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检索条件"机构=Centre for Advanced Robotics and Intelligent Control"

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Robotic arm force sensing interaction control

Robotic arm force sensing interaction control

引用

2012 7th IEEE Conference on Industrial Electronics and Applications, ICIEA 2012

作者： Han, Xinyu Zhang, Liandong Zhou, Changjiu Advanced Robotics and Intelligent Control Centre Singapore Polytechnic 500 Dover Road 139651 Singapore Singapore

ISBN: (纸本)9781457721175

The ability of human to perform physical tasks is limited, not by his intellect, but by his physical strength. If, in an appropriate environment, a machine could make a detection of human's intentions and then finish the corresponding actions. In this situation, the mechanical power is closely integrated with the mechanical strength of human arm under the control of the human intellect. As a result of that the system will be superior to a loosely integrated combination of a human and a fully automated robot. Therefore, this paper presents a force control system for industrial robotic manipulator and an active force and torque sensing technique to sends out the corresponding instruction when been effected by the external power. The proposed sensor is implemented on the top of manipulator. This sensor can be the transducer measuring and outputting forces and torques from all three Cartesian coordinates. The research objective is a 3 DOF (degree of freedom) manipulator, which can be operated in a natural and intuitive manner by utilizing the force information by the unpredicted pushing and pulling action apply to the robot during human-robot interaction. On the other hand, it can be real time implemented in the simulator system. At same time, it is confirmed that the effectiveness about maintain the stability of the 6 DOF manipulator through simulation using ODE (Open Dynamics Engine). © 2012 IEEE.

关键词： Human robot interaction

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Robotic arm force sensing interaction control

Robotic arm force sensing interaction control

引用

IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Xinyu Han Liandong Zhang Changjiu Zhou Advanced Robotics and Intelligent Control Centre Singapore polytechnics Singapore

关键词： Robot sensing systems Robot kinematics Manipulators Force Service robots Kinematics

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Rate-distortion optimized reference picture selection

Rate-distortion optimized reference picture selection

引用

IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Tianwu Yang Changjiu Zhou Advanced Robotics and Intelligent Control Centre Singapore Polytechnic Singapore 139651

Most common video coding standards employ spatiotemporal prediction techniques to increase coding efficiency. As a result, compressed video data is sensitive to the transmission error due to error propagation. An adaptive reference picture selection (RPS) is proposed to improve the error resilience in real-time video transmission. A global rate-distortion optimization (RDO) is developed to intelligently select the reference picture from a reference picture list, such that the end-to-end distortion is minimized. The coupling variables in the global RDO are decoupled by applying primal decomposition approach iteratively. Experimental results in H.264/AVC indicate that the proposed adaptive RPS significantly outperforms the ACK and NACK mode of the classic RPS, and error resilient RDO in H.264/AVC reference software as well.

关键词： Video coding Streaming media Decoding Optimization Rate-distortion Encoding PSNR

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Source distortion temporal propagation model for motion compensated video coding optimization

Source distortion temporal propagation model for motion comp...

引用

2012 13th IEEE International Conference on Multimedia and Expo, ICME 2012

作者： Yang, Tianwu Zhu, Ce Fan, Xiaojiu Peng, Qiang Advanced Robotics and Intelligent Control Centre Singapore Polytechnic Singapore 139651 Singapore School of Electrical and Electronic Engineering Nanyang Technological Univ. Singapore 639798 Singapore School of Information Science and Technology Southwest Jiaotong Univ. Chengdu 610031 China

ISBN: (纸本)9781467316590

Rate-distortion optimization (RDO) is widely employed to maximize coding efficiency in hybrid video coding. Due to an extensive use of spatial-temporal predictions in video coding, a global RDO problem becomes so complex that the processing of each coding unit (e.g. a macro block) is dependent and entangled each other. Usually the RDO is simply performed for each coding unit individually and independently, thus compromising the RDO performance significantly. In this paper, we examine temporal dependent RDO by developing a novel source distortion temporal propagation (SDTP) model, which takes into account the influence of a current coding macro block to future macro blocks in its temporal propagation chain. Accordingly estimations of the influence and the corresponding Lagrange multiplier for the proposed SDTP-based RDO are obtained. Experimental results show consistently a significant coding gain of the proposed scheme over H.264/AVC. © 2012 IEEE.

关键词： Image coding

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Design of a tele-operated field robot

Design of a tele-operated field robot

引用

2011 Defense Science Research Conference and Expo, DSR 2011

作者： Wang, Yiyan Song, Zhiwei Zhou, Yi Zhou, Changjiu School of Electrical and Electronic Engineering Singapore Polytechnic Singapore Advanced Robotics and Intelligent Control Centre Singapore Polytechnic Singapore

ISBN: (纸本)9781424492763

A design of a tele-operated field robot for search and rescue is discussed in this paper. The paper introduces the overall structural, mechanic design, manipulation and locomotion, tele-operation with sensor fusion and an intuitive user interface on the field robot. In addition, new cross-platform software architecture, RobotKernel, is implemented in the robot. With this standardized software architecture, programming from different research groups can be easily re-used. © 2011 IEEE.

