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23rd Convention of the Society for the Study of Artificial Intelligence and Simulation of Behaviour, AISB 2009

作者： Kupferberg, Aleksandra Glasauer, Stefan Huber, Markus Rickert, Markus Knoll, Alois Brandt, Thomas Center for Sensorimotor Research Clinical Neurosciences Ludwig-Maximilians-Univ. Munich Germany Robotics and Embedded Systems Lab. Dept. of Computer Science Technical Univ. München Germany Department of Clinical Neurosciences Ludwig-Maximilians-Univ. München Germany

ISBN: (纸本)1902956850

Anthropomorphic "humanoid" robots are suggested to be more competent in social communicative interactions than industrial robots, because humans interact more intuitively with them. It is, therefore, critical to evaluate the acceptance of an agent as possible partner for joint interaction. One possible method is to utilize the phenomenon of motor interference (MI). It claims, that observation of an incongruent movement of another individual leads to a higher variance in one's own movement trajectory. Although this effect has been demonstrated while observing a human agent, the researchers were unable to show increased variance in the subjects' movements if they observed an arm of an industrial robot moving with piecewise-constant velocity. In contrast, in other recent studies, MI was demonstrated when subjects watched a humanoid robot performing biological movements based on prerecording of a human experimenter, even if it was not the case when the same robot moved with constant (artificial) velocity. The purpose of the present study was two-fold: 1) we aimed to replicate these results using video-presentations of the agents, and 2) we asked whether quasi-biological movement trajectories are sufficient to elicit MI. We presented subjects, who were instructed to perform horizontal and vertical arm movements, with videos of a human agent or of a humanoid robot, who performed congruent or incongruent arm movements. Robotic movements were produced with a quasi-biological minimum-jerk velocity profile. We found MI both for the human agent and the robot, suggesting that an artificial human-like movement velocity profile (minimum-jerk) is sufficient to facilitate perception of humanoid robots as interaction partners, and that the measurement of MI using a face-to-face video setup can serve as a tool for objectively evaluating humanoid robots.

关键词： Anthropomorphic robots

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On scan chain diagnosis for intermittent faults

On scan chain diagnosis for intermittent faults

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18th Asian Test Symposium, ATS 2009

作者： Adolfsson, Dan Siew, Joanna Marinissen, Erik Jan Larsson, Erik NXP Semiconductors Corp. Innovation and Technology High Tech Campus 32 5656AE Eindhoven Netherlands Philips Applied Technologies Digital Systems and Technologies High Tech Campus 5 5656AE Eindhoven Netherlands IMEC vzw Digital Components Kapeldreef 75 B-3001 Leuven Belgium Dept. of Computer Science Embedded Systems Lab Linköpings Universitet SE-581 83 Linköping Sweden

ISBN: (纸本)9780769538648

Diagnosis is increasingly important, not only for individual analysis of failing ICs, but also for high-volume test response analysis which enables yield and test improvement. Scan chain defects constitute a significant fraction of the overall digital defect universe, and hence it is well justified that scan chain diagnosis has received increasing research attention in recent years. In this paper, we address the problem of scan chain diagnosis for intermittent faults. We show that the conventional scan chain test pattern is likely to miss an intermittent fault, or inaccurately diagnose it. We propose an improved scan chain test pattern which we show to be effective. Subsequently, we demonstrate that the conventional bound calculation algorithm is likely to produce wrong results in the case of an intermittent fault. We propose a new lowerbound calculation method which does generate correct and tight bounds, even for an intermittence probability as low as 10%. © 2009 IEEE.

关键词： Defects

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A GPU-accelerated particle filter with pixel-level likelihood

A GPU-accelerated particle filter with pixel-level likelihoo...

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13th International Fall Workshop Vision, Modeling, and Visualization 2008, VMV 2008

作者： Lenz, Claus Panin, Giorgio Knoll, Alois Robotics and Embedded Systems Lab. Computer Science Department Technische Universität München Boltzmannstrasse 3 85748 Garching bei München Germany

ISBN: (纸本)9781586039219

We present in this paper a GPU-accelerated particle filter based on pixel-level segmentation and matching, for real-time object tracking. The proposed method achieves real-time perfomance, while computing for each particle the corresponding filled model silhouette through the rendering engine of the graphics card, and comparing it with the underlying binary map of the segmentation preprocess. With the proposed approach, a better precision and generality is obtained with respect to related feature-level likelihoods such as color histograms, while keeping low computational requirements.

