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IEEE International Conference on robotics and Automation

作者： Min Jun Kim Woongyong Lee Jae Yeon Choi Yong Sik Park Sung Ho Park Goobong Chung Kyung-Lyong Han I1 Seop Choi I1 Hong Suh Youngjin Choi Wan Kyun Chung the Robotics Laboratory School of Mechanical Engineering Pohang University of Science and Technology (POSTECH) Pohang 790-784 Gyung-buk Korea the Korea Institute of Robot and Convergence (KIRO) Pohang 790-784 Gyung-buk Korea the POSCO Technical Research Laboratories Pohang 790-300 Gyung-buk Korea the Department of Electronics and Computer Engineering Hanyang University Seoul Korea the Department of Electronic Systems Engineering Hanyang University Ansan Korea

ISBN: (纸本)9781467380270

This paper proposes a passivity-based nonlinear disturbance observer (DOB) design for a powered upper-limb robot control. The proposed DOB allows for the nonlinearities of the robot dynamics, whereas the typical DOB designs cannot. Moreover, by virtue of the passivity property, human operator and environmental interactions can be embedded in the control loop. As a DOB, the proposed approach has a disturbance observation property that makes the actual robot behave like a nominal model selected by the user. Performance analysis proposes a gain tuning rule. In experimental validation, actual powered upper-limb robot is used to perform unknown payload carrying applications.

关键词： Observer Unknown DOB

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Learning multiple collaborative tasks with a mixture of Interaction Primitives

Learning multiple collaborative tasks with a mixture of Inte...

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2015 IEEE International Conference on robotics and Automation, ICRA 2015

作者： Ewerton, Marco Neumann, Gerhard Lioutikov, Rudolf Amor, Heni Ben Peters, Jan Maeda, Guilherme Intelligent Autonomous Systems Lab Department of Computer Science Technische Universität Darmstadt Hochschulstr. 10 Darmstadt64289 Germany Institute of Robotics and Intelligent Machines Georgia Institute of Technology 801 Atlantic Drive AtlantaGA30332-0280 United States Max Planck Institute for Intelligent Systems Spemannstr. 38 Tuebingen72076 Germany

ISBN: (纸本)9781479969234

Robots that interact with humans must learn to not only adapt to different human partners but also to new interactions. Such a form of learning can be achieved by demonstrations and imitation. A recently introduced method to learn interactions from demonstrations is the framework of Interaction Primitives. While this framework is limited to represent and generalize a single interaction pattern, in practice, interactions between a human and a robot can consist of many different patterns. To overcome this limitation this paper proposes a Mixture of Interaction Primitives to learn multiple interaction patterns from unlabeled demonstrations. Specifically the proposed method uses Gaussian Mixture Models of Interaction Primitives to model nonlinear correlations between the movements of the different agents. We validate our algorithm with two experiments involving interactive tasks between a human and a lightweight robotic arm. In the first, we compare our proposed method with conventional Interaction Primitives in a toy problem scenario where the robot and the human are not linearly correlated. In the second, we present a proof-of-concept experiment where the robot assists a human in assembling a box. © 2015 IEEE.

关键词： Demonstrations

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Melanoma Detection Algorithm Based on Feature Fusion

Melanoma Detection Algorithm Based on Feature Fusion

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： Catarina Barata M. Emre Celebi Jorge S. Marques Institute for Systems and Robotics Instituto Superior Tecnico Lisboa Portugal Department of Computer Science Louisiana State University Shreveport LA USA

ISBN: (纸本)9781424492695

A computer Aided-Diagnosis (CAD) System for melanoma diagnosis usually makes use of different types of features to characterize the lesions. The features are often combined into a single vector that can belong to a high dimensional space (early fusion). However, it is not clear if this is the optimal strategy and works on other fields have shown that early fusion has some limitations. In this work, we address this issue and investigate which is the best approach to combine different features comparing early and late fusion. Experiments carried on the datasets PH~2 (single source) and EDRA (multi source) show that late fusion performs better, leading to classification scores of Sensitivity= 98% and Specificity= 90% (PH~2) and Sensitivity= 83% and Specificity= 76% (EDRA).