关键词： Software architecture

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Extended neglect tolerance model & human robot teams

Extended neglect tolerance model & human robot teams

引用

8th International Conference on Information, Communications and Signal Processing, ICICS 2011

作者： Elara, Mohan Rajesh Calderon, Carlos A. Acosta Zhou, Changjiu Singapore University of Technology and Design Singapore Singapore Advanced Robotics and Intelligent Control Centre Singapore Polytechnic Singapore 139651 Singapore

ISBN: (纸本)9781457700309

Estimating robot performance in human robot teams is a vital problem in human robot interaction community. In previous work, we presented extended neglect tolerance model for estimation of robot performance, where the human operator switches control between robots sequentially based on low degree of minimum acceptable performance level set at 50% of peak performance, taking into account any false alarms in human robot interactions. In this paper, we validate the extended neglect tolerance model for an assistive walking task with high degree of minimum acceptable performance levels set at 80% of peak performance. Experiments were performed with Robo-Erectus@Home, a service robot across tele-operation, and semi-autonomous modes of autonomy where a human operator controlled the robot to perform a walking assistant task. Measured false alarm demands and robot performances were largely consistent with the extended neglect tolerance model predictions for both autonomy modes. We also compared traditionally adopted neglect tolerance and extended neglect tolerance model for the same experimental design. The results showed that the latter offers better estimates of robot performance and attention demands, due to the inclusion of false alarms into the model. © 2011 IEEE.

关键词： Human robot interaction

来源：评论

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Development of an autonomous service robot for social interactions

Development of an autonomous service robot for social intera...

引用

8th International Conference on Information, Communications and Signal Processing, ICICS 2011

作者： Calderon, Carlos Antonio Acosta Zhou, Changjiu Mohan, Rajesh Elara Advanced Robotics and Intelligent Control Centre School of Electrical and Electronic Engineering Singapore Polytechnic 139651 Singapore Singapore Singapore University of Technology and Design Singapore 138682 Singapore

ISBN: (纸本)9781457700309

Increasing research and development during these years has explored Human-Robot interactions especially for the challenge of the service robot. While service robots are becoming popular, these robots are just focusing into a specific tasks, and most of them are not ready prepare for the unpredictability of human environments. The efforts to develop more reliable robots that could interact with the human, are promoting the next generation of service robot. This type of robot would be equipped with perception, motion, and manipulation among other skills, to be help humans in daily tasks in different environments. This paper presents Snowie, a service robot used as Receptionist. The Snowie combines visual clues, voice, distance and PC input to detect humans and features in the environment. Guidance is one of the tasks that the receptionist robot must perform. To complete its task Snowie could receive extra information from smart beacons located in the building. The paper also explores two modalities to the guiding missions. Finally, experiments are presented in order to highlight the relevance of the approach. © 2011 IEEE.

关键词： Human robot interaction

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Software framework for a humanoid robotic arm

Software framework for a humanoid robotic arm

引用

8th International Conference on Information, Communications and Signal Processing, ICICS 2011

作者： Wiedemann, Jorg Baro, Maximilian Seybold, Paul Calderon, Carlos Antonio Acosta Zhang, Liandong Munich University of Applied Sciences 80335 Munich Germany Advanced Robotics and Intelligent Control Centre School of Electrical and Electronic Engineering Singapore Polytechnic 139651 Singapore Singapore

ISBN: (纸本)9781457700309

This paper provides a brief description of the software framework of the arm of Robo-Erectus Senior a Adultsize Soccer Playing Humanoid Robot developed at advanced robotics and intelligent control centre of Singapore Polytechnic. This paper covers the hardware and software overview, the kinematics and the collision detection modules of the manipulator. © 2011 IEEE.

关键词： Anthropomorphic robots

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Extended neglect tolerance model & human robot teams

Extended neglect tolerance model & human robot teams

引用

International Conference on Information, Communications and Signal Processing

作者： Mohan Rajesh Elara Carlos A. Acosta Calderon Changjiu Zhou Singapore University of Technology and Design Singapore Advanced Robotics & Intelligent Control Centre Singapore Polytechnic Singapore

关键词： Humans Legged locomotion Program processors Service robots Robot sensing systems Human robot interaction

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Design of a tele-operated field robot

Design of a tele-operated field robot

引用

Defense Science Research Conference and Expo (DSR)

作者： Yiyan Wang Zhiwei Song Yi Zhou Changjiu Zhou Singapore Polytechnic School of Electrical and Electronic Engineering Singapore Singapore Polytechnic Advanced Robotics and Intelligent Control Centre Singapore

ISBN: (纸本)9781424492763

A design of a tele-operated field robot for search and rescue is discussed in this paper. The paper introduces the overall structural, mechanic design, manipulation and locomotion, teleoperation with sensor fusion and an intuitive user interface on the field robot. In addition, new cross-platform software architecture, RobotKernel, is implemented in the robot. With this standardized software architecture, programming from different research groups can be easily re-used.

关键词： Manipulators Cameras Robot vision systems Joints Robot kinematics

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