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检索条件"机构=Center for AI and Robotics Department of Computer Engineering"

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Transference of Evolved Unmanned Aerial Vehicle Controllers to a Wheeled Mobile Robot

Transference of Evolved Unmanned Aerial Vehicle Controllers ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： G.J. Barlow L.S. Mattos E. Grant C.K. Oh Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA U.S. Naval Research Laboratory Washington D.C. USA

Transference of controllers evolved in simulation to real vehicles is an important issue in evolutionary robotics (ER). We have previously evolved autonomous navigation controllers for fixed wing UAV applications using multi-objective genetic programming (GP). Controllers were evolved to locate a radar source, navigate the UAV to the source efficiently using on-board sensor measurements, and circle around the emitter. We successfully tested an evolved UAV controller on a wheeled mobile robot. A passive sonar system on the robot was used in place of the radar sensor, and a speaker emitting a tone was used as the target in place of a radar. Using the evolved navigation controller, the mobile robot moved to the speaker and circled around it. The results from this experiment demonstrate that our evolved controllers are capable of transference to real vehicles. Future research will include testing the best evolved controllers by using them to fly real UAVs.

关键词： Unmanned aerial vehicles Mobile robots Sonar navigation Robot control Robot sensing systems Genetic programming Testing Passive radar Remotely operated vehicles Erbium

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Scalable temporal interest points for abstraction and classification of video events

Scalable temporal interest points for abstraction and classi...

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IEEE International Conference on Multimedia and Expo (ICME)

作者： Seung-Hoon Han ln-So Kweon Digital Media R&D Center Samsung Electronics Company Limited South Korea Robotics and Computer Vision Laboratory Division of Electrical Engineering Department of EECS Korea Advanced Institute of Science and Technology South Korea

The image sequence of a static scene includes similar or redundant information over time. Hence, motion-discontinuous instants can efficiently characterize a video shot or event. However, such instants (key frames) are differently identified according to the change of velocity and acceleration of motion, and such scales of change might be different on each sequence of the same event. In this paper, we present a scalable video abstraction in which the key frames are obtained by the maximum curvature of camera motion at each temporal scale. The scalability means dealing with the velocity and acceleration change of motion. In the temporal neighborhood determined by the scale, the scene features (motion, color, and edge) can be used to index and classify the video events. Therefore, those key frames provide temporal interest points (TIPs) for the abstraction and classification of video events.

关键词： Layout Acceleration Cameras Humans Research and development Robot vision systems computer vision Laboratories Image sequences Scalability

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Modeling of human driving behavior based on piecewise linear model

Modeling of human driving behavior based on piecewise linear...

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： Jong-Hae Kim S. Okuma Young-Woo Kim Don-Ha Hwang Min-Huei Kim Dong-Hee Kim Department of Electrical Engineering and Computer Science Graduate School of Engineering University of Nagoya Japan Space Robotics Research Center Toyota Technological Institute Nagoya Japan Industry Applications Research Laboratory Korea Electrotechnology Research Institute Changwon South Korea Department of Electrical & Automation Engineering Yeungnam College of Science and Technology Daegu South Korea Department of Electrical Engineering Yeungnam University Kyungbuk South Korea

This paper presents the development of the modeling strategy of the human driving behavior based on the expression as Piecewise Linear (PWL) model focusing on the driver’s stopping maneuver. The driving data are collected by using the three-dimensional driving simulator based on CAVE, which provides stereoscopic immersive vision. In our modeling, the relationship between the driver’s sensory information and the operation of the driver such as braking amount is expressed by PWL model, which is a class of Hybrid Dynamical System (HDS). The identification problem for the PWL model is formulated as the Mixed Integer Linear Programming (MILP) by transforming the switching conditions into binary variables. From the obtained results, it is found that the driver appropriately switches the ‘control low’ according to the sensory information. These results enable us to capture not only the physical meaning of the driving skill, but also the decision-making aspect (switching conditions) in the driver’s stopping maneuver.

关键词： Humans Piecewise linear techniques Hidden Markov models Decision making computer science Space technology robotics and automation Switches Automatic control Service robots

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A new endoscopic microcapsule robot using beetle inspired microfibrillar adhesives

A new endoscopic microcapsule robot using beetle inspired mi...

