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17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN

作者： Lenz, Claus Nair, Suraj Rickert, Markus Knoll, Alois Rösel, Wolgang Gast, Jürgen Bannat, Alexander Wallhoff, Frank Robotics and Embedded Systems Lab. Department of Computer Science Technische Universität München Germany Machine Tools and Industrial Management Department of Mechanical Engineering Technische Universität München Germany Human-Machine Communication Department of Electrical Engineering and Information Technologies Technische Universität München Germany

ISBN: (纸本)9781424422135

This paper presents a concept of a smart working environment designed to allow true joint-actions of humans and industrial robots. The proposed system perceives its environment with multiple sensor modalities and acts in it with an industrial robot manipulator to assemble capital goods together with a human worker. In combination with the reactive behavior of the robot, safe collaboration between the human and the robot is ***, the system anticipates human behavior, based on knowledge databases and decision processes, ensuring an effective collaboration between the human and robot. As a proof of concept, we introduce a use case where an arm is assembled and mounted on a robot's body. © 2008 IEEE.

关键词： Industrial manipulators

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Mobile robot localization using panoramic vision and combinations of feature region detectors

Mobile robot localization using panoramic vision and combina...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Arnau Ramisa Adriana Tapus Ramon Lopez de Mantaras Ricardo Toledo Artificial Intelligence Research Institute Spain Robotics Research Lab Interaction Lab Department of Computer Science University of Southern California Los Angeles USA UAB Campus Computer Vision Center Spain

This paper presents a vision-based approach for mobile robot localization. The environmental model is topological. The new approach uses a constellation of different types of affine covariant regions to characterize a place. This type of representation permits a reliable and distinctive environment modeling. The performance of the proposed approach is evaluated using a database of panoramic images from different rooms. Additionally, we compare different combinations of complementary feature region detectors to find the one that achieves the best results. Our experimental results show promising results for this new localization method. Additionally, similarly to what happens with single detectors, different combinations exhibit different strengths and weaknesses depending on the situation, suggesting that a context-aware method to combine the different detectors would improve the localization results.

关键词： Mobile robots computer vision Detectors Robot kinematics Robot localization Feature extraction Fingerprint recognition robotics and automation USA Councils Image databases

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Fast ZeroX algorithm for efficient message routing in optical multistage interconnection networks

Fast ZeroX algorithm for efficient message routing in optica...

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International Conference on computer and Communication Engineering, ICCCE

作者： Tengku Dian Shahida Mohamed Othman Mohamad Khazani Department of Communication Technology and Network Faculty of Computer Science and Information Technology Malaysia Lab of Computational Science and Informatics Universiti Putra Malaysia Department of Computer and Communication Technology Engineering Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Department of Computer and Communication Technology UPM Serdang Selangor D.E. Malaysia

Based on the ZeroX algorithm, we proposed a fast and efficient crosstalk-free algorithm called the Fast ZeroX algorithm for solving optical crosstalk problem in omega networks. In our approach, we introduced the concept of inverse conflict matrix (iCM), another representation of a conflict matrix in which it summarizes all possible conflicts between each node in the network. Using iCM, the ZeroX algorithm is simplified, thus improved by reducing the time needed for routing process. From our simulation results, it is shown that our approach yields better performance in terms of minimal routing time in comparison to the original ZeroX algorithm.

关键词： Routing Optical interconnections Optical fiber networks Multiprocessor interconnection networks Optical crosstalk Scheduling algorithm Heuristic algorithms computer networks Optical computing Communications technology

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Al's 10 to watch

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IEEE Intelligent Systems 2008年第3期23卷 9-19页

作者： Hendler, James Cimiano, Philipp Dolgov, Dmitri Levin, Anat Mika, Peter Milch, Brian Morency, Louis-Philippe Motik, Boris Neville, Jennifer Sudderth, Erik B. Von, Ahn, Luis University of Karlsruhe Toyota Research Institute Toyota Research Institute's AI and Robotics Group Stanford University's AI Lab. MIT Computer Science and Artificial Intelligence Laboratory Yahoo Research Yahoo Research Barcelona Spain USC Institute for Creative Technologies Oxford University Computing Laboratory Purdue University Purdue University Departments of Computer Science and Statistics Darpa Computer Science Study Panel University of California Berkeley United States University of California Berkeley United States Carnegie Mellon University Carnegie Mellon University's Computer Science Department