关键词： Graphics processing unit

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Towards the UPnP-UP: Enabling user profile to support customized services in UPnP networks

Towards the UPnP-UP: Enabling user profile to support custom...

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2nd International Conference on Mobile Ubiquitous Computing, systems, Services and Technologies, UBICOMM 2008

作者： De Sales, Thiago B. M. De Sales, Leandro M. Pereira, Marcos Almeida, Hyggo Perkusich, Angelo Gorgnio, Kyller De Sales Jr., Marcello A. Federal University of Campina Grande Embedded Systems and Pervasive Computing Lab. 58109-970 - Campina Grande - PB Brazil San Francisco State University Department of Computer Science United States

ISBN: (纸本)9780769533674

In a nutshell, UPnP aims to enable simple and robust connectivity among consumer electronics, intelligent appliances and mobile devices from many different vendors. Nowadays, it is getting an increasing popularity due to its robust way of connecting devices and the massive number ofalready developed applications, complementing the useful new era ofpervasive computing. Although UPnP is an easy-to-use solution for discovery, which allows controlled devices to share and access users contents, it does neither provide user authentication nor authorization mechanisms, requirements that would require user's data on personal profiles. As a consequence, we propose an extension of the UPnP protocol called UPnP-Up, which allows user authentication and authorization for UPnP devices and applications. The primary goal of our proposed extension is to modify the current UPnP specification as less as possible, maintaining backwards compatibility with previous versions of the protocol. Furthermore, we present our efforts on the development of a UPnP framework for publishing and accessing multimedia contents in order to support this extension as a case of study. © 2008 IEEE.

关键词： User profile

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Robotics as a tool for immersive, hands-on freshmen engineering instruction

Robotics as a tool for immersive, hands-on freshmen engineer...

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2008 ASEE Annual Conference and Exposition

作者： Mataric, Maja Fasola, Juan Feil-Seifer, David University of Southern California Department of Computer Science and Neuroscience University of Southern California USC Center for Robotics and Embedded Systems USC Robotics Research Lab. USC Viterbi School of Engineering Computer Science Department University of Southern California Computer Science Department University of Southern California Interaction Lab.

Hands-on experience plays a key role in undergraduate engineering education. It is a recognized tool for recruitment and retention, as well as for encouraging participation in class and in research outside of the classroom. However, early undergraduate engineering education, especially during the freshman year, is often focused on foundational theory, and delivered through lecture format, rather than hands-on projects. We have developed and taught a semesterlong class at the University of Southern California Viterbi School of Engineering (VSoE) that uses robotics as a pedagogical tool for engaging students in engineering, and illustrating general engineering principles and techniques in a hands-on manner. The model for the new course is to combine lectures on principles and applications of engineering from professors from a variety of VSoE departments with lab experience, wherein students work with robots in order to directly apply those principles and scratch the surface of some applications. Our goal is to create a curriculum where, with little to no prior experience with either programming or robotics, freshmen interested in engineering can explore both the breadth of engineering, and glimpse the depth of a single domain through engaging hands-on projects. Unlike most other robotics courses, especially introductory ones that use simple robot platforms such as LEGO robots, ours features highly sophisticated mobile and humanoid robots, allowing the students to develop engaging and sophisticated-appearing behavior. The semester culminated in a public exhibition of team projects at a local science museum. We will use the experiences of the students and instructors of this new course to study the impact of hands-on engineering, team-work, and open challenges on encouraging retention in engineering beyond the first year, for recruitment and retention of traditionally under-represented student groups. © American Society for Engineering Education, 2008.

关键词： Teaching

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Comparative architectural characterization of SPEC CPU2000 and CPU2006 benchmarks on the intel® Core™ 2 Duo processor

Comparative architectural characterization of SPEC CPU2000 a...

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International Conference on embedded computer systems: Architectures, Modeling and Simulation (IC-SAMOS)

作者： Arun Kejariwal Alexander V. Veidenbaum Alexandru Nicolau Xinmin Tian Milind Girkar Hideki Saito Utpal Banerjee Center for Embedded Computer Systems University of California Irvine USA Intel Compiler Lab Intel Corporation Fremont CA USA

