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IEEE International Conference on robotics and Automation

作者： Caio César Teodoro Mendes Vincent Frémont Denis Fernando Wolf the Mobile Robotics Lab Institute of Mathematics and Computer Science (ICMC) University of S?o Paulo (USP) SP Brazil Heudiasyc UMR CNRS 7253 Université de Technologie de Compiègne France

ISBN: (纸本)9781467380270

Road detection is a crucial task in autonomous navigation systems. It is responsible for delimiting the road area and hence the free and valid space for maneuvers. In this paper, we consider the visual road detection problem where, given an image, the objective is to classify every of its pixels into road or non-road. We address this task by proposing a convolutional neural network architecture. We are especially interested in a model that takes advantage of a large contextual window while maintaining a fast inference. We achieve this by using a Network-in-Network (NiN) architecture and by converting the model into a fully convolutional network after training. Experiments have been conducted to evaluate the effects of different contextual window sizes (the amount of contextual information) and also to evaluate the NiN aspect of the proposed architecture. Finally, we evaluated our approach using the KITTI road detection benchmark achieving results in line with other state-of-the-art methods while maintaining real-time inference. The benchmark results also reveal that the inference time of our approach is unique at this level of accuracy, being two orders of magnitude faster than other methods with similar performance.

关键词： Networks Fast objective

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Stereo parallel tracking and mapping for robot localization

Stereo parallel tracking and mapping for robot localization

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IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015

作者： Pire, Taihu Fischer, Thomas Civera, Javier De Cristoforis, Pablo Berlles, Julio Jacobo Computer Science Department University of Buenos Aires Argentina Robotics Perception and Real-Time Group University of Zaragoza Spain

ISBN: (纸本)9781479999941

This paper describes a visual SLAM system based on stereo cameras and focused on real-time localization for mobile robots. To achieve this, it heavily exploits the parallel nature of the SLAM problem, separating the time-constrained pose estimation from less pressing matters such as map building and refinement tasks. On the other hand, the stereo setting allows to reconstruct a metric 3D map for each frame of stereo images, improving the accuracy of the mapping process with respect to monocular SLAM and avoiding the well-known bootstrapping problem. Also, the real scale of the environment is an essential feature for robots which have to interact with their surrounding workspace. A series of experiments, on-line on a robot as well as off-line with public datasets, are performed to validate the accuracy and real-time performance of the developed method. © 2015 IEEE.

关键词： Mapping

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Dynamics and control of separable coupled rigid body systems

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robotics and biomimetics 2017年第1期4卷 14页

作者： Kinda Khalaf Dongming Gan Hooshang Hemami Department of Biomedical Engineering Khalifa University of Science and Technology Abu Dhabi UAE. Robotics Institute/Mechanical Engineering Department Khalifa University of Science and Technology Abu Dhabi UAE. Department of Electrical and Computer Engineering The Ohio State University Columbus OH 43210 USA.

This paper explores the dynamics of separable coupled rigid body systems, a special class of constrained rigid body systems. These are defined as two systems that interact with each other by forces of contact, resulting in a reduction in dimensionality and complexity. The mechanics and consequences of this reduction are investigated here. The basic hypothesis and an example of the reduction in two successive steps are formulated. A simple mechanical biped model is developed and analyzed in some details by both system theoretical concepts and simulations. The main contribution of this work is the novel extension to the known dynamics of constrained rigid bodies. The modular, versatile and systematic formulation presented here is computationally efficient and has many applications in the studies of the human neuro-musculoskeletal system, robotic systems and humanoids, as well as clinical and sports biomechanics applications. computer simulations are provided to demonstrate the feasibility and effectiveness of the methodology.

关键词： Constrained dynamics Control Coupled mechanical systems Dimensionality reduction Kinematics

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Towards verifiably ethical robot behaviour 29

Towards verifiably ethical robot behaviour

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29th AAAI Conference on Artificial Intelligence, AAAI 2015

作者： Dennis, Louise A. Fisher, Michael Winfield, Alan F.T. Department of Computer Science University of Liverpool United Kingdom Bristol Robotics Laboratory University of West of England United Kingdom

ISBN: (纸本)9781577357131

Ensuring that autonomous systems work ethically is both complex and difficult. However, the idea of having an additional 'governor' that assesses options the system has, and prunes them to select the most ethical choices is well understood. Recent work has produced such a governor consisting of a 'consequence engine' that assesses the likely future outcomes of actions then applies a Safety/Ethical logic to select actions. Although this is appealing, it is impossible to be certain that the most ethical options are actually taken. In this paper we extend and apply a well-known agent verification approach to our consequence engine, allowing us to verify the correctness of its ethical decision-making. © 2015, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Governors

