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28th International Conference on Software engineering 2006, ICSE '06

作者： Kim, Minseong Kim, Suntae Park, Sooyong Choi, Mun-Taek Kim, Munsang Gomaa, Hassan Department of Computer Science Sogang University Seoul Korea Republic of Center for Intelligent Robotics Frontier 21 Program Korea Institute of Science and Technology Seoul Korea Republic of Dept. of Information and Software Engineering George Mason University Fairfax VA 22030 United States

ISBN: (纸本)1595933751

The research field of Intelligent Service Robots, which has become more and more popular over the last years, covers a wide range of applications from climbing machines for cleaning large storefronts to robotic assistance for disabled or elderly people. When developing service robot software, it is a challenging problem to design the robot architecture by carefully considering user needs and requirements, implement robot application components based on the architecture, and integrate these components in a systematic and comprehensive way for maintainability and reusability. Furthermore, it becomes more difficult to communicate among development teams and with others when many engineers from different teams participate in developing the service robot. To solve these problems, we applied the COMET design method, which uses the industry-standard UML notation, to developing the software of an intelligent service robot for the elderly, called T-Rot, under development at Center for Intelligent robotics (CIR). In this paper, we discuss our experiences with the project in which we successfully addressed these problems and developed the autonomous navigation system of the robot with the COMET/UML method. Copyright 2006 ACM.

关键词： Intelligent robots

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Are concepts of technical & engineering literacy included in state curriculum standards? A regional overview of the nexus between technical & engineering literacy and state science frameworks

Are concepts of technical & engineering literacy included in...

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113th Annual ASEE Conference and Exposition, 2006

作者： Kochler, Cathi Giblin, David Moss, David M. Faraclas, Elias Kazerounian, Kazem University of Connecticut United States Neag School of Education University of Connecticut United States Galileo Program University of Connecticut United States Department of Education Neag School of Education University of Connecticut United States Study Abroad Program United Kingdom University of Connecticut School of Engineering Department of Electrical and Computer Engineering United States Instrument Manufacturing Company Storrs CT United States Department of Mechanical Engineering University of Connecticut United States ASME Robotics and Mechanisms Committee Galileo Project

The use of technology in the classroom has been a driving force behind developing a technically literate society. Reform documents such as Science for All Americans: Project 2061[1], Benchmarks for Scientific Literacy[2]and the National Science Education Standards [NSES][3]include sections titled, Science and Technology and The Nature of Technology, as a means to foster technical literacy for students in grades K-12. In NSES, the goal of the Science and Technology content standard is for all students to develop "abilities of technological design and understanding about science and technology." These reform documents have been the framework to foster science, technical and engineering literacy for students in grades K-12 across the United States as guided by their state science frameworks, however are states achieving this goal? Although these documents promote the need for understanding technology as it applies to science, how have states incorporated these principles into their own science curriculum standards? This investigation is part 2 of a multi-series project to understanding how public schools are training students to become technically literate. In part 1 presented at the 2005 ASEE Conference, we defined technical literacy to be "the ability of an individual to make informed decisions based upon an evolving understanding of the fundamentals of modern technologies." To accomplish this goal, we proposed the engineering Education Frameworks[5](EEF), which defined a pathway toward technical literacy for high school students. It was our intent to develop this set of guidelines to address technical literacy for secondary public schools. These Frameworks were designed to facilitate and promote the simultaneous teaching of multiple science disciplines in concert with mathematics while incorporating engineering concepts and designs. In part 2 of this project, we explore how various states in the United States include aspects of EEF in their science state frameworks

关键词： engineering education

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Comparing adaptation of constrained and unconstrained movements in three dimensions

Comparing adaptation of constrained and unconstrained moveme...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： C. Scharver J. Patton R. Kenyon E. Kersten Sensory Motor Performance Program Rehabilitation Institute of Chicago Chicago IL USA Robotics Laboratory Rehabilitation Institute of Chicago Chicago IL USA Department of Computer Science University of Illinois Chicago IL USA Biomedical Engineering Graduate Program University of Wisconsin Madison WI USA

