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检索条件"机构=Computational Robotics Lab in the Department of Computer Science"

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Motion capture from inertial sensing for untethered humanoid teleoperation

Motion capture from inertial sensing for untethered humanoid...

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2004 4th IEEE-RAS International Conference on Humanoid Robots

作者： Miller, Nathan Jenkins, Odest Chadwicke Kallmann, Marcelo Matarić, Maja J. Department of Computer Science California State Univ. Bakersfield Bakersfield CA 93311 Interaction Lab. Ctr. for Robotics and Embedded Syst. 941 W. 37th Place SAL 300 Los Angeles CA 90089 United States

ISBN: (纸本)0780388631

We describe the design of a modular system for untethered real-time kinematic motion capture using sensors with inertial measuring units (IMUs). Our system is comprised of a set of small and lightweight sensors. Each sensor provides its own global orientation (3 degrees of freedom) and is physically and computationally independent, requiring only external communication. Orientation information from sensors is communicated via wireless to host computer for processing. We present results of the real-time usage of our untethered motion capture system for teleoperating the NASA Robonaut 1. We also discuss potential applications for untethered motion capture with respect to humanoid robotics. © 2004 IEEE.

关键词： robotics

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The Healthgrid White Paper 3

The Healthgrid White Paper

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3rd Annual Conference of the Healthgrid Association, Healthgrid 2005

作者： Breton, Vincent Dean, Kevin Solomonides, Tony Aloisio, Giovanni Benkner, Siegfried Bilofsky, Howard Blanquer, Ignacio Brady, Michael Cannataro, Mario Chouvarda, Ioanna Claerhout, Brecht De Moor, Georges De Neve, Wilfried De Wagter, Carlos Fiore, Sandro Hassan, Kinda Heeren, Germaine Hernández, Vicente Herveg, Jean A.M. Hofmann, Martin Jones, Chris Koutkias, Vassilios Lloyd, Sharon Lonsdale, Guy Alonso, Victoria L. Maglaveras, Nicos Maigne, Lydia Malousi, Andigoni Martín-Sánchez, Fernando McClatchey, Richard Medico, Enzo Miguet, Serge Mirto, Maria Montagnat, Johan Nørager1, Sofie Nozaki, Kazunori Oliveira, Ilídio Castro Pennec, Xavier Poullet, Yves Merino, Juan Pedro Sánchez Strizh, Irina G. Taillet, Michel Tristram, Clive Tverdokhlebov, Nikolay Veltri, Pierangelo Ziegler, René CNRS-IN2P3 LPC Campus des Cézeaux AubiereCedex63177 France Internet Business Solutions Group Cisco Systems 9 New Square Bedfont Lakes Middlesex FelthamTW14 8HA United Kingdom University of the West of England Bristol CEMS Coldharbour Lane BristolBS6 6TH United Kingdom Center for Advanced Computational Technologies ISUFI Dept. of Innovation Engineering University of Lecce Via per Monteroni Lecce73100 Italy Institute of Scientific Computing University of Vienna Nordbergstrasse 15 ViennaA-1090 Austria University of Pennsylvania School of Engineering and Applied Science Computer and Information Science Center for Bioinformatics 1416 Blockley Hall 423 Guardian Drive PhiladelphiaPA19104-6021 United States Universidad Politecnica de Valencia Camino de Vera/n Valencia46022 Spain FRS FREng Dept. of Engineering Science Oxford University Parks Road OxfordOX1 3PJ United Kingdom Magna Graecia University of Catanzaro School of Bioinformatics and Biomedical Engineering Campus di Germaneto Viale Europa Germaneto Catanzaro88100 Italy Aristotle University The Medical School Lab of Medical Informatics Box 323 Thessaloniki54124 Greece Custodix NV Verlorenbroodstraat 120 Bus 14 MerelbekeB-9820 Belgium Research in Advanced Medical Informatics and Telematics UZ Gent 5K3 De Pintelaan 185 GentB9000 Belgium Department of Radiotherapy Ghent University Hospital Building P7 De Pintelaan 185 GentB-9000 Belgium Laboratoire LIRIS Université Lumière Lyon 2 Campus Porte des Alpes 5 avenue Pierre Mendès France Bron69676 France av. E.Mounierlaan 83 Brussels1200 Belgium Faculté de Droit de Namur - FUNDP Centre de Recherches Informatiques & Droit 5 rempart de la Vierge Namur5000 Belgium Schloss Birlinghoven Sankt Augustin53754 Germany CERN Geneva 231211 Switzerland Oxford University Computing Laboratory Wolfson Building OxfordOX1 3QD United Kingdom C&C Research Laboratories NEC Europe Ltd. Rathausallee 10 Sankt AugustinD-53757 Germany Medic

