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IEEE International Conference on robotics and Biomimetics

作者： Ying Hu Jun Zhang Chao Li Sheng Cheng Ludan Wang Jianwei Zhang Center of Robot Engineering and Cognitive Technologies Laboratory Shenzhen Institute of Advanced Technology Shenzhen Guangdong China TAMS University of Hamburg Hamburg Germany

Based on the analysis of the first prototype of an assisting robotic arm (ARA) for minimally invasive thoracic surgery, an improved design is presented. A self-gravity compensation mechanism is developed to resist joint torques caused by the weight of the robot and to reduce the force exerted on the end-effector by the surgeon. With a motor built into the arm, the design of the ball-socket-joint is modified to widen the surgeon's field of view. The current pedal brake is replaced with an operating pushbutton to avoid maloperation. A control system for the improved ARA is developed. The experimental results show that the workspace and the locking torque can satisfy the basic requirements of a surgery.

关键词： Minimally invasive surgery Safety robots Surges Medical robotics Oncological surgery cognitive robotics Orbital robotics Viscera Chaos

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Global Asymptotical Stabilization of Morse-Smale Systems Using Weak Control-Lyapunov Functions

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SICE Journal of Control, Measurement, and System Integration 2009年第1期2卷 43-49页

作者： Gou Nishida Takayuki Tsuzuki Hisakazu Nakamura Yuh Yamashita RIKEN-TRI Collaboration Center for Human-Interactive Robot Research Center Advanced Science Institute RIKEN Department of Electronic and Control Systems Engineering Interdisciplinary Faculty of Science and Engineering Shimane University Systems and Control Lab. Graduate School of Information Science Nara Institute of Science and Technology Division of Systems Science and Informatics Graduate School of Information Science and Technology Hokkaido University

This paper proposes a method of constructing weak control-Lyapunov functions for nonlinear systems by introducing a topological geometric assumption called a Morse-Smale system. A Lyapunov function is one of the most important tools to study stability and stabilization of nonlinear systems. However, a general way of finding Lyapunov functions has not been found yet. First, we confirm there is a weak Lyapunov function for Morse-Smale systems. Next, we define the escapability for singular structures of the weak Lyapunov function. If all singular structures are escapable, then the Morse-Smale system is a globally asymptotically stabilizable one. Finally, we present the method of constructing a set of weak control-Lyapunov functions to achieve global stabilization. The method is described in terms of a recursive sequence of singular structures. We call the sequence a weak Lyapunov filtration.

关键词： nonlinear systems Lyapunov functions iterative modeling and control design

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Introducing new associate editors

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Journal of Computing and Information Science in engineering 2009年第3期9卷 1-2页

作者： Saitou, Kazuhiro Grosse, Ian R. Gao, Shuming McMains, Sara Qian, Xiaping Goel, Ashok Geiger, Chris NSF Center for e-Design Mechanical and Industrial Engineering Univsersity of Massachusetts Amherst United States State Key Lab of CAD and CG Zhejiang University Hangzhou China Mechanical Engineering UC Berkeley United States Illinois Institute of Technology Chicago United States Computer and Cognitive Science School of Interactive Computing Georgia Institute of Technology United States University of Applied Sciences Düsseldorf Germany

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Ubiquitous robot: A New Paradigm for Integrated Services

Ubiquitous Robot: A New Paradigm for Integrated Services

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jong-Hwan Kim Kang-Hee Lee Yong-Duk Kim Naveen Suresh Kuppuswamy Jun Jo Robot Intelligence Technology Lab Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea Application Technology Lab Telecommunication Research & Development Center Telecommunication Network business Samsung Electronics Company Limited Robotics and Computer Games Laboratory Griffith University Australia

This paper presents the components and overall architecture of the ubiquitous robot (Ubibot) system developed to demonstrate ubiquitous robotics, a new paradigm for integrated services. The system has been developed on the basis of the definition of the ubiquitous robot as that of encompassing the software robot Sobot, embedded robot Embot and the mobile robot Mobot. This tripartite partition, which independently manifests intelligence, perception and action, enables the abstraction of intelligence through the standardization of sensory data and motor or action commands. The Ubibot system itself is introduced along with its component subsystems of Embots, the position Embot, vision Embot and sound Embot, the Mobots of Mybot and HSR, the Sobot, Rity, a virtual pet modeled as an artificial creature, and finally the middleware which seamlessly enables interconnection between other components. Three kinds of experiments are devised to demonstrate the fundamental features, of calm sensing, context awareness and seamless service transcending the spatial limitations in the abilities of earlier generation personal robots. The experiments demonstrate the proof of concept of this powerful new paradigm which shows great promise.

关键词： Intserv networks Mobile robots robot sensing systems Intelligent robots Intelligent sensors Computer architecture Embedded software Artificial intelligence Standardization Positron emission tomography

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Stochastic policy gradient reinforcement learning on a simple 3D biped

Stochastic policy gradient reinforcement learning on a simpl...

