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IEEE/RSJ International Conference on Intelligent robotics and systems

作者： Youngeun Lee Sébastien Lengagne Abderrahmane Kheddar Young J. Kim Department of Computer Science and Engineering at Ewha Womans University in Seoul Korea Karlsruhe Institute of Technology Institute for Anthropomatics Humanoids and Intelligence Systems Lab Adenauerring 2 76131 Karlsruhe Germany CNRS-AIST Joint Robotics Laboratory (JRL) UMI3218/CRT Tsukuba Japan and also with the CNRS-UM2 LIRMM Interactive Digital Human group Montpellier France.

ISBN: (纸本)9781467317375

We propose three novel methods to evaluate a distance function for robotic motion planning based on semi-infinite programming (SIP) framework;these methods include golden section search (GSS), conservative advancement (CA) and a hybrid of GSS and CA. The distance function can have a positive and a negative value, each of which corresponds to the Euclidean distance and penetration depth, respectively. In our approach, each robot's link is approximated and bounded by a capsule shape, and the distance between some selected link pairs is continuously evaluated along the joint's trajectory, provided by the SIP solver, and the global minimum distance is found. This distance is fed into the SIP solver, which subsequently suggests a new trajectory. This process is iterated until no negative distance is found anywhere in the links of the robot. We have implemented the three distance evaluation methods, and experimentally validated that the proposed methods effectively and accurately find the global minimum distances to generate a self-collision-free motion for the HRP-2 humanoid robot. Moreover, we demonstrate that the hybrid method outperforms other two methods in terms of computational speed and reliability.

关键词： Motion Planning GSS SIP motion planning distance function Aerospace ground services PRNP gene STATE IMPLEMENTATION PLANS TSACC gene Global Minimum Robot Euclidean distance

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A dynamical systems approach to online event segmentation in cognitive robotics

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Paladyn 2011年第1期2卷 18-24页

作者： Nery, Bruno Ventura, Rodrigo Institute for Systems and Robotics Instituto Superior Tecnico Av. Rovisco Pais 1 Lisboa1049-001 Portugal Also Visiting Scholar at Computer Science Department Carnegie Mellon University. United States

This paper addresses the problem of segmenting perception in physical robots into meaningful events along time. In structured environments this problem can be approached using domain-specific techniques, but in the general case, as when facing unknown environments, this becomes a non-trivial problem. We propose a dynamical systems approach to this problem, consisting of simultaneously learning a model of the robot's interaction with the environment (robot and world seen as a single, coupled dynamical system), and deriving predictions about its short-term evolution. Event boundaries are detected once synchronization is lost, according to a simple statistical test. An experimental proof of concept of the proposed framework is presented, simulating a simple active perception task of a robot following a ball. The results reported here corroborate the approach, in the sense that the event boundaries are correctly detected. © Bruno Nery et al. 2011.

关键词： Robots

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Erratum to “A New Solution for Camera Calibration and Real-Time Image Distortion Correction in Medical Endoscopy–Initial Technical Evaluation” [Mar 12 634-644]

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IEEE Transactions on Biomedical Engineering 2012年第7期59卷 2095-2095页

作者： Rui Melo João P. Barreto Gabriel Falcão Institute for Systems and Robotics and Department of Electrical and Computer Engineering Faculty of Science and Technology Coimbra Portugal Instituto de Telecomunicações Faculty of Science and Technology Coimbra Portugal

In the above-titled paper (ibid., vol. 59, no. 3, pp. 634-644, Mar. 2012), the affiliation of G. Falcao should have read as follows: G. Falcao is with the Instituto de Telecomunicacoes and department of Electrical and computer Engineering, Faculty of science and Technology, University of Coimbra, 3030-290 Coimbra, Portugal (e-mail: gff@***).

关键词： Cameras Calibration Biomedical imaging Endoscopes Graphics processing unt Lenses

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Safe automotive software

Safe automotive software

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Lecture Notes in computer science

作者： Heckemann, Karl Gesell, Manuel Pfister, Thomas Berns, Karsten Schneider, Klaus Trapp, Mario Fraunhofer Institute for Experimental Software Engineering Fraunhofer-Platz 1 67663 Kaiserslautern Germany Embedded Systems Group Department of Computer Science University of Kaiserslautern Germany Robotics Research Lab. Department of Computer Science University of Kaiserslautern Germany

ISBN: (纸本)9783642238659

For automotive manufacturers and tier-1 suppliers, the upcoming safety standard ISO 26262 results in new requirements for the development of embedded electronics and software. In particular, the variety of driver assistance systems that autonomously influence the driving dynamics of a vehicle may have a high risk potential and require development in accordance with the normative guidelines. But especially for those systems whose function is typically not based solely on hardware but on complex software algorithms, safety certification can be very complex or even impossible. In this paper the problems of development of vehicle systems according to ISO 26262 are described. Finally an approach for a safety-oriented reference architecture is presented that introduces adaptive software safety cages. This architecture enables application of formal verification methods. Supported by multisensor data fusion this allows to reduce safety requirements for vehicle control systems. © 2011 Springer-Verlag.

