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2007 Mediterranean Conference on Control and Automation, MED

作者： Janssen, Michael Papanikolopoulos, Nikos University of Minnesota Center for Distributed Robotics

ISBN: (纸本)142441282X

Marsupial robotics is a field which requires a high initial investment prior to experiments. We present a new simulation tool used for marsupial actions, enabling research in the area of marsupial robotics. A flexible abstraction for a marsupial system is presented which allows for the modeling of many differing marsupial models. The interface and simulation model are covered in detail. Two experiments are presented which use the model to demonstrate the flexibility and range of the abstraction and simulation. ©2007 IEEE.

关键词： Abstracting

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Second annual robotics summer camp for underrepresented students

Second annual robotics summer camp for underrepresented stud...

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ITiCSE 2007: 12th Annual Conference on Innovation and Technology in Computer Science Education - Inclusive Education in Computer Science

作者： Cannon, Kelly R. Panciera, Katherine A. Papanikolopoulos, Nikolaos P. Center for Distributed Robotics University of Minnesota Minneapolis MN 55403

ISBN: (纸本)1595936106

The University of Minnesota center for distributed robotics and the Digital Technology center hosted the second annual Technology Day Camp, a week long camp targeting underrepresented students such as girls, African Americans, and Hispanics from the Twin Cities metro area. Students were surveyed prior to the camp revealing a strong proclivity towards math and science, but a resistance to the perceived lifestyle of computer scientists. With an emphasis on the college experience, building hardware, creating software, and interacting with robots, the camp implemented proposed changes from the previous year as well as new activities with a special emphasis on robotics. The successes and failures are discussed in an effort to provide insight for organizations hosting similar programs, new research questions are presented, and a materials list is provided. Copyright 2007 ACM.

关键词： robotics

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A GUI framework for GPS-enabled robotic guidance

A GUI framework for GPS-enabled robotic guidance

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20th IEEE International Symposium on Intelligent Control, ISIC '05 and the13th Mediterranean Conference on Control and Automation, MED '05

作者： Janssen, Michael Miller, Ben A. Drenner, Andrew Papanikolopoulos, Nikolaos Center for Distributed Robotics University of Minnesota Minneapolis MN 55455

ISBN: (纸本)0780389360

A framework has been developed to address difficulties in controlling teams of heterogeneous robots built around the integration of spatial data used with GPS-enabled robots. The spatial data is in the form of an aerial photograph. This framework centers around a GUI capable of controlling single or multiple robots, displaying information from the robots, and performing large scale path planning for multiple robots. Several experiments using this system have been conducted and the results will be discussed. ©2005 IEEE.

关键词： Graphical user interfaces

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Scout robot motion model

Scout robot motion model

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2003 IEEE International Conference on robotics and Automation

作者： Stoeter, Sascha A. Burt, Ian T. Papanikolopoulos, Nikolaos Center for Distributed Robotics University of Minnesota Minnesota MN United States

The University of Minnesota's Scout robot a small cylindrical robot capable of rolling and jumping. In this paper, models describing the robot's motion under its modi of actuation are developed. These models can be employed for Scout motion prediction and simulation. The models suggest that the determining factor of the Scout's behavior is the length of the winch cable. The validity of the models is verified with empirical data.

关键词： Mobile robots

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Design of a computational intelligence system for detection of multiple sclerosis with visual evoked potentials

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Neuroscience Informatics 2025年第1期5卷 100177-100177页

作者： Mohsenpourian, Moussa Suratgar, Amir Abolfazl Ali Talebi, Heidar Arzani, Mahsa Moghadasi, Abdorreza Naser Malakouti, Seyed Matin Bagher Menhaj, Mohammad Distributed and Intelligent Optimization Research Laboratory Department of Electrical Engineering Amirkabir University of Technology Tehran Iran Real-time Robotics Laboratory Department of Electrical Engineering Amirkabir University of Technology Hafez Ave. Tehran Iran Department of Neurology Sian Hospital Tehran University of Medical Sciences Tehran Iran MS Research Center Sina Hospital Tehran University of Medical Sciences Hasan Abad Sq. Tehran Iran

In this study, a new approach for modification of membership functions of a fuzzy inference system (FIS) is demonstrated, in order to serve as a pattern recognition tool for classification of patients diagnosed with multiple sclerosis (MS) from healthy controls (HC) using their visually evoked potential (VEP) recordings. The new approach utilizes Krill Herd (KH) optimization algorithm to modify parameters associated with membership functions of both inputs and outputs of an initial Sugeno-type FIS, while making sure that the error corresponding to training of the network is minimized. This novel pattern recognition system is applied for classification of VEP signals in 11 MS patients and 11 HC's. A feature extraction routine was performed on the VEP signals, and later substantial features were selected in an optimized feature subset selection scheme employing Ant Colony Optimization (ACO) and Simulated Annealing (SA) algorithms. This alone provided further information regarding clinical value of many previously unused VEP features as an aide for making the diagnosis. The newly designed computational intelligence system is shown to outperform popular classifiers (e.g., multilayer perceptron, support-vector machine, etc.) and was able to distinguish MS patients from HC's with an overall accuracy of 90%. © 2024 The Author(s)

