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IEEE Symposium on Computational Intelligence, cognitive Algorithms, Mind, and Brain (CCMB)

作者： R. Prückl E. Grünbacher R. Ortner A. H. Taub R. Hogri A. Magal E. Segalis M. Zreik N. Nossenson I. Herreros A. Giovannucci R. Ofek Almog S. Bamford M. Marcus-Kalish Y. Shacham P. F. M. J. Verschure H. Messer M. Mintz J. Scharinger A. Silmon C. Guger Department of Computational Perception Johannes Kepler University Linz Linz Austria g.tec - Guger Technologies OG Schiedlberg Austria g. tee - Guger Technologies OG Schiedlberg Austria Psychobiology Research Unit Department of Psychology Tel-Aviv University Israel Department of Biomedical Engineering Tel-Aviv University Israel School of Electrical Engineering Tel-Aviv University Israel SPECS-Laboratory of Synthetic Perceptive Emotive and Cognitive Systems University of Pompeu-Fabra Barcelona Spain Faculty of Engineering Tel-Aviv University Israel Istituto Superiore di Sanitá Rome Italy Interdisciplinary Center of Technology Analysis and Forecasting Tel-Aviv University Israel Newcastle University Newcastle upon Tyne Tyne and Wear GB

In this paper we propose a Rapid Prototyping Environment (RPE) for real-time biosignal analysis including ECG, EEG, ECoG and EMG of humans and animals requiring a very precise time resolution. Based on the previous RPE which was mainly designed for developing Brain Computer Interfaces (BCI), the present solution offers tools for data preprocessing, analysis and visualization even in the case of high sampling rates and furthermore tools for precise cognitive stimulation. One application of the system, the analysis of multi-unit activity measured from the brain of a rat is presented to prove the efficiency of the proposed environment. The experimental setup was used to design and implement a biomimetic, biohybrid model for demonstrating the recovery of a learning function lost with age. Throughout the paper we discuss the components of the setup, the software structure and the online visualization. At the end we present results of a real-time experiment in which the model of the brain learned to react to the acquired signals.

关键词： Electrodes Real time systems Software Biological system modeling Feature extraction Animals Training data

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robot Head-Eye calibration using the Minimum Variance method

Robot Head-Eye calibration using the Minimum Variance method

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IEEE International Conference on robotics and Biomimetics

作者： Sin-Jung Kim Mun-Ho Jeong Joong-Jae Lee Ji-Yong Lee Kang-Geon Kim Bum-Jae You Sang-Rok Oh Cognitive Robotics Center Korea Institute of Science and Technology KIST Korea University of Science and Technology South Korea Laboratory of Robot Vision & Intelligence School of Robot Kwangwoon University South Korea Machine Intelligence Group Information & Technology Laboratory LGE Advanced Research Institute South Korea Cognitive Robotics Center Korea Institute of Science and Technology South Korea

ISBN: (纸本)9781424493197

This paper presents a calibration method for a robot Head-Eye system which can be used in a humanoid robot vision system. This method estimates the transformation between the robot coordinate and the camera coordinate. The calibration procedure uses visual measurements and kinematic information as the inputs of nonlinear optimization. For this calibration method, an objective function for the optimization, that uses the Minimum Variance method is defined. The procedure of this method is very simple and intuitive. Besides, the result of this method is considerably precise and robust against the noisy environment. The performance is compared with earlier approaches and the results of simulation and actual experiment are followed.

关键词： Cameras robot vision systems Calibration Three dimensional displays robot kinematics Optimization

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robot Companions for Citizens

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Procedia Computer Science 2011年 7卷 47-51页

作者： Paolo Dario Paul F.M.J. Verschure Tony Prescott Gordon Cheng Giulio Sandini Roberto Cingolani Rüdiger Dillmann Dario Floreano Christophe Leroux Sheila MacNeil Pieter Roelfsema Xenophon Verykios Antonio Bicchi Chris Melhuish Alin Albu-Schäffer The BioRobotics Institute Scuola Superiore Sant’Anna viale Rinaldo Piaggio 34. 56025 Pontedera Italy Laboratory for Synthetic Perceptive Emotive and Cognitive Systems Catalan and Institute of Advanced Research (ICREA) Technology Department Universitat Pompeu Fabra Roc Boronat 138. 08018 Barcelona Spain Department of Psychology The University of Sheffield Western Bank Sheffield S10 2TN UK Institute for Cognitive Systems Technische Universität München Karlstrasse 45/II. 80333 München Germany Robotics Brain and Cognitive Sciences Istituto Italiano di Tecnologia Via Morego 30. 16163 Genova Italy Istituto Italiano di Tecnologia Via Morego 30. 16163 Genova Italy Institute for Anthropomatics Karlsruhe Institute of Technology Adenauerring 2 (Building 50.20). 76131 Karlsruhe Germany Laboratory of Intelligent Systems École polytechnique fédérale de Lausanne Station 11. CH-1015 Lausanne Switzerland CEA LIST Interactive Robotics Laboratory 18 route du panorama BP6. 92265 Fontenay Aux Roses cedex France The Kroto Research Institute North Campus University of Sheffield Broad Lane Sheffield S3 7HQ UK Netherlands Institute for Neuroscience Koninklijke Nederlandse Akademie Van Wetenschappen Meibergdreef 47. 1105 BA Amsterdam The Netherlands Department of Chemical Engineering University of Patras Karatheodoris 1 University Campus GR 265 00 Patras Interdepartmental Research Center “E. Piaggio” Faculty of Engineering University of Pisa via Diotisalvi 2.56100 Pisa Italy Department of Computing Engineering and Mathematical Sciences University of Bristol and the West of England Bristol Robotics Laboratory (BRL) DuPont Building Bristol Business Park Bristol BS16 1QD UK DLR Institute of Robotics and System Dynamics P.O.Box 1116. 82230 Wessling Germany