This paper describes targeted reaching experiments conducted using a new augmented reality system. Combining a large-workspace immersive virtual environment with physical force feedback, the system distorted subjects' movements using a viscous curl force field. Following previous experiments using a different robot, half the subjects were constrained to horizontal, planar movements. The remaining subjects performed unconstrained movements throughout the 3D workspace. Examining after-effects as an indication of learning, we found that constrained subjects learned the force field. However, it was difficult to detect whether the unconstrained subjects learned forces of identical magnitude. Our results found that force fields strengths eliciting constrained 2D adaptation have difficulty exhibiting after-effects for unconstrained 3D movements. The increased motor variability for 3D reaching movements requires consideration for future experimental design.

关键词： Rehabilitation robotics Robot sensing systems Nonlinear distortion Force feedback Displays Laboratories Augmented reality Virtual environment Design for experiments Haptic interfaces

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Hierarchical systems control using threshold fuzzy systems

Hierarchical systems control using threshold fuzzy systems

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IEEE International Conference on Systems, Man and Cybernetics

作者： J.L. Overholt K.C. Cheok Behavioral Robotics Laboratory U.S. Army Tank-Automotive and Armaments Command Warren MI USA Department of Electrical and Systems Engineering School of Engineering and Computer Science Oakland University Rochester MI USA

This paper describes a behavior-based method of controlling an autonomous skid-steer robot operating in an unknown environment. We introduce a new modular, neural-fuzzy system called a threshold fuzzy system (TFS). Supervised training, using error backpropagation, is used to find optimal parameters of the TFS. In this paper, a TFS controller is developed for a skid-steer autonomous vehicle system (AVS). Several hundred simulations are conducted and results for the AVS are compared (favorably) with a traditional neural network approach.

关键词： Hierarchical systems Control systems Fuzzy systems Mobile robots Neural networks Fuzzy neural networks Engines Systems engineering and theory computer science computer errors

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Segmentation and analysis of leg ulcers color images

Segmentation and analysis of leg ulcers color images

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International Workshop on Medical Imaging and Augmented Reality

作者： A.A. Perez A. Gonzaga J.M. Alves Computer Vision Laboratory Department of Electrical Engineering School of Engineering of São Carlos University of São Paulo Sao Paulo Brazil Department of Materials Aeronautic and Automotive Engineering School of Engineering of São Carlos University of São Paulo Bioengineering Graduate Program Sao Paulo Brazil

ISBN: (纸本)0769511139

This paper presents a methodology for the segmentation and analysis of the tissues in color images of leg ulcers. The segmentation is obtained through an automatic analysis made in the RGB and SI channels by changing from the RGB color space to the HSI color space. The aim is to determine which of the five channels have the characteristic that will make the segmentation process more efficient. After the analysis, the selected channel is segmented and used as a mask over the original image, allowing that only the inner tissues of the wound be analyzed. The analysis is done through predetermined functions that attribute membership grade for each processed pixel as well as its level of engagement in a specified tissue class. The article also shows the results obtained from both the segmentation and analysis of tissues using the proposed method.

关键词： Image segmentation Image analysis Image color analysis Leg Wounds Cameras automotive engineering Colored noise Monitoring Video compression

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A fuzzy logic intelligent control system paradigm for an in-line-of-sight leader-following HMMWV

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Journal of Field robotics 1998年第6期14卷

作者： Ka C. Cheok Gert-Edzko Smid Kazuyuki Kobayashi James L. Overholt Paul Lescoe Department of Electrical and Systems Engineering School of Engineering and Computer Science Oakland University Rochester MI 48309-4401 Vehicle Simulation Group U.S. Army Tank–Automotive Armament Command Warren MI Robotics Office U.S. Army Tank–Automotive Armament Command Warren MI

A hierarchical intelligent control system paradigm for a vision-based autonomous driving scheme is presented for a leader-following HMMWV. This article shows how fuzzy logic is employed to represent knowledge at the organization level, how to resolve conflicting perceived information at the coordination level, and how to carry out the best action for the vehicle at the execution level. After introducing the methodology, simulation and experimental aspects for realizing and testing the scheme are discussed. © 1997 by John Wiley & Sons, Inc.