关键词： Binary classification Fuzzy inference system Krill herd optimization Multiple sclerosis Visual evoked potentials

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Visual servoing of a miniature robot toward a marked target 14

Visual servoing of a miniature robot toward a marked target

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14th International Conference on Digital Signal Processing, DSP 2002

作者： Rofiler, Patrick Stoeter, Sascha A. Rybski, Paul E. Gini, Maria Papanikolopotilos, Nikolaos Department of Computer Science and Engineering Center for Distributed Robotics University of Minnesota Minneapolis United States

ISBN: (纸本)0780375033

The paper describes a system that servos a miniature robot toward a. marked target based on visual information from the robot's own camera. This task is divided into two subtasks: recognition of the target and driving toward it. The system deals with the problems introduced by noisy camera images and unstructured, non-static backgrounds. A description of the control software is given and experimental results are discussed. © 2002 IEEE.

关键词： Visual servoing

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Autonomous stair-hopping with scout robots

Autonomous stair-hopping with scout robots

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2002 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Stoeter, Sascha A. Rybski, Paul E. Gini, Maria Papanikolopoulos, Nikolaos Center for Distributed Robotics Dept. of Computer Science and Eng. University of Minnesota Minneapolis MN United States

Search and rescue operations in large disaster sites require quick gathering of relevant information. Both the knowledge of the location of victims and the environmental/structural conditions must be available to safely and efficiently guide rescue personnel. A major hurdle for robots in such scenarios is stairs. A system for autonomous surmounting of stairs is proposed in which a Scout robot jumps from step to step. The robot's height is only about a quarter step in size. Control of the Scout is accomplished using visual servoing. An external observer such as another robot is brought into the control loop to provide the Scout with an estimation of its pose with respect to the stairs. This cooperation is necessary as the Scout must refrain from ill-fated motions that may lead it back down to where it started its ascend. Initial experimental results are presented along with a discussion of the issues involved.

关键词： Robots

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Appearance-Based Minimalistic Metric Slam

Appearance-Based Minimalistic Metric Slam

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2003 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Rybski, Paul E. Roumeliotis, Stergios I. Gini, Maria Papanikolopoulos, Nikolaos Center for Distributed Robotics Dept. of Comp. Sci. and Engineering University of Minnesota Minneapolis United States

This paper addresses the problem of Simultaneous Localization and Mapping (SLAM) for the case of very small, resource-limited robots which have poor odometry and can typically only carry a single monocular camera. We propose a modification to the standard SLAM algorithm in which the assumption that the robots can obtain metric distance/bearing information to landmarks is relaxed. Instead, the robot registers a distinctive sensor "signature", based on its current location, which is used to match robot positions. In our formulation of this non-linear estimation problem, we infer implicit position measurements from an image recognition algorithm. The Iterated form of the Extended Kalman Filter (IEKF) is employed to process all measurements.

关键词： robotics

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Rescue communicators for global victim search and local rescue planning

Rescue communicators for global victim search and local resc...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Hada, Yasushi Kawabata, Kuniaki Koguchi, Harutoshi Kaetsu, Hayato Asama, Hajime Distributed Adaptive RoboticS(DARS) Research Unit RIKEN Saitama Japan Research into Artifacts Center for Engineering (RACE) University of Tokyo Tokyo Japan

ISBN: (纸本)9781424402588

We are conducting research and development in technology for unifying the information of a large number of intelligent sensors distributed in a disaster-stricken area. Operating effectively as a system in real time, network household electric appliances, a personal digital assistant (PDA), a robot, etc. provided information and an action plan for a stricken area's situation. In this paper we introduce ubiquitous device "Intelligent Data Carriers for Rescue (IDC-R)" and formation of a dynamic network, and development of a means of disaster information communication (a group of people, a robot, an ad-hoc network, a home network, etc.). Target experiment for actual proof is also introduced.

关键词： sensor network ubiquitous device ad-hoc network

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A distributed surveillance task using miniature robots

A distributed surveillance task using miniature robots

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Proceedings of the 1st International Joint Conference on: Autonomous Agents and Multiagent Systems

作者： Rybski, Paul E. Gini, Maria Hougen, Dean F. Stoeter, Sascha A. Papanikolopoulos, Nikolaos Center for Distributed Robotics Dept of Computer Science and Eng. University of Minnesota Minneapolis MN 55455 United States

A distributed surveillance task using miniature robots was discussed. Results showed the effects of communication bottlenecks on the overall performance of robots that were controlled over a low bandwidth communicatio... 详细信息

关键词： Robot applications

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