This paper describes the scientific vision and objectives of the FET Flagship candidate initiative robot Companions for Citizens. robot Companions will be a new generation of machines that will primarily help and assist elderly people in activities of daily living in their workplace, home and in society. They will be the ICT solution for a new sustainable welfare.

关键词： robotics nanotechnologies material science tissue engineering biomaerials neuroscience social neuroscience human and social sciences ethical and legal issues

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Sound source localization in reverberant environment using visual information

Sound source localization in reverberant environment using v...

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2010 IEEE/RSJ International Conference on Intelligent robots and Systems

作者： Byoung-gi Lee JongSuk Choi Daijin Kim Munsang Kim Center of Cognitive Robot Research Korea Institute of Science and Technology Seoul South Korea Department Computer Science and Engineering Pohang University of Science and Technology South Korea Center of Intelligent Robotics Korea Institute of Science and Technology Seoul South Korea

Recently, many researchers have carried out works on audio-video integration. It is worth exploring because service robots are supposed to interact with human beings using both visual and auditory sensors. In this paper, we propose an audio-video method for sound source localization in reverberant environment. Using visual information from a vision camera, we could train our audio localizer to distinguish a real source from fake sources and improved the performance of audio localizer in reverberant environment.

关键词： Cameras Sensors robots Visualization Training Microphone arrays

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Verification of sound source localization in reverberation room and its real time adaptation using visual information

Verification of sound source localization in reverberation r...

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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

It is important for intelligent robots to detect the location of user even though the user is not captured by vision cameras. Sound source localization is a technique to detect the direction of sound source using multiple microphones. It enables the robot to respond to the user's call. Sometimes, a robot operates in echoic room, but the performance of sound source localization in echoic room is very poor. In this work, a verification method for reverberation is proposed and tested how much it improves the performance of sound source localization in reverberant environment.

关键词： Microphones Training Reverberation Cameras Feature extraction robot vision systems

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Static balance for rescue robot navigation: Losing balance on purpose within random step environment

Static balance for rescue robot navigation: Losing balance o...

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2010 IEEE/RSJ International Conference on Intelligent robots and Systems

作者： Evgeni Magid Takashi Tsubouchi Eiji Koyanagi Tomoaki Yoshida Roboken Intelligent Robot Laboratory Institute of Engineering Mechanics and Systems University of Tsukuba Tsukuba Japan Future Robotics Technology Center Chiba Institute of Technology Japan

The goal of rescue robotics is to extend the capabilities and to increase the safety of human rescue teams. During a rescue mission a mobile robot is deployed on a rescue site and is operated from a safe place by a human operator. The operator can not see the robot and the environment and a decision on the path selection is very complicated. Our goal is to provide a kind of automatic “pilot system” to propose an operator a good direction or several options to traverse the environment, taking into an account the robot's static and dynamic properties. To find a good path we need a special path search algorithm on debris and a proper definition of a search tree, which can ensure smooth exploration. While the main goal of the algorithm is to keep the robot maximally stable at every step of its path, in some cases we need the robot to lose its balance and to change a 3D orientation discontinuously. Losing balance on purpose is an important feature for safe climbing up and going down the debris and it is the central issue of this paper. Exhaustive simulations were used to structure and analyze data and experiments were used to verify our approach to removing unsuitable directions of the search from the search tree.

关键词： robot sensing systems Humans Crawlers Turning Green products Numerical models

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Application of Granger causality analysis to effective connectivity of the default-mode network

Application of Granger causality analysis to effective conne...

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2010 IEEE/ICME International Conference on Complex Medical engineering, CME2010

作者： Miao, Xiaoyan Chen, Kewei Li, Rui Wen, Xiaotong Yao, Li Wu, Xia State Key Laboratory of Cognitive Neuroscience and Learning Beijing Normal University Beijing 100875 China Banner Good Samaritan PET Center Phoenix AZ 85006 United States Department of Biomedical Engineering University of Florida Gainesville FL 32611 United States School of Information Science and Technology Beijing Normal University Beijing 100857 China

