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作者： Schultz, Alan C. Breazeal, Cynthia Fong, Terry Kiesler, Sara Washington DC United States Department of Media Arts and Scienes MIT Media Lab. Intelligent Robotics Group NASA Ames Research Center Department of Computer Science and Human Computer Interaction Carnegie Mellon University Pittsburgh PA United States

The second international conference on Human-Robot Interaction (HRI-2007) was held in Arlington, Virginia, March 9-11, 2007. The theme of the conference was "Robot as Team Member" and included posters and paper presentations on teamwork, social robotics, adaptation, observation and metrics, attention, user experience, and field testing. One hundred seventy-five researchers and practitioners attended the conference, and many more contributed to the conference as authors or reviewers. HRI-2008 will be held in Amsterdam, The Netherlands from March 12-15, 2008. Copyright © 2007, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： robotics

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A biologically inspired approach for the control of the hand

A biologically inspired approach for the control of the hand

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Congress on Evolutionary Computation

作者： Emmanouil Hourdakis Michail Maniadakis Panos Trahanias Computational Vision and Robotics Laboratory Foundation for Research and Technology Hellas Heraklion Greece Department of Computer Science University of Crete Greece Postdoctoral researcher with the Computational Vision and Robotics Laboratory Foundation for Research and Technology Hellas Heraklion Greece Head of the Computational Vision and Robotics Laboratory Foundation for Research and Technology Hellas Heraklion Greece Professor with the Department of Computer Science University of Crete Greece

The control of the hand in primate species is characterized by a high dimensionality, due to the large number of joints in the fingers. In this study we present how its manipulation can be simplified without compromising its usage, through a constraint methodology that is inspired from recent neurobiological findings. We further develop a computational model, consisting of several brain areas related to hand control, using a co-evolutionary architecture. Due to its neurobiological basis the methodology gives rise to a number of emergent properties that have been shown to occur in primate species during reach-to-grasp tasks.

关键词： Biological control systems Brain modeling computer science computer architecture Biological system modeling Computational modeling Neurons Biological neural networks computer vision Robot kinematics

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Face Re-Lighting from a Single Image under Harsh Lighting Conditions

Face Re-Lighting from a Single Image under Harsh Lighting Co...

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Conference on computer vision and Pattern Recognition (CVPR)

作者： Yang Wang Zicheng Liu Gang Hua Zhen Wen Zhengyou Zhang Dimitris Samaras The Robotics Institute Carnegie Mellon University USA Microsoft Research Limited USA Microsoft Live Laboratories Research USA T.J.Watson Research Center IBM USA Computer Science Department Stony Brook University USA

In this paper, we present a new method to change the illumination condition of a face image, with unknown face geometry and albedo information. This problem is particularly difficult when there is only one single image of the subject available and it was taken under a harsh lighting condition. Recent research demonstrates that the set of images of a convex Lambertian object obtained under a wide variety of lighting conditions can be approximated accurately by a low-dimensional linear subspace using spherical harmonic representation. However, the approximation error can be large under harsh lighting conditions thus making it difficult to recover albedo information. In order to address this problem, we propose a subregion based framework that uses a Markov Random Field to model the statistical distribution and spatial coherence of face texture, which makes our approach not only robust to harsh lighting conditions, but insensitive to partial occlusions as well. The performance of our framework is demonstrated through various experimental results, including the improvement to the face recognition rate under harsh lighting conditions.

关键词： Lighting Face detection Approximation error Face recognition Humans Solid modeling Computational geometry Markov random fields Robustness Application software

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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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A Study On Iterative Learning Control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of Control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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Using the Waseda Bioinstrumentation System WB-1R to analyze Surgeon’s performance during laparoscopy - towards the development of a global performance index -

Using the Waseda Bioinstrumentation System WB-1R to analyze ...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Massimiliano Zecca Filippo Cavallo Minoru Saito Nobutsuna Endo Yu Mizoguchi Stefano Sinigaglia Kazuko Itoh Hideaki Takanobu Giuseppe Megali Oliver Tonet Paolo Dario Andrea Pietrabissa Atsuo Takanishi Institute for Biomedical Engineering ASMeW Waseda University Shinjuku Tokyo Japan Scuola Superiore Sant'Anna CRIM Pisa Italy Graduate School of Science and Engineering Waseda University Tokyo Japan Department of Modern Mechanical Engineering Waseda University Tokyo Japan Humanoid Robotics Institute (HRI) Waseda University Tokyo Japan Department of Mechanical Systems Engineering Kogakuin University Tokyo Japan Center for Computer Assisted Surgery EndoCAS Pisa Italy Department of Modern Mechanical Engineering Humanoid Robotics Institute (HRI) Advanced Research Institute for Science and Engineering Waseda University Shinjuku Tokyo Japan