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Audio-Visual Speech Processing Framework for Lip Reading

Audio-Visual Speech Processing Framework for Lip Reading

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International Conference on Information and Communication Technologies: From Theory to Applications, ICTTA

作者： Abdulbaset M. Nasr Abd Rahman Ramli Mohammad Hamiruce Shamala K Subramaniam Robotics Lab Institute of advanced technology Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Department of Computer and Communications Systems Faculty of Engineering Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Department of Electrical and Electronics Engineering Faculty of Engineering Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Department of Communication Technology & Networks Faculty of Computer Science and Information Technology Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia

It is well known that speech production and perception process is inherently bimodal consisting of audio and visual components. Recently there has been increased interest in using the visual modality in combination with the acoustic modality for improved speech processing. This field of study has gained the title of audio-visual speech processing. Lip movement recognition, also known as lip reading, is a communication skill which involves the interpretation of lip movements in order to estimate some important parameters of the lips that include, but not limited to, size, shape and orientation. In this paper, we represent a hybrid framework for lip reading which is based on both audio and visual speech parameters extracted from a video stream of isolated spoken words. The proposed algorithm is self-tuned in the sense that it starts with an estimations of speech parameters based on visual lip features and then the coefficients of the algorithm are fine-tuned based on the extracted audio parameters. In the audio speech processing part, extracted audio features are used to generate a vector containing information of the speech phonemes. These information are used later to enhance the recognition and matching process. For lip feature extraction, we use a modified version of the method used by F. Huang and T. Chen for tracking of multiple faces. This method is based on statistical color modeling and the deformable template. The experiments based on the proposed framework showed interesting results in recognition of isolated words.

关键词： Speech processing Image processing Parameter estimation Data mining Feature extraction Robots computer networks Systems engineering and theory Communications technology computer science

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Block ignition Inertial Confinement Fusion (ICF) for space propulsion

Block ignition Inertial Confinement Fusion (ICF) for space p...

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作者： Miley, George H. Hora, H. Cang, Yu Osman, F. Badziak, J. Wolowski, J. Sheng, Zheng-Ming Zhang, Jie Zhang, Weiyan He, Xia Department of Nuclear Plasma and Radiological Engineering University of Illinois Urbana 61801 United States Department of Theoretical Physics University of New South Wales Sydney Australia School of Computer Sciences University of Western Sydney Penrith Australia Institute of Plasma Physics and Laser Microfusion Warsaw Poland Beijing National Laboratory for Condensed Matter Physics Institute of Physics Chinese Academy of Science Beijing 100080 China Institute of Applied Physics and Computational Mathematics Beijing China Nuclear Plasma and Radiological Engineering 216 Talbot Lab. 104 S. Wright Urbana IL 61801 United States Emeritus Theoretical Physics Sydney Australia Prollerweg 4 Garching/Munich Germany Dept. Mathematics Trinity College Summerville/Sydney Australia Institute of Plasma Physics and Laser Fusion Warsaw Poland Inst. Physics Chinese Academy of Sciences Beijing China Shanghai Jiao Tong University Shanghai China China Academy of Engineering Physics Beijing China Chinese Academy of Science Beijing China

ISBN: (纸本)9781563479434

Use of laser-driven Inertial Confinement Fusion (ICF) for space propulsion has been examined in several earlier conceptual design studies. However, these designs used older ICF target technology. Important new directions opened following the development of "chirped" lasers capable of ultra-short ps pulses with powers of PWs. This allows fast ignition (FI) for high energy gain ICF power plants1. The FI approach uses a conventional laser to pre-compress the target to high density. The PW laser is then fired on the compressed target, creating an internal electron beam that ignites fusion in a central core of the target. It is estimated that using a 10 TW-ps laser for FI can achieve fusion energy gains >103. Here a new type of FI, termed block ignition, is considered2-4. This approach can further increase the fusion gain offered through FI. Application of block ignition to the earlier VISTA design for ICF space propulsion unit is considered here. With the improved performance obtained, it becomes feasible to bypass DT fusion and use tritium-lean D targets as a first step for development of fusion propulsion technology.

关键词： Inertial confinement fusion

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Indoor localisation of humans, objects, and mobile robots with RFID infrastructure

Indoor localisation of humans, objects, and mobile robots wi...