ISBN: (纸本)158603510X

Over the last four years, a community of researchers working on Grid and High Performance Computing technologies started discussing the barriers and opportunities that grid technologies must face and exploit for the development of health-related applications. This interest lead to the first Healthgrid conference, held in Lyon, France, on January 16th–17th, 2003, with the focus of creating increased awareness about the possibilities and advantages linked to the deployment of grid technologies in health, ultimately targeting the creation of a European/international grid infrastructure for health. The topics of this conference converged with the position of the eHealth division of the European Commission, whose mandate from the Lisbon Meeting was "To develop an intelligent environment that enables ubiquitous management of citizens’ health status, and to assist health professionals in coping with some major challenges, risk management and the integration into clinical practice of advances in health knowledge." In this context "Health" involves not only clinical procedures but covers the whole range of information from molecular level (genetic and proteomic information) over cells and tissues, to the individual and finally the population level (social healthcare). Grid technology offers the opportunity to create a common working backbone for all different members of this large "health family" and will hopefully lead to an increased awareness and interoperability among disciplines. The first HealthGrid conference led to the creation of the Healthgrid association, a non-profit research association legally incorporated in France but formed from the broad community of European researchers and institutions sharing expertise in health grids. After the second Healthgrid conference, held in Clermont-Ferrand on January 29th–30th, 2004, the need for a "white paper" on the current status and prospective of health grids was raised. Over fifty experts from different areas of grid tec

关键词： Health risks

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Understanding the bacterial stringent response using reachability analysis of hybrid systems

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7th International Workshop on Hybrid Systems: Computation and Control, HSCC 2004

作者： Belta, Câlin Finin, Peter Habets, Luc C. G. J. M. Halász, Ádám M. Imieliński, Marcin Vijay Kumar, R. Rubin, Harvey Department of Mechanical Engineering Drexel University PhiladelphiaPA19101 United States General Robotics Automation Sensing and Perception Laboratory PhiladelphiaPA19101 United States Graduate Group in Computational Biology and Genomics University of Pennsylvania PhiladelphiaPA19101 United States Department of Medicine University of Pennsylvania PhiladelphiaPA19101 United States Department of Mathematics and Computer Science Eindhoven University of Technology Eindhoven Netherlands

ISBN: (纸本)3540212590

In this paper we model coupled genetic and metabolic networks as hybrid systems. The vector fields are multi affine, i.e., have only product type nonlinearities to accommodate chemical reactions, and are defined in rectangular invariants, whose facets correspond to changes in the behavior of a gene or enzyme. For such systems, we showed that reachability and safety verification problems can be formulated and solved (conservatively) in an elegant and computationally inexpensive way, based on the fact that multi-affine functions on rectangular regions of the space are determined at the vertices. Using these techniques, we study the stringent response system, which is the transition of bacterial organisms from growth phase to a metabolically suppressed phase when subjected to an environment with limited nutrients. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Hybrid systems

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Gene interaction and modularisation in a model for gene-regulated development

Gene interaction and modularisation in a model for gene-regu...

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NASA/DoD Workshop on Evolvable Hardware

作者： P. van Remortel B. Manderick T. Lenaerts Computational Modeling Lab (CoMo) Department of Computer Science (DINF) Vrije Universiteit Brussel Brussels Belgium IRIDIA Université Libre de Bruxelles Brussels Belgium

Using a developmental genotype-phenotype map can possibly alleviate the scaling difficulties of EC, which are fundamental to applications such as EHW. We propose a simple model for gene-regulated development in combination with genetic algorithms, which is based on fundamental biological principles on the one hand, and allows investigation of concepts such as modularisation and evolvability. We propose activation propagation as a possible mechanism which genes interact in a gene-regulated development model. Based on this principle weights are assigned to genetic interactions between genes, the collection of which can be used to identify genetic modules. These modules are similar to the idea of genetic cascades in biology. Properties of these modules such as their sharing of genes, and the implications within development are discussed. We advocate the concept of propagation modules as a possible source of further investigation into the evolvability of gene-regulated development in the scope of genetic algorithms.

关键词： Biological system modeling computational modeling Genetic algorithms Evolution (biology) Biology computing Buildings computer science Application software Electronic circuits Cells (biology)

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Proceedings of the 18th International Conference on Neural Information Processing Systems

作者： Aaron C. Courville Nathaniel D. Daw David S. Touretzky Robotics Institute Carnegie Mellon University Pittsburgh PA and Center for the Neural Basis of Cognition Carnegie Mellon University Pittsburgh PA Gatsby Computational Neuroscience Unit University College London Computer Science Department Carnegie Mellon University Pittsburgh PA and Center for the Neural Basis of Cognition Carnegie Mellon University Pittsburgh PA

We propose a probabilistic, generative account of configural learning phenomena in classical conditioning. Configural learning experiments probe how animals discriminate and generalize between patterns of simultaneously presented stimuli (such as tones and lights) that are differentially predictive of reinforcement. Previous models of these issues have been successful more on a phenomenological than an explanatory level: they reproduce experimental findings but, lacking formal foundations, provide scant basis for understanding why animals behave as they do. We present a theory that clarifies seemingly arbitrary aspects of previous models while also capturing a broader set of data. Key patterns of data, e.g. concerning animals' readiness to distinguish patterns with varying degrees of overlap, are shown to follow from statistical inference.