关键词： CAD investigate approach

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A Clinically Oriented System for Melanoma Diagnosis Using a Color Representation

A Clinically Oriented System for Melanoma Diagnosis Using a ...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

ISBN: (纸本)9781424492695

computer Aided-Diagnosis (CAD) systems have been proposed to help dermatologists diagnose melanomas. However, these systems fail to provide a medical explanation for the diagnosis. This makes the dermatologists unsure about their use, since they are not easy to understand. In this paper we propose a CAD system that extracts a clinically inspired color description of the lesion and then, uses this information to discriminate melanomas from benign lesions. The proposed system is also capable of showing the extracted color features, making the system and its decisions more comprehensible for practitioners. The development of this system is hampered by the lack of a database of detailed annotate dermoscopy images. Nonetheless, we are able to tackle this issue using an image annotation framework based on the Correspondence-LDA algorithm. This method is applied with success to the identification of relevant colors in dermoscopy images, obtaining an average Precision of 84.9% and a Recall of 85.5%. The proposed color representation is then used to classify skin lesions, resulting in a Sensitivity of 78.9% and Specificity of 76.7%, these values are promising and comparable with the state-of-the art.

关键词： CAD proposed system also capable

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New progress in neurofeedback for optimizing cognitive and behavioral performance

New progress in neurofeedback for optimizing cognitive and b...

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2015年中国生物医学工程联合学术年会

作者： Wenya Nan Feng Wan Vai Mang I Rosa Agostino Department of Electrical and Computer Engineering Faculty of Science and TechnologyUniversity of Ma Department of Bio Engineering Systems and Robotics InstituteUniversity of Lisbon1049-001

Neurofeedback(NF)training is an operant conditioning procedure which regulates brain activity for human cognition,peak performance and health *** paper briefly introduces the new progress in neurofeedback research in optimizing cognition and behavior performance including memory,peripheral vision,physical balance and brain computer interface(BCI)in our research group.

关键词： neurofeedback alpha beta/theta ratio brain computer interface cognition

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Alpha down-regulation neurofeedback effects in short term memory performance

Alpha down-regulation neurofeedback effects in short term me...

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2015年中国生物医学工程联合学术年会

作者： Wenya Nan Qi Tang Feng Wan Vai Mang I Rosa Agostino Department of Electrical and Computer Engineering Faculty of Science and TechnologyUniversity of Ma Department of Bio Engineering Systems and Robotics InstituteUniversity of Lisbon1049-001

Research objective: Regulation of brain activity by neurofeedback(NF)training has been widely applied in treatment of human psychological disorders,improvement of human cognitive performance and recently enhancement of brain-computer interfaces(BCIs)***,no study has investigated whether training the same EEG feature but with different training direction has the reverse effects on some *** alpha neurofeedback,it has been demonstrated that alpha up-regulation NF has positive effects on short term memory enhancement while alpha down-regulation NF could improve steady state visual evoked potential BCI ***,it is unknown whether alpha down-regulation NF has side effects on short term ***,this study aimed to investigate: 1)whether multi-session NF training can decrease alpha activity and 2)whether this NF training has side effects in cognitive test of short term ***: A total of 19 participants performed 10 sessions of individualized alpha down-regulation neurofeedback training with 5 sessions per *** session had three 1-min trials with an interval of 5 s between two consecutive *** and after the 5 sessions of NF training in each day,three 30-s eyes open and three 30-s eyes closed resting baselines were recorded.9 in 19 participants performed forward and backward digit span as short term memory assessment before and after all training *** were trained to decrease their amplitude in individual alpha band(IAB)which is defined as band ranges from peak alpha frequency(PAF)-4 Hz to PAF+2 ***: 14 out of total 19 subjects could decrease the training parameter,their IAB amplitude,over training *** terms of the cognitive performance,neither forward nor backward digit span performance had significant change between before and after the alpha down-regulation neurofeedback training,indicating that this type of training has no side effects in short term ***

关键词： neurofeedback down-regulation short term memory individual alpha band peak alpha frequency

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Measurement of Biomechanical Interactions at the Stump-Socket Interface in Lower Limb Prostheses

