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World Automation Congress 2012

作者： DAOLIANG LI SIMON X.YANG China-EU Centre for Information and Communication Technologies China Agricultural University Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph Guelph

＜正＞Agriculture is essentially important as the earth has to support the huge population and to promote sustainable *** technology plays an important role for the development of advanced modern *** modern agriculture already said goodbye to the slash-and-bum cultivation,the self-sufficient age,with the development of information technologies such as 3S,

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A Special Issue of intelligent Automation and Soft Computing

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intelligent Automation & Soft Computing 2012年第8期18卷 993-995页

作者： Daoliang Li[a] & Simon X. Yang[b] [a] EU-China Centre for Information and Communication Technologies China Agricultural University Being China [b] Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph Guelph Canada

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Overcoming Occlusions in Eye-in-Hand Visual Search

Overcoming Occlusions in Eye-in-Hand Visual Search

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American Control Conference

作者： Sina Radmard David Meger Elizabeth A. Croft James J. Little Collaborative Advanced Robotics and Intelligent Systems Laboratory Mechanical Engineering Department University of British Columbia V6T1Z4 Canada Laboratory for Computational Intelligence Department of Computer Science University of British Columbia V6T1Z4 Canada

ISBN: (纸本)9781457710957

In this paper we propose a method for handling persistent visual occlusions that disrupt visual tracking for eye-in-hand systems. This approach provides an efficient strategy for the robot to "look behind" the occlusion while respecting the robot's physical constraints. Specifically, we propose a decoupled search strategy combining a naive pan tilt search with a sensor placement approach, to reduce the strategy's computational cost. We proceed by mapping limited environmental data into the robot configuration space and then planning within a constrained region. We use a particle filter to continuously estimate the target location, while our configuration-based cost function plans a goal location for the camera frame, taking into account robot singularity, self-collision and joint limit constraints. To validate our algorithm, we implemented it on an eye-in-hand robot system. Experimental results for various situations support the feasibility of our approach for quickly recovering fully occluded moving targets. Finally we discuss the implications of this approach to mobile robot platforms.

关键词： Joints Cameras Robot vision systems Target tracking Planning

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Approximate recursive Bayesian filtering methods for robot visual search

Approximate recursive Bayesian filtering methods for robot v...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Radmard, Sina Croft, Elizabeth A. Collaborative Advanced Robotics and Intelligent Systems Laboratory Mechanical Engineering Department University of British Columbia V6T1Z4 Canada

ISBN: (纸本)9781457721373

Visual servoing is an essential enabling technology for robots operating in semi- and un-structured contexts, such as robot assistants working in collaboration with people. However, due to dynamic and unpredictable nature of such environments, existing methods of target tracking can lose visibility of task/target, leading to servo failure. In such situations, it is desirable that the robot reacquire the target in an autonomous/automatic fashion. In this paper we take a fresh look at this problem by examining the simplified case of a pan-tilt mounted camera visually searching for a lost target. We adopt Lost Target Search techniques based on Recursive Bayesian Filtering algorithms that have been applied to other search platforms such as aerial search and rescue. We investigated both an approximate grid-based filter and a sequential Monte Carlo method, namely particle filter. In both cases we use a new sensor-based observation model. The particle filter exhibited superior performance over approximate grid-based filter in our simulations, and was utilized in a follow-on experiment. In the experiment, we improved the particle filter performance by considering the a priori target tracking information in the motion model. Finally, we discuss the implications of this approach to higher degree of freedom robot systems. © 2011 IEEE.

关键词： Target tracking

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A highly interpretable fuzzy rule base using ordinal structure for obstacle avoidance of mobile robot

A highly interpretable fuzzy rule base using ordinal structu...

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作者： Samsudin, Khairulmizam Ahmad, Faisul Arif Mashohor, Syamsiah Intelligent System and Robotics Laboratory Institute of Advanced Technology Universiti Putra Malaysia 43400 Serdang Selangor Malaysia Department of Computer and Communication Systems Faculty of Engineering Universiti Putra Malaysia 43400 Serdang Selangor Malaysia

Conventional fuzzy logic controller is applicable when there are only two fuzzy inputs with usually one output. Complexity increases when there are more than one inputs and outputs making the system unrealizable. The ordinal structure model of fuzzy reasoning has an advantage of managing high-dimensional problem with multiple input and output variables ensuring the interpretability of the rule set. This is achieved by giving an associated weight to each rule in the defuzzification process. In this work, a methodology to design an ordinal fuzzy logic controller with application for obstacle avoidance of Khepera mobile robot is presented. The implementation will show that ordinal structure fuzzy is easier to design with highly interpretable rules compared to conventional fuzzy controller. In order to achieve high accuracy, a specially tailored Genetic Algorithm (GA) approach for reinforcement learning has been proposed to optimize the ordinal structure fuzzy controller. Simulation results demonstrated improved obstacle avoidance performance in comparison with conventional fuzzy controllers. Comparison of direct and incremental GA for optimization of the controller is also presented. © 2010 Elsevier B.V. All rights reserved.