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IEEE/ASME (aiM) International Conference on Advanced Intelligent Mechatronics

作者： E. Cheung M.E. Karagozler Sukho Park Byungkyu Kim M. Sitti The NanoRobotics Lab and the Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA USA The NanoRobotics Lab and the Department of Electrical & Computer Engineering Carnegie Mellon University Pittsburgh PA USA Senior Research Scientists at the Intelligent Microsystem Center Korea Institute of Science and Technology Information Seoul South Korea The director of the NanoRobotics Lab and an AssistantProfessor with the Department of Mechanical Engineering and Robotics Institute Carnegie Mellon University Pittsburgh PA USA

The diagnosis of gastrointestinal diseases within the small intestine has been greatly advanced with the introduction of the endoscopic microcapsule in recent years. In an effort to increase its reliability and expand its functionality, a mechanism for stopping and locomoting the capsule within the digestive tract is proposed in this paper. This mechanism, actuated by shape memory alloy wires, utilizes a synthetic microfibrillar adhesive similar to the attachment mechanisms employed by beetles. This fibrillar attachment mechanism is a combination of molecular adhesion caused by van der Waals forces and liquid adhesion caused by capillary forces. The molecular adhesion is enhanced by the presence of microfibers, and the liquid adhesion arises from a secretion from the beetle's footpad. A synthetic version of the beetle's footpad was fabricated from PDMS using a silicon mold. Another version was created from SU-8 using photolithography. Testing revealed decent adhesion with glass and prepared pig intestine in vitro both with a silicone oil to simulate the secretion and without it. A prototype robot with simple polymer adhesive pads for stopping successfully attached and detached inside a flexible vinyl tube. An inch worm locomotion mechanism is proposed and is in the preliminary stages of fabrication and testing

关键词： Robots Adhesives Intestines Fluids and secretions Testing Gastrointestinal tract Diseases Digestive system Shape memory alloys Wires

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Fast initialization of active contours

Fast initialization of active contours

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： H. Mobahi M.N. Ahmadabadi B.N. Araabi Robotics and AI Lab School of Cognitive Sciences Iran Control and Intelligent Processing Centre of Excellence Robotics and AI Lab Department of Electrical and Computer Engineering School of Cognitive Sciences IPM University of Tehran Tehran Iran

The field of robotics is currently undergoing a change toward creation of robots that can naturally interact with humans. For achieving this, interactive robots must be endowed with natural interfaces that can sense and respond in real-time. Vision can provide handy information for this purpose by detecting and tracking human limbs to analyze gestures, actions and even emotions. However, real-time processing of visual information is a challenging bottleneck. In this paper, we introduce a novel method, namely "self-organized contours", that can distinctly accelerate contour initialization, which is the slowest phase in visual tracking. Although the proposed method is general-purpose, it allows immediate initialization of active contours due to its similarity with snake structure. The proposed method is inspired from group behavior in insects and animals, particularly fishes.

关键词： Human robot interaction Intelligent robots Robot sensing systems Service robots Cognitive robotics Tracking Acceleration Active contours Robot vision systems Process control

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A comparison of maximum likelihood methods for appearance-based minimalistic SLAM

A comparison of maximum likelihood methods for appearance-ba...

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IEEE International Conference on robotics and Automation (ICRA)

作者： P.E. Rybski S.I. Roumeliotis M. Gini N. Papanikolopoulos Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

This paper compares the performances of several algorithms that address the problem of Simultaneous Localization and Mapping (SLAM) for the case of very small, resource-limited robots. These robots have poor odometry and can typically only carry a single monocular camera. These algorithms do not make the typical SLAM assumption that metric distance/bearing information to landmarks is available. Instead, the robot registers a distinctive sensor "signature", based on its current location, which is used to match robot positions. The performances of a physics-inspired maximum likelihood (ML) estimator, the iterated form of the Extended Kalman Filter (IEKF), and a batch-processed linearized ML estimator are compared under various odometric noise models.