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Fast correspondence-based system for 2-D shape classification

Fast correspondence-based system for 2-D shape classificatio...

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Proceedings of the International Conference on Imaging science, Systems and Technology, CISST'03

作者： Super, Boaz J. Computer Vision and Robotics Lab. Computer Science Department University of Illinois at Chicago Chicago IL United States

In earlier work, we developed a fast method for 2-D shape retrieval based on point correspondences of silhouette contours. That method did not assume that the database shapes had class labels. If class label information is added, then the shape retrieval system can be used for 2-D shape classification. This paper explores this application, by extending our prior shape retrieval method to make use of class labels, and then evaluating its classification accuracy on a large test database containing 70 object classes. The results show that the method is both highly accurate (96.5-99.6%) and fast (< 1 second).

关键词： Image analysis

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Generalization accuracy of a fast 2-D shape retrieval method

Generalization accuracy of a fast 2-D shape retrieval method

引用

Proceedings of the International Conference on Imaging science, Systems and Technology, CISST'03

作者： Super, Boaz J. Computer Vision and Robotics Lab. Computer Science Department University of Illinois at Chicago Chicago IL United States

In recent work, we presented a correspondence-based approach for real-time retrieval from databases of 2-D shapes. The system performs with high speed and accuracy relative to other published systems as measured on a widely used benchmark dataset. In this paper, we test the generalization accuracy of the approach;i.e., its ability to correctly retrieve shapes from a shape database when the query shapes are not contained in the database. The experimental results show that the system's accuracy on novel inputs is nearly as high as its accuracy on shapes that are already contained in the database, demonstrating that the approach has good generalization accuracy. This result provides additional support for the use of the proposed approach for shape retrieval and object recognition applications.

关键词： Image retrieval

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A weighted polynomial information gain kernel for resolving prepositional phrase attachment ambiguities with support vector machines

A weighted polynomial information gain kernel for resolving ...

引用

18th International Joint Conference on Artificial Intelligence, IJCAI 2003

作者： Vanschoenwinkel, Bram Manderick, Bernard Vrije Universiteit Brussel Department of Computer Science Computational Modeling Lab. Pleinlaan 2 1050 Brussel Belgium

We introduce a new kernel for Support Vector Machine learning in a natural language setting. As a case study to incorporate domain knowledge into a kernel, we consider the problem of resolving Prepositional Phrase attachment ambiguities. The new kernel is derived from a distance function that proved to be succesful in memory-based learning. We start with the Simple Overlap Metric from which we derive a Simple Overlap Kernel and extend it with Information Gain Weighting. Finally, we combine it with a polynomial kernel to increase the dimensionality of the feature space. The closure properties of kernels guarantee that the result is again a kernel. This kernel achieves high classification accuracy and is efficient in both time and space usage. We compare our results with those obtained by memory-based and other learning methods. They make clear that the proposed kernel achieves a higher classification accuracy.

关键词： Support vector machines

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Motion planning for a three-limbed climbing robot in vertical natural terrain

Motion planning for a three-limbed climbing robot in vertica...

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2003 IEEE International Conference on robotics and Automation

作者： Bretl, Timothy Rock, Stephen Latombe, Jean-Claude Aerospace Robotics Lab Dept. of Aero. and Astronautics Stanford University Stanford CA 94305 United States Robotics Laboratory Computer Science Department Stanford University Stanford CA 94305 United States

This paper presents a general framework for planning the quasi-static motion of a three-limbed climbing robot in vertical natural terrain. The problem is to generate a sequence of continuous one-step motions between consecutive holds that will allow the robot to reach a particular goal hold. A detailed algorithm is presented to compute a one-step motion considering the equilibrium constraint only. The overall framework combines this local planner with a heuristic search technique to generate a complete plan. An online implementation of the algorithm is demonstrated in simulation.

关键词： Mobile robots

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Motion planning for multiple mobile robots using dynamic networks

Motion planning for multiple mobile robots using dynamic net...

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2003 IEEE International Conference on robotics and Automation

作者： Clark, Christopher M. Rock, Stephen M. Latombe, Jean-Claude Aerospace Robotics Lab Dept. of Aero. and Astronautics Stanford University Stanford CA United States Department of Computer Science Stanford University Stanford CA United States

A new motion planning framework is presented that enables multiple mobile robots with limited ranges of sensing and communication to maneuver and achieve goals safely in dynamic environments. To combine the respective advantages of centralized and de-centralized planning, this framework is based on the concept of centralized planning within dynamic robot networks. As the robots move in their environment, localized robot groups form networks, within which world models and robot goals can be shared. Whenever a network is formed, new information then becomes available to all robots in this network. With this new information, each robot uses a fast, centralized planner to compute new coordinated trajectories on the fly. Planning over several robot networks is decentralized and distributed. Both simulated and real-robot experiments have validated the approach.

关键词： Motion planning

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