关键词： Genetic algorithms

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Guest Editorial

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intelligent Automation & Soft Computing 2011年第8期17卷 1019-1021页

作者： Lizhong Xu[a] Xiaofang Li[a] & Simon X. Yang[b] [a] Hohai University College of Computer and Information Engineering Nanjing China [b] University of Guelph Advanced Robotics and Intelligent Systems Laboratory School of Engineering Guelph Canada

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Approximate Recursive Bayesian Filtering Methods for Robot Visual Search

Approximate Recursive Bayesian Filtering Methods for Robot V...

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IEEE International Conference on robotics and Biomimetics

作者： Sina Radmard Elizabeth A. Croft Collaborative Advanced Robotics and Intelligent Systems Laboratory Mechanical Engineering Department University of British Columbia

ISBN: (纸本)9781457721366

Visual servoing is an essential enabling technology for robots operating in semi- and un-structured contexts, such as robot assistants working in collaboration with people. However, due to dynamic and unpredictable nature of such environments, existing methods of target tracking can lose visibility of task/target, leading to servo failure. In such situations, it is desirable that the robot reacquire the target in an autonomous/automatic fashion. In this paper we take a fresh look at this problem by examining the simplified case of a pantilt mounted camera visually searching for a lost target. We adopt Lost Target Search techniques based on Recursive Bayesian Filtering algorithms that have been applied to other search platforms such as aerial search and rescue. We investigated both an approximate grid-based filter and a sequential Monte Carlo method, namely particle filter. In both cases we use a new sensor-based observation model. The particle filter exhibited superior performance over approximate grid-based filter in our simulations, and was utilized in a follow-on experiment. In the experiment, we improved the particle filter performance by considering the a priori target tracking information in the motion model. Finally, we discuss the implications of this approach to higher degree of freedom robot systems.

关键词： Robot Particle filters Bayesian filtering Target tracking Visual servoing Recursive Approximate Visual Search Targets Monte Carlo technique

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Exploring the uncanny valley with geminoid HI-1 in a real-world application

Exploring the uncanny valley with geminoid HI-1 in a real-wo...

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作者： Becker-Asano, Christian Ogawa, Kohei Nishio, Shuichi Ishiguro, Hiroshi Intelligent Robotics and Communications Laboratory Advanced Telecommunications Research Institute Intl. 2-2-2 Hikaridai Keihanna Science City Kyoto Japan Department of Adaptive Machine Systems Osaka University Osaka Japan

ISBN: (纸本)9789728939182

This paper presents a qualitative analysis of 24 interviews with visitors of the ARS Electronica festival in September 2009 in Linz, Austria, who interacted with the android robot Geminoid HI-1, while it was tele-operated by the first author. Only 37.5% of the interviewed visitors reported an uncanny feeling with 29% even enjoying the conversation. In five cases the interviewees' feelings even changed during the interaction with Geminoid HI-1. A number of possible improvements regarding Geminoid's bodily movements, facial expressivity, and ability to direct its gaze became apparent, which inform our future research with and development of android robots.

关键词： Human robot interaction

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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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A Spedal Issue of intelligent Automation and Soft Computing GUEST EDITORIAL:COMPUTING AND INFORMATION TECHNOLOGIES FOR AGRICULTURE

A Spedal Issue of Intelligent Automation and Soft Computing ...

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World Automation Congress 2010

作者： DAOLIANG LI SIMON X.YANG EU-China Centre for Information and Communication Technologies China Agricultural University Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph

The global must pay more attention on agriculture to support the huge population on the earth and to promote sustainable *** the development of computing and information technologies such as 3S,computer,mathematics,communication,and their application in agriculture,'Informatized Agriculture'has been chased by many countries to scientifically manage agriculture and achieve low input high outcome.

关键词： Automation A Spedal Issue of intelligent Automation and Soft Computing GUEST EDITORIAL:COMPUTING AND INFORMATION TECHNOLOGIES FOR AGRICULTURE

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