SPEC CPU benchmarks are commonly used by compiler writers and architects of general purpose processors for performance evaluation. Since the release of the CPU89 suite, the SPEC CPU benchmark suites have evolved, with applications either removed or added or upgraded. This influences the design decisions for the next generation compilers and microarchitectures. In view of the above, it is critical to characterize the applications in the new suite - SPEC CPU2006 - to guide the decision making process. Although similar studies using the retired SPEC CPU benchmark suites have been done in the past, to the best of our knowledge, a thorough performance characterization of CPU2006 and its comparison with CPU2000 has not been done so far. In this paper, we present the above. For this, we compiled the applications in CPU2000 and CPU2006 using the Intel reg2 Fortran/C++ optimizing compiler and executed them, using the reference data sets, on the state-of-the-art Intel Coretrade2 Duo processor. The performance information was collected by using the Intel VTunetrade performance analyzer that takes advantage of the built-in hardware performance counters to obtain accurate information on program behavior and its use of processor resources. The focus of this paper is on branch and memory access behavior, the well-known reasons for program performance problems. By analyzing and comparing the L1 data and L2 cache miss rates, branch prediction accuracy, and resource stalls the performance impact in each suite is indirectly determined and described. Not surprisingly, the CPU2006 codes are larger, more complex, and have larger data sets. This leads to higher average L2 cache miss rates and a slight reduction in average IPC compared to the CPU2000 suite. Similarly, the average branch behavior is slightly worse in CPU2006 suite. However, based on processor stall counts branches are much less of a problem. The results presented here are a step towards understanding the SPEC CPU2006 bench

关键词： Optimizing compilers Performance analysis Application software Hardware Counting circuits embedded computing Microarchitecture Decision making Information analysis Accuracy

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Balancing exploration and exploitation in motion planning

Balancing exploration and exploitation in motion planning

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Markus Rickert Oliver Brock Alois Knoll Robotics and Embedded Systems Lab Department of Computer Science Technische Universitat Munchen Germany Robotics and Biology Laboratory Department of Computer Science University of Massachusetts Amherst USA

Computationally efficient motion planning must avoid exhaustive exploration of configuration space. We argue that this can be accomplished most effectively by carefully balancing exploration and exploitation. Exploration seeks to understand configuration space, irrespective of the planning problem, while exploitation acts to solve the problem given the available information obtained by exploration. We present an exploring/exploiting tree (EET) planner that balances its exploration and exploitation behavior. The planner acquires workspace information and subsequently uses this information for exploitation in configuration space. If exploitation fails in difficult regions, the planner gradually shifts its behavior towards exploration. We present experimental results demonstrating that adaptive balancing of exploration and exploitation leads to significant performance improvements compared to other state-of-the-art sampling-based planners.

关键词： Space exploration Robotics and automation Motion planning Computational efficiency computer science Orbital robotics State-space methods Sampling methods USA Councils embedded system

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Joint-action for humans and industrial robots for assembly tasks

Joint-action for humans and industrial robots for assembly t...

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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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Towards the UPnP-UP: Enabling User Profile to Support Customized Services in UPnP Networks

Towards the UPnP-UP: Enabling User Profile to Support Custom...

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International Conference on Mobile Ubiquitous Computing, systems, Services and Technologies (UBICOMM)

作者： Thiago B. M. de Sales Leandro M. de Sales Marcos Pereira Hyggo Almeida Angelo Perkusich Kyller Gorgônio Marcello A. de Sales Jr. Federal University of Campina Grande Embedded Systems and Pervasive Computing Lab Campina Grande PB Brazil Department of Computer Science San Francisco State University USA

In a nutshell, UPnP aims to enable simple and robust connectivity among consumer electronics, intelligent appliances and mobile devices from many different vendors. Nowadays, it is getting an increasing popularity due to its robust way of connecting devices and the massive number of already developed applications, complementing the useful new era of pervasive computing. Although UPnP is an easy-to-use solution for discovery, which allows controlled devices to share and access users contents, it does neither provide user authentication nor authorization mechanisms, requirements that would require user's data on personal profiles. As a consequence, we propose an extension of the UPnP protocol called UPnP-UP, which allows user authentication and authorization for UPnP devices and applications. The primary goal of our proposed extension is to modify the current UPnP specification as less as possible, maintaining backwards compatibility with previous versions of the protocol. Furthermore, we present our efforts on the development of a UPnP framework for publishing and accessing multimedia contents in order to support this extension as a case of study.

关键词： Servers Media XML Simple object access protocol Electronic mail Databases Marketing and sales

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Software publication track: Special issue on automotive PC

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Journal of Information Science and Engineering 2007年第3期23卷

作者： Liu, Jane W.-S. Computer Science Department University of Illinois at Urbana-Champaign United States Department of Computer Science and Information Engineering National Taiwan University Taiwan Real-Time and Embedded Systems Lab National Taiwan University Taiwan

No abstract available

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