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A p300 model for cerebot - A mind-controlled humanoid robot 2

2nd International Conference on Robot Intelligence Technology and Applications, RiTA 2013

作者： Li, Mengfan Li, Wei Zhao, Jing Meng, Qinghao Zeng, Ming Chen, Genshe Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin300072 China Department of Computer & Electrical Engineering and Computer Science California State University BakersfieldCA93311 United States Intelligent Fusion Technology Inc. GermantownMD20876 United States

ISBN: (纸本)9783319055817

In this paper, we present a P300 model for control of Cerebot - a mind-controlled humanoid robot, including a procedure of acquiring P300 signals, topographical distribution analysis of P300 signals, and a classification approach to identifying subjects’ mental activities regarding robot-walking behavior. We design two groups of image contexts to visually stimulate subjects when acquiring neural signals that are used to control a simulated or real NAO robot. Our study shows that the group of contexts using images of robot behavior delivers better performance. © Springer International Publishing Switzerland 2014.

关键词： Anthropomorphic robots

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous robotics systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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Self-adaptive harris corner detector on heterogeneous many-core processor

Self-adaptive harris corner detector on heterogeneous many-c...

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Conference on Design and Architectures for Signal and Image Processing

作者： Johny Paul Walter Stechele Éricles Sousa Vahid Lari Frank Hannig Jürgen Teich Manfred Kröhnert Tamim Asfour Institute for Integrated Systems Technical University of Munich Germany Department of Computer Science University of Erlangen-Nuremberg Germany Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Germany

The recent years have shown the emergence of heterogeneous system architecture (HSA), which offers massive computational power assembled into a compact design. computer vision applications with massive inherent parallelism highly benefits from such heterogeneous processors with on-chip CPU and GPU units. The highly parallel and compute intensive parts of the application program can be mapped to the GPU while the control flow and high level tasks may run on the CPU. However, they pose considerable challenge to software development due to their hybrid architecture. Sharing of resources (GPU or CPU) among applications running concurrently, leads to variations in processing interval and prolonged processing intervals leads to low quality results (frame drops) for computer vision algorithms. In this work, we propose resource-awareness and self organisation within the application layer to adapt to available resources on the heterogeneous processor. The benefits of the new model is demonstrated using a widely used computer vision algorithm called Harris corner detector. A resource-aware runtime-system and a heterogeneous processor were used for evaluation and the results indicate a well constrained processing interval and reduced frame-drops. Our evaluations demonstrate up to 20% improvements in processing rate and accuracy of the detected corner points for Harris corner detection.

关键词： Central Processing Unit computer architecture Detectors Graphics processing units Runtime Parallel processing Hardware

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Visual landmark selection for mobile robot navigation

IAENG International Journal of Computer Science

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IAENG International Journal of computer science 2013年第3期40卷 134-142页

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

A large number of landmarks selection techniques has been proposed. However, finding optimal solutions requires to solve some hard problems. In this paper, we consider the P- minimum overlapping region decomposition problem that was proposed for landmarks selection. This problem is NP-complete. We describe an approach to solve the problem optimally. This approach is based on an explicit reduction from the problem to the satisfiability problem. Also, we consider some greedy algorithms for solution of the problem.

关键词： Optimization

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On the constrained longest common subsequence problem

IAENG International Journal of Computer Science

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IAENG International Journal of computer science 2013年第4期40卷 266-273页

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

The problem of the longest common subsequence is a classical distance measure for strings. There have been several attempts to accommodate longest common subsequences along with some other distance measures. There are a large number of different variants of the problem. In this paper, we consider the constrained longest common subsequence problem for two strings and arbitrary number of constraints. In particular, we consider an explicit reduction from the problem to the satisfiability problem and present experimental results for different satisfiability algorithms. It should be noted that different regularities in experimentally obtained data reveal important information about the underlying physical system. In this paper, we consider the problem of systematic monitoring of passenger flows. In particular, we use constrained longest common subsequences for tracking the image features.