关键词： Control system synthesis

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Mining data with numerical attributes and missing attribute values - A rough set approach

Mining data with numerical attributes and missing attribute ...

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2011 IEEE International Conference on Granular Computing, GrC 2011

作者： Grzymala-Busse, Jerzy W. Hippe, Zdzislaw S. Department of Electrical Engineering and Computer Science University of Kansas Lawrence KS 66045 United States Institute of Computer Science Polish Academy of Sciences 01-237 Warsaw Poland Department of Expert Systems and Artificial Intelligence University of Information Technology and Management 35-225 Rzeszow Poland

ISBN: (纸本)9781457703713

This paper discusses a challenging problem of mining data sets with numerical attributes and, at the same time, with missing attribute values. We distinguish between two interpretations of missing attribute values: lost values and "do not care" conditions. In our experiments, we used the LERS data mining system, inducing certain and possible rule sets, using rough set theory ideas of lower and upper approximations, respectively. The LERS data mining system has two options for computing approximations: global and local. In our experiments we used both options. Additionally, we used a probabilistic approach to missing attribute values, one of the most successful traditional methods to handle missing attribute values. Using the Wilcoxon matched-pairs signed rank test (5% level of significance for two-tailed test), we observed that the probabilistic approach was either worse or not better than rough set approaches. © 2011 IEEE.

关键词： Data mining

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System design and implementation of social interactive robot Nancy

System design and implementation of social interactive robot...

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4th International Conference on Interaction sciences: IT, Human and Digital Content, ICIS 2011

作者： Ge, Shuzhi Sam Liew, Chun Fui Li, Yanan Department of Electrical and Computer Engineering Interactive Digital Media Institute National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu 610054 China Social Robotics Lab NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9788988678442

This paper presents a social interactive robot Nancy that has been developed in Social robotics Laboratory, National University of Singapore. Fundamentally different from factory robots, Nancy's design focuses on social interaction and social intelligent system. The design objectives and consideration are examined in the beginning, followed by the description of hardware and software architectures. Contrast to current existing social robots, Nancy has a graphical user interface (GUI), which acts as an additional channel for human-robot interaction. This GUI helps users to have a better understanding of Nancy's internal states and hence make users feel more comfortable during the interaction with Nancy. Visitors' interaction experience with Nancy is discussed together with Nancy's social skills. © 2011 AICIT.

关键词： Graphical user interfaces

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Mining data with numerical attributes and missing attribute values — A rough set approach

Mining data with numerical attributes and missing attribute ...

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IEEE International Conference on Granular Computing (GRC)

作者： Jerzy W. Grzymala-Busse Zdzislaw S. Hippe Institute of Computer Science Polish Academy of Sciences Warsaw Poland Department of Electrical Engineering and Computer Science University of Kansas Lawrence KS USA Department of Expert Systems and Artificial Intelligence University of Information Technology and Management Rzeszow Poland

This paper discusses a challenging problem of mining data sets with numerical attributes and, at the same time, with missing attribute values. We distinguish between two interpretations of missing attribute values: lost values and ”do not care” conditions. In our experiments, we used the LERS data mining system, inducing certain and possible rule sets, using rough set theory ideas of lower and upper approximations, respectively. The LERS data mining system has two options for computing approximations: global and local. In our experiments we used both options. Additionally, we used a probabilistic approach to missing attribute values, one of the most successful traditional methods to handle missing attribute values. Using the Wilcoxon matched-pairs signed rank test (5% level of significance for two-tailed test), we observed that the probabilistic approach was either worse or not better than rough set approaches.