Measurement of Biomechanical Interactions at the Stump-Socke...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： V. Noll J. Wojtusch J. Schuy M. Grimmer P. Beckerle S. Rinderknecht the Institute for Mechatronic Systems in Mechanical Engineering Department of Mechnical Engineering TU Darmstadt Germany the Simulation Systems Optimization and Robotics Group Department of Computer Science TU Darmstadt Germany the Locomotion Laboratory Institute of Sport Science TU Darmstadt Germany

ISBN: (纸本)9781424492695

This paper introduces a novel measuring approach for detecting relative movement between stump and socket in lower limb prostheses. The application of the motion capturing based measuring approach is shown at a single male trans-tibial amputee using a Patella Tendon Bearing (PTB) socket. It further investigates and assesses the feasibility of measuring the relative movement between stump and socket during level walking at different velocities and allocating it to the coinciding loads. Representative results for the two translational degrees of freedom in the sagittal plane are presented and discussed. For the proximodistal (pd) direction, a linear correlation between applied load and relative movement is found, while for the anteroposterior (ap) direction the stump movement is largely influenced by the motion sequence during the respective gait event. Additionally, the effect of walking speed is discussed.

关键词： Biomechanical Interactions Stump-Socket Interface Lower Limb Prostheses

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On the approximate period problem

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IAENG International Journal of Applied Mathematics 2014年第1期44卷 1-9页

作者： Gorbenko, Anna Ural Federal University Department of Intelligent Systems and Robotics of Mathematics and Computer Science Institute 620083 Ekaterinburg Russia

Different regularities can be used to identify the sequence among other sequences. Regularities allow us to infer an information about the evolution of the sequence. Tandem repeats are the most frequent in the genomes of eukaryotes. Extraction of regularities is a widely studied problem. However, searching for exact tandem repeats can be too restrictive. So, a natural extension of the repetition is to allow errors. In this paper, we consider the approximate period problem. In particular, we consider an explicit reduction from the approximate period problem to the satisfiability problem and present experimental results for different satisfiability algorithms. Also, we consider the approximate period problem for sequences of motor primitives of robots. In particular, we use the approximate period problem to obtain some meta-parameters that adapt the global motion behavior. We try to use such metaparameters for learning to generalize motor primitives to a different behavior by trial and error without re-learning the task.

关键词： Genetic algorithms

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Learning multiple collaborative tasks with a mixture of Interaction Primitives

Learning multiple collaborative tasks with a mixture of Inte...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Marco Ewerton Gerhard Neumann Rudolf Lioutikov Heni Ben Amor Jan Peters Guilherme Maeda Department of Computer Science Technische Universität Darmstadt Darmstadt Germany Institute of Robotics and Intelligent Machines Georgia Institute of Technology Atlanta GA USA 3Max Planck Institute for Intelligent Systems Tuebingen Germany

关键词： Trajectory Robot kinematics Handover Hidden Markov models Fasteners

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Robotic Software System for the Disaster Circumstances: System of Team KAIST in the DARPA robotics Challenge Finals

Robotic Software System for the Disaster Circumstances: Syst...

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IEEE-RAS International Conference on Humanoid Robots

作者： Jeongsoo Lim Inwook Shim Okkee Sim Hyunmin Joe Inhyeok Kim Jungho Lee Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory Department of Electrical Engineering College of Information Science and Technology Korea Advanced Institute of Science and Technology Rainbow Co.

ISBN: (纸本)9781479968862

We developed a software system for operating the humanoid robot DRC-HUBO+ in disaster circumstances that the US Defense Advanced Research Projects Agency suggested. This system was developed under the consideration of the stability of whole system, the systemic software environment for multiple developers, and the recovery routine when the system encounters a seriously abnormal situation. With these design goals, we devised our strategy for three domains: system, vision, and communication. Following the strategy we made two software frameworks (PODO and VPC) and one logical flow of data for remote process management. With this software system, we conducted all Tasks in the DARPA robotics Challenge Finals, and we won the competition.

关键词： Software systems DARPA design target robotics Disasters Religious Missions flow datas

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