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Tropism-based cognition for the interpretation of context-dependent gestures

Tropism-based cognition for the interpretation of context-de...

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.M. Voyles A. Agah P.K. Khosla G.A. Bekey Robotics Ph.D. Program Carnegie Mellon University Pittsburgh PA USA Bio Robotics Division Mechanical Engineering Laboratory Tsukuba Japan Department of Elect. and Comp. Eng Carnegie Mellon University Pittsburgh PA USA Department of Computer Science University of Southern California Los Angeles CA USA

The tropism system cognitive architecture provides an intuitive formalism for colonies of agents, either hardware or software. We present a fine-grained implementation of the architecture on a colony of software agents for the interpretation of human tactile gestures for robotic trajectory specification and modification. The fine-grained nature of the architecture and the use of the port-based object framework for agent instantiation allows the manual construction of a capable agent set that is reconfigurable and reusable across different gesture-based interaction tasks.

关键词： Cognition Cognitive robotics Shape computer architecture Robot sensing systems Manipulators Humans Multiagent systems Robot programming Mice

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Shape from motion decomposition as a learning approach for autonomous agents

Shape from motion decomposition as a learning approach for a...

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IEEE International Conference on Systems, Man and Cybernetics

作者： R.M. Voyles J.D. Morrow P.K. Khosla Robotics Ph.D. Program Carnegie Mellon University Pittsburgh PA USA Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

This paper explores shape from motion decomposition as a learning tool for autonomous agents. Shape from motion is a process through which an agent learns the "shape" of some interaction with the world by imparting motion through some subspace of the world. The technique applies singular value decomposition to observations of the motion to extract the eigenvectors. The authors show how shape from motion applied to a fingertip force sensor "learns" a more precise calibration matrix with less effort than traditional least squares approaches. The authors also demonstrate primordial learning on a primitive "infant" mobile robot.

关键词： Shape Calibration computer vision Force sensors Matrix decomposition Autonomous agents Ontologies Singular value decomposition Robustness Principal component analysis

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Vision and force driven sensorimotor primitives for robotic assembly skills

Vision and force driven sensorimotor primitives for robotic ...

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Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots

作者： J.D. Morrow B.J. Nelson P.K. Khosla Robotics Ph.D. Program Carnegie Mellon University Pittsburgh PA USA Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

Integrating sensors into robot systems is an important step towards increasing the flexibility of robotic manufacturing systems. Current sensor integration is largely task-specific which hinders flexibility. The authors are developing a sensorimotor command layer that encapsulates useful combinations of sensing and action which can be applied to many tasks within a domain. The sensorimotor commands provide a higher-level in which to terminate task strategy plans, which eases the development of sensor-driven robot programs. This paper reports on the development of both force and vision driven commands which are successfully applied to two different connector insertion experiments.

关键词： Force sensors Robotic assembly Robot sensing systems Robot programming Connectors Libraries computer aided manufacturing Sensor systems Manufacturing systems Robot vision systems

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Tactile gestures for human/robot interaction

Tactile gestures for human/robot interaction

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Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots

作者： R.M. Voyles P.K. Khosla Robotics Ph.D. Program Carnegie Mellon University Pittsburgh PA USA Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

Gesture-based programming is a new paradigm to ease the burden of programming robots. By tapping in to the user's wealth of experience with contact transitions, compliance, uncertainty and operations sequencing, we hope to provide a more intuitive programming environment for complex, real-world tasks based on the expressiveness of nonverbal communication. A requirement for this to be accomplished is the ability to interpret gestures to infer the intentions behind them. As a first step toward this goal, this paper presents an application of distributed perception for inferring a user's intentions by observing tactile gestures. These gestures consist of sparse, inexact, physical "nudges" applied to the robot's end effector for the purpose of modifying its trajectory in free space. A set of independent agents-each with its own local, fuzzified, heuristic model of a particular trajectory parameter observes data from a wristforce/torque sensor to evaluate the gestures. The agents then independently determine the confidence of their respective findings and distributed arbitration resolves the interpretation through voting.

关键词： Human robot interaction Robot sensing systems Robot programming Educational robots Painting Spraying Education Voting Service robots Fixtures

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