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2001 AAAI Fall Symposium

作者： Bloch, Isabelle Saffiotti, Alessandro Ecole Nationale Sup. des Télécommunications Dept. TSI CNRS URA 820 46 rue Barrault ParisF-75013 France Center for Applied Autonomous Sensor Systems Dept. of Technology Örebro University ÖrebroS-70182 Sweden

The notion of anchoring has been introduced as a special form of symbol grounding which is needed in practical robotic systems that comprise a symbolic reasoning component. However, several concepts used in anchoring are also familiar to the field of pattern recognition. The goal of this note is to set the stage for a comparison between anchoring and pattern recognition, by pointing at some of the common points between the two notions. Copyright © 2001, American Association for Artificial Intelligence (***). All rights reserved.

关键词： Pattern recognition

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Computer controlled human operators

Computer controlled human operators

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IEEE International Workshop on Virtual and Intelligent Measurement systems

作者： E.M. Petriu T.E. Whalen H.J.W. Spoelder P. Wide A. Cornell School of Information Technology and Engineering University of Ottawa Ottawa ONT Canada Communications Research Centre Canada Ottawa Canada Department of Computer Science Free University of Amsterdam Netherlands Applied Autonomous Sensor Systems Orebro University Orebro Sweden Department of Computer Science Brigham Young University Provo UT USA

The paper discusses a relatively new human-computer interaction paradigm, where human operator actions are guided (controlled) by computer. The human operator's most essential contribution to this man-machine part... 详细信息

ISBN: (纸本)0780365682

关键词： Humans Computer interfaces Computer peripherals Humanoid robots Remote monitoring Computerized monitoring Condition monitoring Credit cards Registers Assembly systems

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Time-optimal sliding mode control of robot manipulator

Time-optimal sliding mode control of robot manipulator

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作者： Kalaykov, I. Iliev, B. Department of Technology Örebro University Center for Applied Autonomous Sensor Systems ÖrebroS-70182 Sweden

We demonstrate a time-optimal control algorithm based on the sliding mode control principle to control a robot manipulator. A designed time-optimal trajectory during the reaching phase is combined with fast sliding dynamics. The discontinuous algorithm gives a time response closer to the analytical time-optimal control solution based on the Pontryagin principle, and robust performance in the presence of plant parameter uncertainties. © 2000 IEEE.

关键词： Sliding mode control

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The electronic head: A virtual quality instrument

The electronic head: A virtual quality instrument

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作者： Wide, P. Asp, S. Center for Applied Autonomous Sensor Systems Department of Technology Örebro University ÖrebroS-701 82 Sweden

We describe a new approach to virtual instrumentation, estimation and decision making of a dynamically changing quality assessment. We illustrate this approach in an electronic head concept, in which we combine the amount of information received, and apply feature extraction analysis and a fuzzy clustering technique to assess the quality as acquired from a human expert. By combining data from different artificial sensor systems into a single set of meaningful features, we obtain information that is of greater human benefit than the aggregate of its contributing sensors. The combination of sensor data by fuzzy clusters has the aim of performing inference that may be impossible from the single artificial sensors. The entire sensor system acts as a virtual instrument for dynamic industrial process monitoring. This virtual instrument allows easy sensor observation and learning interaction with a human operator. © 2000 IEEE.

关键词： Decision making

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Fuzzy landmark-based localization for a legged robot

Fuzzy landmark-based localization for a legged robot

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： P. Buschka A. Saffiotti Z. Wasik Center for Applied Autonomous Sensor Systems Department of Technology Örebro University Orebro Sweden

We describe a new technique for landmark-based self-localization which is suitable for robots with poor odometry. This technique uses fuzzy logic to account for errors and imprecision in visual recognition, and for extreme uncertainty in the estimate of the robot's motion. It only requires an approximate model of the sensor system and a qualitative estimate of the robot's displacement, and it has a moderate computational cost. We show examples of use of our technique on a Sony AIBO legged robot in the RoboCup domain.

关键词： Legged locomotion Mobile robots Robot sensing systems Fuzzy logic Computational efficiency Robot vision systems Cameras sensor systems Uncertainty Tracking

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Active perceptual anchoring of robot behavior in a dynamic environment

Active perceptual anchoring of robot behavior in a dynamic e...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： A. Saffiotti K. LeBlanc Applied Autonomous Sensor Systems Department of Technology Örebro University Orebro Sweden

Perceptual anchoring is the process of linking action to the appropriate objects in the environment via perception. The pivot of anchoring is the inclusion of micromodels of the world, or anchors, into a controller. In this paper, we propose to use anchors to focus the perceptual effort according to the current needs of the controller. We describe an active gaze control strategy able to maintain anchoring of several objects in a dynamic environment, and show how we have used it in a team of legged robots in the RoboCup'99 international robot soccer competition.