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2004 IEEE/RSJ International Conference on Intelligent robots and Systems (IROS)

作者： Tedrake, Russ Zhang, Teresa Weirui Seung, H. Sebastian Comp. Sci. and Artif. Intell. Lab. Center for Bits and Atoms Massachusetts Inst. of Technology Cambridge MA 02139 Department of Mechanical Engineering Brain and Cognitive Sciences Massachusetts Inst. of Technology Cambridge MA 02139 Brain and Cognitive Sciences Center for Bits and Atoms Howard Hughes Medical Institute Cambridge MA 02139

ISBN: (纸本)0780384636

We present a learning system which is able to quickly and reliably acquire a robust feedback control policy for 3D dynamic walking from a blank-slate using only trials implemented on our physical robot. The robot begins walking within a minute and learning converges in approximately 20 minutes. This success can be attributed to the mechanics of our robot, which are modeled after a passive dynamic walker, and to a dramatic reduction in the dimensionality of the learning problem. We reduce the dimensionality by designing a robot with only 6 internal degrees of freedom and 4 actuators, by decomposing the control system in the frontal and sagittal planes, and by formulating the learning problem on the discrete return map dynamics. We apply a stochastic policy gradient algorithm to this reduced problem and decrease the variance of the update using a state-based estimate of the expected cost. This optimized learning system works quickly enough that the robot is able to continually adapt to the terrain as it walks.

关键词： Biped locomotion

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Stochastic policy gradient reinforcement learning on a simple 3D biped

Stochastic policy gradient reinforcement learning on a simpl...

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IEEE International Workshop on Intelligent robots and Systems (IROS)

作者： R. Tedrake T.W. Zhang H.S. Seung Computer Science & Artificial Intelligence Lab Center for Bits & Atoms Massachusetts Institute of Technology Cambridge MA USA Department of Mechanical Engineering Brain & Cognitive Sciences Massachusetts Institute of Technology Cambridge MA USA Howard Hughes Medical Institute Brain & Cognitive Sciences Center for Bits & Atoms Massachusetts Institute of Technology Cambridge MA USA

关键词： Stochastic processes Legged locomotion Learning systems Robust control Feedback control robots Actuators Control systems State estimation Costs

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Analyzing railroad dispatchers' strategies: a cognitive task analysis of a distributed team planning task

Analyzing railroad dispatchers' strategies: a cognitive task...

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IEEE International Conference on Systems, Man and Cybernetics

作者： E.M. Roth N. Malsch J. Multer M. Coplen Roth Cognitive Engineering Brookline MA USA Human-Machine Systems Lab Massachusetts Institute of Technology Cambridge MA USA Nora Katz-Rhoads Volpe National Transportation System Center Cambridge MA USA

Describes a preliminary cognitive task analysis (CTA) that is being conducted to examine how experienced train dispatchers manage and schedule trains. The CTA uses ethnographic field observations and structured interview techniques. The objective is to gain insight into the cognitive demands placed on train dispatchers and the strategies they have developed in response to those demands, as an input to guide development and design of digital communication systems and advanced information displays. The paper reports selected results of the CTA that reveal some of the complexities faced by train dispatchers and the cognitive and collaborative strategies they have developed in response to those demands. The results of the preliminary CTA reveal that dispatchers have developed a variety of strategies that smooth the way for trains to pass through territories safely and efficiently and satisfy the multiple demands placed on track use. In many cases these strategies depend on communication and coordination among individuals distributed across time and space. A core basis for coordination is the use of radio as a communication device that provides for a shared frame of reference. The ability to overhear communications directed at others that have a bearing on achievement of your own goals and to recognize when information in your possession is of relevance to others and broadcast it, are important contributors to efficient management of track use. Dispatchers' planning and scheduling is proactive, anticipatory and opportunistic-taking advantage of windows of opportunities that arise to satisfy the multiple demands that are placed on track use. The results have implications for training and the application of advanced display and communication technologies to improve train routing safety and efficiency.

关键词： Management training Displays engineering management Digital communication Job shop scheduling Industrial training Routing Dispatching technology planning Man machine systems

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Book reviews

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Minds and Machines 1995年第1期5卷 109-155页

作者： Weiss, Eric A. Leiber, Justin Duchan, Judith Felson Selfridge, Mallory Dietrich, Eric Facione, Peter A. Day, Timothy Joseph Lammens, Johan M. Feenberg, Andrew Johnson, Deborah G. Levine, Daniel S. Warfield, Ted A. Annals of the History of Computing Kailua U.S.A. Department of Philosophy University of Houston Houston U.S.A. Department of Communicative Disorders and Sciences and Center for Cognitive Science State University of New York at Buffalo Buffalo USA Department of Computer Science and Engineering The University of Connecticut Storrs U.S.A. Program in Philosophy Computers and Systems Science Department of Philosophy State University of New York at Binghamton Binghamton USA College of Arts and Sciences Santa Clara University Santa Clara U.S.A. Department of Philosophy University of Alabama at Birmingham Birmingham U.S.A. Scuola Superiore S. Anna ARTS Lab Pisa Italy Department of Philosophy San Diego State University San Diego U.S.A. Department of Science and Technology Studies Rensselaer Polytechnic Institute Troy U.S.A. Department of Mathematics University of Texas at Arlington Arlington U.S.A. Department of Philosophy Rutgers The State University of New Jersey New Brunswick U.S.A.

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AMP-CAD: an assembly motion planning system

AMP-CAD: an assembly motion planning system

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IEEE International Conference on robotics and Automation (ICRA)

作者： S.N. Gottschlich A.C. Kak New York State Center for Advanced Technology in Robotics and Automation Rensselaer Polytechnic Institute Troy NY USA Robot Vision Lab School of Electrical Engineering Purdue University West Lafayette IN USA

The authors discuss a system, called AMP-CAD, which develops assembly motion plans using CAD models of parts. They place an emphasis on the calculation of the potential fields used for motion planning. Potential fields can be thought of as a mechanism to interface CAD representations with plan development. AMP-CAD is a complete system that combines an assembly representation, a two-phase motion planner, and a execution unit into a single integrated package. Implementation and experimental results are discussed.< >

关键词： Assembly systems Uncertainty robotic assembly Motion planning Aggregates Solid modeling Force control Torque control robotics and automation Fitting

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