关键词： Genetic algorithms

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Optimal Sensor Trajectories for Mobile Underwater Target Positioning with Noisy Range Measurements

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IFAC Proceedings Volumes 2014年第3期47卷 5139-5144页

作者： D. Moreno-Salinas A.M. Pascoal J. Aranda Department of Computer Science and Automatic Control National University Distance Education (UNED) Spain Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico (IST) University of Lisbon Portugal Adjunct Scientist National Institute of Oceanography (NIO) Goa India

There is considerable interest in reducing the number of sensors/beacons involved in underwater positioning/navigation systems since this has the potential to drastically reduce the costs and the time spent in deploying, calibrating, and recovering acoustic equipment at sea. Motivated by these considerations, we address the problem of single underwater target positioning based on acoustic range measurements between the target and a moving sensor at the sea surface. In particular, the goal of the present work is to compute optimal geometric trajectories for the surface sensor that will, in a well defined sense, maximize the range-related information available for underwater target positioning and tracking. To this effect, the Fisher Information Matrix and the maximization of its determinant are used to determine the sensor trajectory that yields the most accurate positioning of the target, while the latter describes a preplanned trajectory. It is shown that the optimal trajectory depends on the velocity of the sensor, the velocity and trajectory of the target, the sampling time between measurements, the measurement error model, and the number of measurements used to compute the FIM. Simulation examples illustrate the key results derived.

关键词： Autonomous underwater vehicles Fisher information matrix Cramer-Rao Bound optimization positioning single tracker

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Control of a humanoid robot via N200 potentials

Control of a humanoid robot via N200 potentials

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World Congress on Intelligent Control and Automation (WCICA)

作者： Mengfan Li Wei Li Jing Zhao Qinghao Meng Genshe Chen Institute of Robotics and Autonomous Systems Tianjin University Tianjin China Department of Computer & Electrical Engineering and Computer Science California State University Bakersfield California USA Intelligent Fusion Technology Inc Germantown MD

In this paper, we present a N200 model for control of a humanoid robot with mind. N200 is a major component of the motion visual evoked potential (mVEP) which can be used to detect the subject's intention. In order to acquire N200, we design a visual stimulus interface in which the activation of a stimulus is a bar scanning above the image of a humanoid robot behavior. By analyzing brain signals induced by this kind of stimulus and calculating some system indexes, the results of this study demonstrate that the designed interface can induce prominent N200 potentials, and another component P300 induced by this experiment can be considered as another characteristic of the feature vector to contribute to the classification. To our best knowledge, this paper would be the first report on an application of N200 model to control a humanoid robot with visual feedback in real time.

关键词： Visualization Accuracy Humanoid robots Feature extraction Support vector machine classification Legged locomotion

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A Hybrid Controller for Global Uniform Exponential Stabilization of Linear systems with Singular Input Constraints

A Hybrid Controller for Global Uniform Exponential Stabiliza...

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IEEE Annual Conference on Decision and Control

作者： Pedro Casau Ricardo G. Sanfelice Carlos Silvestre Department of Electrical Engineering and Computer Science and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tcnico Universidade Tecnica de Lisboa 1049-001 Lisboa Portugal Department of Computer Engineering University of California Santa Cruz CA 95064 USA

ISBN: (纸本)9781467360890

In this paper, we devise a controller that achieves global uniform exponential stabilization of linear systems while avoiding singular input constraints, that is, the proposed controller never crosses a given input value g. We show that it is possible to solve this problem using two linear controllers and an appropriate switching logic, which leads to a hybrid controller.

关键词： Control theory Stability Linear systems Switches Educational institutions Robustness

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Flexible triangular formation keeping of marine robotic vehicles using range measurements 19

Flexible triangular formation keeping of marine robotic vehi...

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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Rego, Francisco Soares, Jorge M. Pascoal, António Aguiar, A. Pedro Jones, Colin Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

ISBN: (纸本)9783902823625

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation. © IFAC.

关键词： Vehicle performance

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Hybrid control strategy for the autonomous transition flight of a fixed-wing aircraft

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IEEE Transactions on Control systems Technology 2013年第6期21卷 2194-2211页

作者： Casau, Pedro Cabecinhas, David Silvestre, Carlos Department of Electrical Engineering and Computer Science Institute for Robotics and Systems in Engineering and Science Universidade Técnica de Lisboa Lisbon 1049-001 Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau 999078 China

This paper develops a hybrid control strategy that provides autonomous transition between hovered and leveled flights to a model-scale fixed-wing aircraft. The aircraft's closed-loop dynamics are described by means of a hybrid automaton with the hover, transition, level, and recovery operating modes, each one corresponding to a different region of the flight envelope. Linear parameter varying control techniques are employed in hover and level, providing robust local stabilization, and a nonlinear locally input-to-state stable controller provides practical reference tracking to the transition operating mode. These controllers, together with an appropriate choice of reference maneuvers, ensure that a transition from hovered flight to level flight, or vice versa, is achieved. Whenever the aircraft state reaches unexpected values, the recovery controller is triggered in order to drive the aircraft toward stable hovered flight, providing a chance to retry the transition maneuver. The controllers' performance and robustness is assessed within a realistic simulation environment in the presence of sensor noise. © 2013 IEEE.

关键词： Fixed wings

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