关键词： Approximation methods Probabilistic logic Data mining Error analysis Iris Hypertension Obesity

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Reports of the AAAI 2010 fall symposia

Reports of the AAAI 2010 fall symposia

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作者： Azevedo, Roger Biswas, Gautam Bohus, Dan Carmichael, Ted Finlayson, Mark A. Hadzikadic, Mirsad Havasi, Catherine Horvitz, Eric Kanda, Takayuki Koyejo, Oluwasanmi Lawless, William F. Lenat, Doug Meneguzzi, Felipe Mutlu, Bilge Oh, Jean Pirrone, Roberto Raux, Antoine Sofge, Donald A. Sukthankar, Gita Van Durme, Benjamin Yorke-Smith, Neil Department of Educational and Counseling Psychology McGill University Canada Center for Intelligent Systems Vanderbilt University United States Microsoft Research Redmond United States Department of Software and Information Systems University of North Carolina Charlotte United States Complex Systems Institute United States Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology United States Media Lab. Massachusetts Institute of Technology United States ATR Intelligent Robotics and Communication Laboratories Kyoto Japan Department of Electrical and Computer Engineering University of Texas Austin United States Department of Mathematics Paine College Augusta GA United States Cycorp Austin TX United States Robotics Institute Carnegie Mellon University United States Department of Computer Sciences University of Wisconsin Madison United States University of Palermo Italy Honda Research Institute United States Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory Washington DC United States Department of Electrical Engineering and Computer Science University of Central Florida United States Department of Computer Science Johns Hopkins University United States American University of Beirut Lebanon SRI International's Artificial Intelligence Center United States

The Association for the Advancement of Artificial Intelligence (AAAI) presented the 2010 Fall Symposium Series on November 11-13, 2010. The eight symposia included Cognitive and Metacognitive Educational systems, Commonsense Knowledge, Complex Adaptive systems: Resilience, Robustness, and Evolvability, Computational Models of Narrative, Dialog with Robots, Manifold Learning and Its Applications, Proactive Assistant Agents and Quantum Informatics for Cognitive, Social, and Semantic Processes. Cognitive and Metacognitive Educational systems aimed to provide a comprehensive definition of metacognitive educational systems that is inclusive of the theoretical, architectural, and educational aspects of this field. The AAAI Commonsense Knowledge Fall Symposium had the goal of bringing together the diverse elements of this community whose work benefits from or contributes to the representation of general knowledge about the world. One of the specific goals of Proactive symposium was to gather the researchers from various projects in assistant agents to share their wisdom in retrospect.

关键词： Semantics

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Basis Pursuit in sensor networks

Basis Pursuit in sensor networks

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： João F. C. Mota João M. F. Xavier Pedro M. Q. Aguiar Markus Püschel Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh USA Institute of Systems and Robotics Instituto Superior Técnico Lisboa Portugal Department of Computer Science ETH Zurich Switzerland

Basis Pursuit (BP) finds a minimum ℓ 1 -norm vector z that satisfies the underdetermined linear system Mz = b, where the matrix M and vector b are given. Lately, BP has attracted attention because of its application in compressed sensing, where it is used to reconstruct signals by finding the sparsest solutions of linear systems. In this paper, we propose a distributed algorithm to solve BP. This means no central node is used for the processing and no node has access to all the data: the rows of M and the vector b are distributed over a set of interconnected compute nodes. A typical scenario is a sensor network. The novelty of our method is in using an optimal first-order method to solve an augmented Lagrangian-based reformulation of BP. We implemented our algorithm in a computer cluster, and show that it can solve problems that are too large to be stored in and processed by a single node.

关键词： Clustering algorithms Optimization computers Distributed algorithms Vectors Partitioning algorithms Eigenvalues and eigenfunctions

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An accurate 3D feature tracking system with wide-baseline stereo smart cameras

An accurate 3D feature tracking system with wide-baseline st...

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ACM/IEEE International Conference on Distributed Smart Cameras, ICDSC

作者： Dominik Rueß Kristian Manthey Ralf Reulke German AeroSpace Center Optical Information Systems Institute of Robotics and Mechatronics Berlin Germany Department of Computer Science Research and Lecture Group Computer Vision Humboldt-Universität zu Berlin Berlin Germany

A typical video surveillance system consists of at least one camera, controlled by an operator. To decrease the human error rate and to generally lessen the burden of operators, many object tracking systems have been implemented, most of which work in 2D image space. If used centralized, this is a very expensive task. Furthermore, if several views are to be fused, large inaccuracies arise due to ground plane assumptions, for instance. Lastly, in outdoor setups, quite often there is a need for slower channels like Wireless LAN which cannot cope with the full resolution data stream. We provide a smart camera system which performs the intensive tasks like background estimation or feature extraction. A central unit only has to process the received data in feature space, increasing scalability. Additionally, the object tracking problem is converted to an accurate 3D feature tracking, avoiding difficulties such as proper object segmentation and adding increased trajectory accuracy. The feature regions are computed within the smart camera. A wide-baseline feature matching approach has been employed to allow more freedom in the placement of the single smart cameras.

关键词： Trajectory Three dimensional displays Cameras Smart cameras Estimation Image reconstruction Feature extraction

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