Minimally invasive surgery (MIS) has become very common in recent years, thanks to the many advantages it provides for patients. Since it is difficult for surgeons to learn and master this technique, several training methods and metrics have been proposed, both to improve the surgeon's abilities and also to assess his/her skills. This paper presents the use of the WB-1R (Waseda bioinstrumentation system no.1 refined), which was developed at Waseda University, Tokyo, to investigate and analyze a surgeon's movements and performance. Specifically, the system can measure the movements of the head, the arms, and the hands, as well as several physiological parameters. In this paper we present our experiment to evaluate a surgeon's ability to handle surgical instruments and his/her depth perception using a laparoscopic view. Our preliminary analysis of a subset of the acquired data (i.e. comfort of the subjects; the amount of time it took o complete each exercise; and respiration) clearly shows that the expert surgeon and the group of medical students perform very differently. Therefore, WB-1R (or, better, a newer version tailored specifically for use in the operating room) could provide important additional information to help assess the experience and performance of surgeons, thus leading to the development of a global performance index for surgeons during MIS. These analyses and modeling, moreover, are an important step towards the automatization and the robotic assistance of the surgical gesture.

关键词： Performance analysis Surges Laparoscopes robotics and automation Humanoid robots Management training Minimally invasive surgery Intelligent robots USA Councils

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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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Spatial ontology for semantic integration in 3D multimodal interaction framework

Spatial ontology for semantic integration in 3D multimodal i...

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ACM International Conference on Virtual Reality Continuum and its Applications, VRCIA 2006

作者： Irawati, Sylvia Calderón, Daniela Ko, Heedon Department of Human Computer Interaction and Robotics University of Science and Technology Hong Kong Imaging Media Research Center Korea Institute of Science and Technology Korea Republic of

ISBN: (纸本)1595933247

This paper describes a framework for 3D selection and manipulation in virtual environments. The framework provides some basic selection and manipulation techniques to achieve the interaction task. It also provides more than one input channel to interact with the system. The gist of the proposed framework is the semantic integration of multimodal input using spatial ontology and user context to integrate the interpretation results from the inputs into a single one. The spatial ontology, describing the spatial relationships between objects, is used together with the current user context to solve ambiguities coming from the user's commands. We discuss how the spatial ontology is defined and used to assist the user to perform object placements in the virtual environment. © 2006 ACM.

关键词： Virtual reality

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The Hedgehog: A Novel Optical Tracking Method for Spatially Immersive Displays

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Presence 2006年第1期15卷 108-121页

作者： A. Vorozcovs W. Stuerzlinger A. Hogue R. S. Allison Department of Computer Science and Engineering and Center for Vision Research York University Toronto Ontario Canada

Existing commercial technologies do not adequately meet the requirements for tracking in fully enclosed Virtual Reality displays. We present a novel six degree of freedom tracking system, the Hedgehog; which overcomes several limitations inherent in existing sensors and tracking technology. The system reliably estimates the pose of the user's head with high resolution and low spatial distortion. Light emitted from an arrangement of lasers projects onto the display walls. An arrangement of cameras images the walls and the two-dimensional centroids of the projections are tracked to estimate the pose of the device. The system is able to handle ambiguous laser projection configurations, static and dynamic occlusions of the lasers, and incorporates an auto-calibration mechanism due to the use of the SCAAT (single constraint at a time) algorithm. A prototype system was evaluated relative to a state-of-the-art motion tracker and showed comparable positional accuracy (1–2 mm RMS) and significantly better absolute angular accuracy (0.1° RMS).

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Automated semantic web service discovery with OWLS-MX 06

Automated semantic web service discovery with OWLS-MX

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Fifth International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS

作者： Klusch, Matthias Fries, Benedikt Sycara, Katia German Research Center for Artificial Intelligence Multiagent Systems Group Saarbruecken Germany University of the Saarland Computer Science Department Saarbruecken Germany Carnegie Mellon University Robotics Institute Pittsburgh PA United States

ISBN: (纸本)1595933034

We present an approach to hybrid semantic Web service matching that complements logic based reasoning with approximate matching based on syntactic IR based similarity computations. The hybrid matchmaker, called OWLS-MX, applies this approach to services and requests specified in OWL-S. Experimental results of measuring performance and scalability of different variants of OWLS-MX show that under certain constraints logic based only approaches to OWL-S service I/O matching can be significantly outperformed by hybrid ones. Copyright 2006 ACM.

关键词： Semantic Web

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