ISBN: (纸本)9781424468430

The default-mode network (DMN), which is suggested to have important functions related to internal modes of cognition and increasingly implicated in brain disorders, has attracted much attention in the past few years. Effective connectivity, defined as the influence one neuronal system exerts over another, can provide deep understanding of directed influence between brain regions in the network from the view of functional integration. Granger causality analysis is one of the conventional approaches to explore the effective connectivity in brain imaging researches. In this study, we applied Granger causality analysis to resting-state functional Magnetic Resonance Imaging (fMRI) data from 12 young subjects to explore the effective connectivity pattern of the DMN. The results demonstrated that posterior cingulate cortex (PCC), medial prefrontal cortex (MPFC) and inferior parietal cortex (IPC) were the only three regions had significant causal relationship with all other regions in more than 50% subjects and PCC was the only brain area influenced by all others while had no directed influence to others. The strong effective connectivity pattern demonstrated that PCC, MPFC and IPC were the three key regions and PCC was the convergence hub in the network. These results provide further understanding of physiological mechanism of DMN underlying internal modes of cognition. © 2010 IEEE.

关键词： Magnetic resonance imaging

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UNDERACTUATED HAND DYNAMIC MODELING, ITS REAL-TIME SIMULATION, AND CONTROL

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International Journal of Humanoid robotics 2010年第4期7卷 609-634页

作者： HAI HUANG YONG-JIE PANG JIANG LI SHAO-WEI FAN XIN-QING WANG HONG LIU Key Laboratory of Science and Technology for National Defense of Autonomous Underwater Vehicle Harbin Engineering University Harbin 150001 China State Key Laboratory Robot and Systems Harbin Institute of Technology Harbin 150001 China Institute of Robotics and Mechatronics German Aerospace Center DLR 82230 Wessling Germany

The forward and inverse dynamic models of the underactuated 2-DOF finger have been established in this article based on virtual spring approach. This approach not only avoids the solution of differential-algebraic equations but also leads to a completely decoupled dynamic model that is ideal for directly inverse dynamic analysis, real-time dynamic simulation and control. To verify this approach, an underactuated 3-joint finger has been brought forward. Simulation results from Matlab/Simulink are consistent with those obtained from ADAMS grasp simulations. For the hand real-time dynamic control, the velocity observer has been established based on the dynamic model, the adaptive curve fitting with the observer has obtained precise velocity signals, made up the uncertain parameters such as torsion spring, inertial, damps, etc. and achieved ideal results. By applying dynamics model and observer, the force-based impedance control can realize more accurate and stable force control during grasp.

关键词： Dynamic modeling dynamic control virtual spring approach underactuated hand

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Sensor fusion-based line detection for unmanned navigation

Sensor fusion-based line detection for unmanned navigation

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IEEE Symposium on Intelligent Vehicle

作者： Changmook Chun SeungBeum Suh Chi-won Roh Yeonsik Kang Sungchul Kang Jung-yup Lee Chang-soo Han Cognitive Robotics Center Korea Institute of Science and Technology South Korea Yujin Robot Company Limited South Korea School of Automotive Engineering Kookmin University South Korea Hyundai Rotem Company Limited South Korea Department of Mechanical Engineering Hanyang University South Korea

We propose an algorithm of reliable detection of line for unmanned navigation of mobile robots using sensor fusion. To detect the distance and the angle between the robot and the line, we use a vision sensor system and a laser range finder (LRF). Each sensor system runs its own extended Kalman filter (EKF) to estimate the distance and orientation of the line. The vision system processes images being captured using well-known edge detection algorithms, and the LRF detects the line using the measurement of the intensity of the laser beam reflected. However, depending on the condition of the road and ambient light, each sensor gives us wrong measurement of the line or sometimes completely fails to detect it. To resolve such uncertainty, we develop a simple and easy-to-implement sensor fusion algorithm that uses weighted sum of the output of each EKF, and it gives us more reliable estimate of the distance and orientation of the line than each measurement/estimator system.

关键词： Navigation Sensor fusion Machine vision Sensor systems Laser fusion Image edge detection Mobile robots robot sensing systems robot vision systems Laser beams

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Liu et al. reply.

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Nature 2011年第7369期478卷 E4-E5页

作者： Liu, Yang-Yu Slotine, Jean-Jacques Barabási, Albert-László 1 1] Center for Complex Network Research and Departments of Physics Computer Science and Biology Northeastern University Boston Massachusetts 02115 USA Center for Cancer Systems Biology Dana-Farber Cancer Institute Boston Massachusetts 02115 USA 2 1] Nonlinear Systems Laboratory Massachusetts Institute of Technology Cambridge Massachusetts 02139 USA Department of Mechanical Engineering and Department of Brain and Cognitive Sciences Massachusetts Institute of Technology Cambridge Massachusetts 02139 USA 3 1] Center for Complex Network Research and Departments of Physics Computer Science and Biology Northeastern University Boston Massachusetts 02115 USA Department of Medicine Brigham and Women's Hospital Harvard Medical School Boston Massachusetts 02115 USA

Replying to F.-J. Müller & A. Schuppert Nature 478, 10.1038/nature10543 (2011) Müller and Schuppert1 describe an exception to our finding2 that roughly 80% of the nodes must be controlled to gain full control over gene regulatory networks. Yet our result hides subtleties that reveal as much about controllability as about the limits of our current understanding of biological networks.

关键词： Physics Applied physics and engineering

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