关键词： Robot sensing systems Legged locomotion Object detection sensor systems Appropriate technology Joining processes Maintenance Resource management Encapsulation sensor phenomena and characterization

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Building Globally Consistent Gridmaps from Topologies

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IFAC Proceedings Volumes 2000年第27期33卷 405-410页

作者： Tom Duckett Alessandro Saffiotti Center jor Applied Autonomous Sensor Systems Department of Technology University of Örebro SE-70182 Örebro Sweden http ://www.aass.oru.se

This paper addresses the problem of recovering metric consistency in a global gridmap for mobile robot navigation in large-scale environments. A hierarchy of robot maps is proposed which integrates topological and grid-based representations at different levels of abstraction. The consistency problem is solved at the topological level, by applying a relaxation technique to generate coordinates for the places in the map. Consequently, the robot is able to recover a globally consistent gridmap without requiring accurate sensors or high computational costs. Experiments on a Nomad 200 robot in a large, real world environment demonstrate the effectiveness of the approach.

关键词： Mobile Robot Navigation Occupancy Grids Topological Maps Spatial Semantic Hierarchy

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The electronic head: a virtual quality instrument

The electronic head: a virtual quality instrument

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Annual Conference of Industrial Electronics Society

作者： P. Wide S. Asp Department of Technology center of Autonomous sensor systems Örebro University Orebro Sweden

关键词： Instruments sensor systems Humans sensor arrays Biosensors Intelligent sensors Quality assessment sensor fusion Multimodal sensors Animals

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Extracting topology-based maps from gridmaps

Extracting topology-based maps from gridmaps

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IEEE International Conference on Robotics and Automation (ICRA)

作者： E. Fabrizi A. Saffiotti Dip. di Informatica e Automatica Università di Roma Tre Rome Italy Applied Autonomous Sensor Systems Department of Technology Örebro University Orebro Sweden

We propose topology-based maps as a new representation of the workspace of a mobile robot. These maps capture the structure of the free space in the environment in terms of the basic topological notions of connectivity and adjacency. Topology-based maps can be automatically extracted from an occupancy grid built from sensor data using techniques borrowed from the image processing field. Since these techniques can be soundly defined on fuzzy values, our approach is well suited to deal with the uncertainty inherent in the sensor data. Topology-based maps are fairly robust with respect to sensor noise and to small environmental changes, and have nice computational properties.

关键词： Topology Orbital robotics Acoustic sensors Mobile robots Data mining Image processing Uncertainty Acoustic noise Working environment noise sensor phenomena and characterization

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Complex permeability changes of ferritic LTCC samples with variation of sintering temperatures

Complex permeability changes of ferritic LTCC samples with v...

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作者： Blaz, Nelu Mari, Andrea Atassi, Ibrahim Radosavljevi, Goran Zivanov, Ljiljana Homolka, Heinz Smetana, Walter Center for Integrated Microsystem and Components Faculty of Technical Sciences University of Novi Sad Novi Sad 21 000 Serbia Institute of Sensor and Actuators Systems Department of Applied Electronic Materials Vienna University of Technology Wien A-1040 Austria

The complex permeability of commercially available ferrite LTCC (Low Temperature Cofired Ceramics) tapes in dependence of peak sintering temperature have been measured and calculated in the high-frequency range (300 kHz-1.2 GHz). For the first time this dependence is determine at five peak sintering temperatures up to 1300° C. Permeability values have been calculated from S-parameters measured with a vector network analyzer and a short ended coaxial sample holder into which ferritic LTCC toroids have been placed. The toroids were realized by stacking and laminating 62 layers of green tape and then sintered at peak temperatures of 885° C, 1000° C, 1100° C, 1200° C and 1300° C, respectively. Obtained complex permeability values for these toroidal LTCC samples are presented. The maximum real part of permeability values increase up to 930 (at 1100° C firing peak temperature) and show a shift to lower frequency values. At higher sintering temperatures (1200° C and 1300° C) real part of permeability of ferrite samples starts to decrease with further shifting to lower frequency values. In order to determine variation of grain size caused with increasing of sintering temperature and its influence on material complex permeability, an microscopic inspection of samples was performed. Also, using the model of the complex permeability spectra, dispersion parameters of ferrite LTCC material has been determined for various sintering temperatures. © 2006 IEEE.

关键词： Sintering

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