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Knowledge Engineering with Big Data

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IEEE Intelligent Systems 2015年第5期30卷 46-55页

作者： Wu, Xindong Chen, Huanhuan Wu, Gongqing Liu, Jun Zheng, Qinghua He, Xiaofeng Zhou, Aoying Zhao, Zhong-Qiu Wei, Bifang Gao, Ming Li, Yang Zhang, Qiping Zhang, Shichao Lu, Ruqian Zheng, Nanning School of Computer Science and Information Engineering Hefei University of Technology China University of Vermont United States University of Edinburgh School of Computer Science United Kingdom School of Computer Science University of Science and Technology of China China Department of Computer Science Xi'An Jiaotong University China Institute for Data Science and Engineering East China Normal University China Pennsylvania State University United States Fudan University China Department of Computer Science Zhejiang Gongshang University China Deakin University Australia Academy of Mathematics and Systems Science Chinese Academy of Sciences China Institute of Artificial Intelligence and Robotics Xi'An Jiaotong University China Keio University Japan

In the era of big data, knowledge engineering faces fundamental challenges induced by fragmented knowledge from heterogeneous, autonomous sources with complex and evolving relationships. The knowledge representation, acquisition, and inference techniques developed in the 1970s and 1980s, driven by research and development of expert systems, must be updated to cope with both fragmented knowledge from multiple sources in the big data revolution and in-depth knowledge from domain experts. This article presents BigKE, a knowledge engineering framework that handles fragmented knowledge modeling and online learning from multiple information sources, nonlinear fusion on fragmented knowledge, and automated demand-driven knowledge navigation. © 2001-2011 IEEE.

关键词： Intelligent systems

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A nonparametric belief solution to the Bayes tree

A nonparametric belief solution to the Bayes tree

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Dehann Fourie John Leonard Michael Kaess MIT/WHOI Joint Program Cambridge 02139 USA Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge 02139 USA Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 USA

ISBN: (纸本)9781509037636

We relax parametric inference to a nonparametric representation towards more general solutions on factor graphs. We use the Bayes tree factorization to maximally exploit structure in the joint posterior thereby minimizing computation. We use kernel density estimation to represent a wider class of constraint beliefs, which naturally encapsulates multi-hypothesis and non-Gaussian inference. A variety of new uncertainty models can now be directly applied in the factor graph, and have the solver recover a potentially multi-modal posterior. For example, data association for loop closure proposals can be incorporated at inference time without further modifications to the factor graph. Our implementation of the presented algorithm is written entirely in the Julia language, exploiting high performance parallel computing. We show a larger scale use case with the well known Victoria park mapping and localization data set inferring over uncertain loop closures.

关键词： Belief propagation Kernel Simultaneous localization and mapping Bayes methods Optimization Estimation

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Design and preliminary characterization of a soft wearable exoskeleton for upper limb

Design and preliminary characterization of a soft wearable e...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Leonardo Cappello Dinh Khanh Binh Shih-Cheng Yen Lorenzo Masia Department of Robotics Brain and Cognitive Science Istituto Italiano di Tecnologia Genova Italy School of Mechanical & Aerospace Engineering Nanyang Technological University Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore

ISBN: (纸本)9781509032884

Exoskeletons targeting the upper limb have been broadly developed both for rehabilitation and to augment user's physical performance. Generally, they are rigid robotic interfaces characterized by a non negligible mechanical impedance at the end effector and consequently perceived by the upper limbs as an external body. The rigid frame, moreover, adds kinematic constrains to the natural joint kinematics which may result in discomfort and ultimately in pain. The concept of soft wearable exoskeleton (or exosuit) has been developed and tested for the lower limb and the hand to address such issues thanks to their minimal inertial contribution and influence on the natural kinematics. In the current paper the design of an soft robotic interface for the elbow joint is presented, whose aim is to provide assistance torque to the targeted joint to facilitate the execution of the activities of daily living. Differently from the state-of-the-art design solutions, our system is able to drive both flexion and extension of the same joint with a single motor in an agonist-antagonist fashion, making the actuation stage compact and energy efficient. A clutching mechanism is also included in the design in order to save power during static configuration, preventing the motor to hold the joint position for a large amount of time. An exosuit has been designed to transfer the torque of the actuator to the biomechanical joint by means of Bowden cables. Two series elastic elements are employed to overcome the drawbacks of the agonist-antagonist mechanism and to provide additional compliance at the end effector. A preliminary test has been finally performed in order to characterize the actuation.