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7th International Conference on Hybrid Intelligent Systems, HIS 2007

作者： Koch, Jan Wettach, Jens Bloch, Eduard Berns, Karsten University of Kaiserslautern Department of Computer Science Robotics Research Lab. Gottlieb-Daimler-Strae 67653 Kaiserslautern Germany

ISBN: (纸本)0769529461

The need for robust indoor localisation for all types of entities has been under continuous research by the ubiquitous community. Intelligent environments have to be supported with contextual information in order to facilitate intelligent behaviour. These contextual information include the location of humans and objects within the particular environment. Intelligent environments can be living areas with home automation, smart industrial plants, sensor-equipped office areas and indoor-emergency applications. So far technical solutions are either quite expensive or lack of precision for robust usage as components in intelligent service federations. We present rather low-cost localisation systems with great scalability based on active and passive RFID technology to locate humans, mobile service robots and objects of the daily use. The trade-off between technical effort and costs on the one hand and sufficient data accuracy for the application on the other hand is discussed. A motivation of our scenario, the technical concept and solution as well as the implementation and the integration that so far have been performed will be presented. Current prototypes of the proposed system are already being tested in a project aiming on development of smart assisted living environments. © 2007 IEEE.

关键词： Mobile robots

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Emotional Architecture for the Humanoid Robot Head ROMAN

Emotional Architecture for the Humanoid Robot Head ROMAN

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jochen Hirth Norbert Schmitz Karsten Berns Robotics Research Lab Department of Computer Science University of Kaiserslautern Germany

Humanoid robots as assistance or educational robots is an important research topic in the field of robotics. Especially the communication of those robots with a human operator is a complex task since more than 60% of human communication is conducted non-verbally by using facial expressions and gestures. Although several humanoid robots have been designed it is unclear how a control architecture can be developed to realize a robot with the ability to interact with humans in a natural way. This paper therefore presents a behavior-based emotional control architecture for the humanoid robot head ROMAN. The architecture is based on 3 main parts: emotions, drives and actions which interact with each other to realize the human-like behavior of the robot. The communication with the environment is realized with the help of different sensors and actuators which will also be introduced in this paper.

关键词： Humanoid robots Magnetic heads Educational robots Human robot interaction robotics and automation Machine intelligence Eyes computer science Communication system control Robot sensing systems

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Modeling Overlapping Execution/Observation Brain Pathways

Modeling Overlapping Execution/Observation Brain Pathways

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International Joint Conference on Neural Networks (IJCNN)

作者： Michail Maniadakis Manolis Hourdakis Panos Trahanias Computational Vision and Robotics Laboratory Institute of Computer Science Foundation for Research and Technology Hellas Heraklion Greece Department of Computer Science University of Crete Greece

Recent brain imaging studies on primates revealed that a network of brain areas is activated both during observation and during execution of movements. The present work aims at modeling this group of areas, implementing a distributed computational system. The modeling process follows the agent-based coevolutionary framework that is very effective in terms of designing complex distributed systems addressing successfully the multi-modality of the interacting regions. The implemented model is successfully embedded in a simulated humanoid robot, replicating existing biological findings.

关键词： Brain modeling Biological system modeling computer science computational modeling computer architecture computer vision Robot vision systems laboratories Humanoid robots Humans

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Towards a Mechanistic View of Protein Motion

Towards a Mechanistic View of Protein Motion

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 4593-5051

作者： Filip Jagodzinski Oliver Brock Robotics and Biology Laboratory Computational Biology Laboratory Department of Computer Science University of Massachusetts Amherst Amherst MA USA

ISBN: (纸本)9781424414970;1424414970

Proteins are the fundamental building blocks of all biological systems. To perform their function, proteins generally undergo self-motions that result in changes in their three-dimensional shape. In order to understand the function of a protein and thus to be able to infer how to therapeutically regulate its function, it is necessary to have detailed knowledge of the feasible self-motions of the protein. Such knowledge cannot be obtained by existing experimental methods. In this paper, we present preliminary evidence that accurate and computationally efficient simulation of the self-motions of a protein may be achieved by partitioning the simulation based on the type of self-motions. In support of this view, we present a method and accompanying simulation results that the large-scale motions of a protein can be simulated based entirely on kinematic considerations. The proposed method leverages insights from kinematics and operational space control from robotics. We believe the proposed method to be a first step towards a general, accurate, and efficient method for the simulation of protein motion.

关键词： Protein operational space control simulating three dimensional shape kinematics Function Experimental Methods Building blocks robotics Proteins First Step View

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