson Health Research Institute London ONT Canada CSTAR Imaging Research Laboratories at the Robarts Research Institute UWO London Regional Cancer Program Division of Radiation Oncology London Heath Sciences Centre Department of Oncology and Medical Biophysics UWO Robarts Research Institute Division of Thoracic Surgery CSTAR

An integrated system for minimally invasive robot-assisted image-guided lung brachytherapy has been developed. The system incorporates an experimental setup for accurate radioactive seed placement with commercially available dosimetry planning software. The end result is a complete system that allows planning and executing a brachytherapy procedure with increased accuracy. The results of the in vitro seed placement evaluation show that seed misplacement has a significant effect on the volume receiving more than 200% of the dose (V200), and the minimum dosage received by 90% of the volume (D90).

关键词： Minimally invasive surgery Robots Lungs Brachytherapy Needles Cancer Oncological surgery Tumors robotics and automation Oncology

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MODELING AND CONTROL OF ELEVATORS BY STATECHARTS

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Asian Journal of Control 2008年第2期6卷

作者： Yi-Sheng Huang Sheng-Luen Chung Mu-Der Jeng Department of Aeronautical Engineering Chung Cheng Institute of Technology National Defense University Tashi Taoyuan 335 Taiwan R.O.C. Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106 Taiwan R.O.C. Department of Electrical Engineering National Taiwan Ocean University Kellung 202 Taiwan R.O.C. MuDer Jeng received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute Troy NY in 1992. Since August 1992 Dr. Jeng has been with National Taiwan Ocean University Keelung Taiwan where he is currently a full Professor at the Department of Electrical Engineering. His current research interests include Petri nets discrete event systems computer integrated manufacturing semiconductor factory automation embedded systems. Dr. Jeng is the author/co-author of over 120 book chapters journal papers and conference papers. Dr. Jeng received the Franklin V. Taylor Outstanding Paper Award from the IEEE Systems Man and Cybernetics Society in 1993. He was granted the Research Award by the National Science Council of Taiwan annually from 1994 to 2000. He is an Associate Editor for IEEE Transactions on Systems Man and Cybernetics-Part A IEEE Transactions on Robotics and Automation IEEE Transactions on Robotics and serves on the Editorial Board of International Journal of Computer Integrated Manufacturing. He has been a Guest Editor for eight leading journals. Dr. Jeng is the Chair of the Technical Committee on Discrete Event Systems of the IEEE SMC Society and the Founding Chair of the Technical Committee on Semiconductor Factory Automation of the IEEE Robotics and Automation Society. He served as the Exhibitions Chair of 2003 IEEE International Conference on Robotics and Automation and the Special Sessions Chair of 2004 IEEE International Conference on Networking Sensing and Control. He serves as a Program Co-Chair of 2005 IEEE International Conference on Networking Sensing and Control and the Organization Commit

Statechart has been utilized as a visual formalism for the modeling of complex and interactive systems for its illuminating features on describing properties of causality, concurrency, and synchronization. This paper presents the application of satechart to the modeling, design and implementation of an elevator system, whose system behavior involves aggregating complexity of state descriptions, and imposition of underlying control policy. Based on the operational flow of an elevator, we derive the associated statechart model by looking into the inherent hierarchical structure of the elevator. The advantage of the proposed approach is the clear presentation of system behavior in terms of conditions and events that cause the transitions in system dynamics. Implementation of the controlled elevator based on the modeled statechart is also presented.

关键词： Statechart interactive systems elevator

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Mobile scanning system for the fast digitization of existing roadways and structures

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Sensor Review 2006年第4期26卷 283-289页

作者： Grinstead, Brad Sukumar, Sreenivas Page, David Koschan, Andreas Gorsich, David Abidi, Mongi A. Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN United States US Army RDECOM Tank-Automotive Research Development and Engineering Center Warren MI United States

Purpose - To present a Mobile Scanning System for digitizing three-dimensional (3D) models of real-world terrain. Design/methodology/approach - A combination of sensors (video, laser range, positioning, orientation) is placed on a mobile platform, which moves past the scene to be digitized. Data fusion from the sensors is performed to construct an accurate 3D model of the target environment. Findings - The developed system can acquire accurate models of real-world environments in real time, at resolutions suitable for a variety of tasks. Originality/value - Treating the individual subsystems of the mobile scanning system independently yields a robust system that can be easily reconfigured on the fly for a variety of scanning scenarios. © Emerald Group Publishing Limited.

关键词： Analog to digital conversion

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