关键词： Cable shielding Actuators Springs Gears Brushless DC motors

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Texture analysis of tissue aging using global and cluster constrained local coding

Texture analysis of tissue aging using global and cluster co...

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IEEE International Symposium on Biomedical Imaging

作者： Yang Song Weidong Cat Fan Zhang Heng Huang David Dagan Feng Yue Wang Mei Chen BMIT Research Group University of Sydney Australia The University of Sydney Sydney NSW AU Department of Computer Science and Engineering University of Texas Arlington USA Bradley Department of Electrical and Computer Engineering Virginia Tech USA Robotics Institute Carnegie Mellon University USA Computer Engineering Department University of Albany State University of New York USA

ISBN: (纸本)9781479923519

Morphological age of various tissues provides important information about aging processes. In this paper, we propose a method for quantifying the tissue age of pharynx terminal bulb in *** from microscopy images. Our method comprises two main components: (i) a multi-modal texture descriptor extracted at two scales; and (ii) an age quantification algorithm with global and cluster-constrained local coding. The performance of our proposed method is evaluated on 970 images of seven age classes in the publicly available IICBU dataset. Our method achieves 21% improvement in classification accuracy when compared to that of the benchmark platform, and our local coding algorithm outperformed the support vector machine model by 10%.

关键词： Encoding Aging Support vector machines Microscopy Image coding Dictionaries Pharynx

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Large bridge cable tension estimation with Cyber vibration Sensing System

Large bridge cable tension estimation with Cyber vibration S...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

作者： Shaodong Zhan Meng Chen Zhi Li Winston Sun Wen J. Li Guanglie Zhang Shenzhen Academy of Robotics Institute of Intelligent Cyber Sensing Systems China Department of Mechanical and Biomedical Engineering City University of Hong Kong Hong Kong SAR College of Computer Science & Software Engineering Shenzhen University China

ISBN: (纸本)9781509027347

We present in this paper our development of a cyber physical sensing platform for monitoring the structural tension of large bridge cables using MEMS vibration sensors and proprietary wireless technology. In order to implement the online tension analysis of the bridge cables, we developed an improved technology for the general identification of cable tension using the Gauss-Newton method to determine the eigenfrequency order and bending stiffness. The improved identification method was applied to vertical suspender cables, i.e., more commonly known as “hangers”, of the south section of the Huangpu Bridge. The result shows that the proposed method can effectively estimate the cable tension of the bridge's cables of different lengths.

关键词： Bridges Vibrations Sensors Force Bridge circuits Monitoring Acceleration

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A simulator for swarm AUVs acoustic communication networking 11

A simulator for swarm AUVs acoustic communication networking

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11th ACM International Conference on Underwater Networks and Systems, WUWNet 2016

作者： Li, Guannan Liu, Jun Wang, Xue Xu, Hongli Cui, Jun-Hong Shenyang Institute of Automation CAS University of Chinese Academy of Sciences No. 114 Nanta Street Shenhe District Shenyang China College of Computer Science and Technology Jilin University State Key Laboratory of Robotics Key Laboratory of System Control and Information Processing Ministry of Education of China Changchun China Shenyang Institute of Automation CAS Northeast University No. 114 Nanta Street Shenhe District Shenyang China Shenyang Institute of Automation CAS No. 114 Nanta Street Shenhe District Shenyang China College of Computer Science and Technology Jilin University Changchun China Underwater Sensor Network Lab. University of Connecticut StorrsCT06269 United States

ISBN: (纸本)9781450346375

This paper presents a simulator for swarm operations designed to verify algorithms for a swarm of autonomous underwater robots (AUVs), specifically for constructing an underwater communication network with AUVs carrying acoustic communication devices. This simulator consists of three nodes: a virtual vehicle node (VV), a virtual environment node (VE), and a visual showing node (VS). The modular design treats AUV models as a combination of virtual equipment. An expert acoustic communication simulator is embedded in this simulator, to simulate scenarios with dynamic acoustic communication nodes. The several simulations we have performed demonstrate that this simulator is easy to use and can be further improved.

关键词： Simulators

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