关键词： Simultaneous localization and mapping Robot sensing systems Maximum likelihood estimation Mobile robots Robot vision systems Cameras Workstations Lenses Robustness computer science

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Passive sonar applications: target tracking and navigation of an autonomous robot

Passive sonar applications: target tracking and navigation o...

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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Mattos E. Grant Center for Robotics and Intelligent Machines Electrical and Computer Engineering Department North Carolina State University Raleigh USA

This paper demonstrates the use of small area acoustic array technology as passive sonar for an autonomous mobile robot sound localization and direction control. Real-time target tracking is based solely on received a... 详细信息

关键词： Sonar applications Target tracking Sonar navigation Acoustic arrays Array signal processing Sensor arrays Acoustic devices Sonar measurements Mobile robots Robot sensing systems

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The design, fabrication, and characterization of millimeter scale motors for miniature direct drive robots

The design, fabrication, and characterization of millimeter ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： J.A. Palmer J.F. Mulling B. Dessent E. Grant J.W. Eischen A. Gruverman A.I. Kingon P.D. Franzon Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

This paper reports on research into miniature, direct drive, high force/torque motors to support insect-sized mobile robotic platforms. The primary focus is on scalable motors based on piezoelectric transducers. The contributions of this work include: (1) the design, analysis, and characterization of a miniature mode conversion rotary ultrasonic motor based on a piezoelectric stack transducer; this produced a static torque density of 0.37 Nm/kg, (2) a millimeter scale linear piezometer, constructed with a parallel arrangement of annular stressed unimorph piezoelectric transducers and passive latches, exhibited 0.23 N of blocked force, and (3) simulation data is presented that compares these motor concepts to commercial systems in the context of scalability. Results suggest that smaller versions of the rotary ultrasonic motor would possess a static torque density seven times that of a commercial 3-mm electromagnetic system. This technology shows promise for driving the platform.

关键词： Fabrication Torque Piezoelectric transducers Intelligent robots Couplings Ultrasonic transducers Electromagnetic forces Insects Robotic assembly Angular velocity

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Model-matching control for steer-by-wire vehicles with under-actuated structure

Model-matching control for steer-by-wire vehicles with under...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： R. Cortesao N. Bajcinca Electrical and Computer Engineering Department Institute of Systems and Robotics (ISR) Coimbra Portugal German Aerospace Center (DLR-Oberpfaffenhofen) Germany

The paper presents control architecture for steer-by-wire (SBW) vehicles based on conventional ones. Estimation techniques linked to state space design enter in the control loop. The active observer (AOB) is extended to under-actuated multiple-input-multiple-output (MIMO) systems. Stochastic strategies are presented. Simulation results for the model-matching problem are presented. In the presence of road disturbances (e.g. lateral wind), SBW vehicles have superior performance.

关键词： Gears Spline Actuators Torque Teeth Automotive engineering Road vehicles Mechanical sensors Master-slave Orbital robotics

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Global adaptive control of feedforward systems using dynamic high gain scaling

Global adaptive control of feedforward systems using dynamic...

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American Control Conference (ACC)

作者： P. Krishnamurthy P. Khorrami Contml/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

We propose an adaptive control design technique for feedforward systems based on our results on dynamic high-gain scaling techniques for controller design for strict-feedback-type systems. Both the state-feedback and the output-feedback cases are considered. The system is allowed to contain uncertain functions of all the states even in the output-feedback case. Unknown parameters are allowed in the bounds assumed on the uncertain functions appearing in the dynamics. The designed controllers have a very simple structure being essentially a linear feedback with state-dependent dynamic gains and do not involve any saturations or recursive computations. The observer in the output-feedback case is similar to a Luenberger observer with dynamic observer gains. The Lyapunov functions are quadratic in the states and the parameter estimation errors (and the observer errors in the case of output-feedback). The stability analysis is based on our recent results on uniform solvability of coupled state-dependent Lyapunov equations. The controller design provides strong robustness properties both with respect to uncertain parameters in the system model and additive disturbances. This robustness is the key to the output-feedback controller design.

关键词： Adaptive control Feedforward systems Observers Robust control Control systems Linear feedback control systems State feedback Lyapunov method Parameter estimation Stability analysis

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