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34th Chinese Control Conference, CCC 2015

作者： Fu, Kui Zhang, Dan Tang, Peng Tang, Zhongliang He, Wei School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu611731 China Computer Science Department Stony Brook University and SUNY KoreaIncheon 406-840 United States Center for Robotics University of Electronic Science and Technology of China Chengdu611731 China

ISBN: (纸本)9789881563897

In this paper, a navigation system based on red shift for spacecraft mission in solar system is implemented. Deep space environment is complex and changeable, its characteristics are hard to handle, there exist difficulties to simulate the deep space environment accurately. We know that red shift navigation system can achieve high navigation accuracy in deep space missions. And innovation-based adaptive estimation(IAE) can utilize latest measurement to adaptive adjust the covariance matrix of observation equations and state error covariance matrix. Using IAE method, we proposed a new adaptive filter to handle variable deep space environment. Employing adaptive extended Kalman filter (AEKF) in this system, the navigation performance is analysed. Simulation results indicate that the proposed navigation system using AEKF can achieve higher precision, better availability and continuity compared with conventional extended Kalman filter (EKF), but greater computational burden. © 2015 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Adaptive filtering

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Categorisation of 3D objects in range images using compositional hierarchies of parts based on MDL and entropy selection criteria 19th

Categorisation of 3D objects in range images using compositi...

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19th Scandinavian Conference on Image Analysis, SCIA 2015

作者： Kramarev, Vladislav Walas, Krzysztof Leonardis, Aleš Intelligent Robotics Laboratory School of Computer Science University of Birmingham Edgbaston BirminghamB15 2TT United Kingdom

ISBN: (纸本)9783319196640

This paper presents a new approach to object categorisation in range images using our novel hierarchical compositional representation of surfaces. The atomic elements at the bottom layer of the hierarchy encode quantized relative depth of pixels in a local neighbourhood. Subsequent layers are formed in the recursive manner, each higher layer is statistically learnt on the layer below via a growing receptive field. In this paper we mainly focus on the part selection problem, i.e. the choice of the optimisation criteria which provide the information on which parts should be promoted to the higher layer of the hierarchy. Namely, two methods based on Minimum Description Length and category based entropy are introduced. The proposed approach was extensively tested on two widely-used datasets for object categorisation with results that are of the same quality as the best results achieved for those datasets. © Springer International Publishing Switzerland 2015.

关键词： Entropy

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Enhanced stochastic mobility prediction with multi-output Gaussian processes 13th

Enhanced stochastic mobility prediction with multi-output Ga...

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13th International Conference on Intelligent Autonomous Systems, IAS 2014

作者： Lui, Sin Ting Peynot, Thierry Fitch, Robert Sukkarieh, Salah Australian Centre for Field Robotics The University of Sydney Sydney Australia School of Electrical Engineering and Computer Science Queensland University of Technology Brisbane Australia

ISBN: (纸本)9783319083377

Outdoor robots such as planetary rovers must be able to navigate safely and reliably in order to successfully perform missions in remote or hostile environments. Mobility prediction is critical to achieving this goal due to the inherent control uncertainty faced by robots traversing natural terrain. We propose a novel algorithm for stochastic mobility prediction based on multi-output Gaussian process regression. Our algorithm considers the correlation between heading and distance uncertainty and provides a predictive model that can easily be exploited by motion planning algorithms. We evaluate our method experimentally and report results from over 30 trials in a Mars-analogue environment that demonstrate the effectiveness of our method and illustrate the importance of mobility prediction in navigating challenging terrain. © Springer International Publishing Switzerland 2016.

关键词： Motion planning

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Relation between Trust Attitudes Toward Automation, Hofstede’s Cultural Dimensions, and Big Five Personality Traits

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Proceedings of the Human Factors and Ergonomics Society Annual Meeting 2016年第1期60卷 841 - 845页

作者： Shih-Yi Chien Katia Sycara Jyi-Shane Liu Asiye Kumru Michael Lewis School of Information Sciences University of Pittsburgh Pittsburgh PA 15260 USA Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 USA Dept. of Computer Science National ChengChi University Taipei Taiwan Dept. of Psycholoy Özyeğin University Istanbul Turkey

Automation has been widely used in interactions with smartphones, computers, and other machinery in recent decades. Studies have shown that inappropriate reliance on automation can lead to unexpected and even catastrophic results. Trust is conceived as an intervening variable between user intention and actions involving reliance on automation. It is generally believed that trust is dynamic and an individual’s culture or personality may influence automation use through changes in trust. To better understand how cultural and individual differences may affect a person’s trust and resulting behaviors, the present study examined the effects of cultural characteristics and personality traits on reported trust in automation in U.S., Taiwanese and Turkish populations. The results showed individual differences significantly affected human trust in automation across the three cultures.

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A hybrid biogeography-based optimization method for the inverse kinematics problem of an 8-DOF redundant humanoid manipulator

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Frontiers of Information Technology & Electronic Engineering 2015年第7期16卷 607-616页

作者： Zi-wu REN Zhen-hua WANG Li-ning SUN School of Computer Science & Technology Soochow University Suzhou 215021 China Robotics and Microsystems Center Soochow University Suzhou 215021 China

The redundant humanoid manipulator has characteristics of multiple degrees of freedom and complex joint structure, and it is not easy to obtain its inverse kinematics solution. The inverse kinematics problem of a humanoid manipulator can be formulated as an equivalent minimization problem, and thus it can be solved using some numerical optimization methods. Biogeography-based optimization （BBO） is a new biogeography inspired optimization algorithm, and it can be adopted to solve the inverse kinematics problem of a humanoid manipulator. The standard BBO algorithm that uses traditional migration and mutation operators suffers from slow convergence and prematurity. A hybrid biogeography-based optimization （HBBO） algorithm, which is based on BBO and differential evolution （DE）, is presented. In this hybrid algorithm, new habitats in the ecosystem are produced through a hybrid migration operator, that is, the BBO migration strategy and Did/best/I/bin differential strategy, to alleviate slow convergence at the later evolution stage of the algorithm. In addition, a Gaussian mutation operator is adopted to enhance the exploration ability and improve the diversity of the population. Based on these, an 8-DOF （degree of freedom） redundant humanoid manipulator is employed as an example. The end-effector error （position and orientation） and the ＇away limitation level＇ value of the 8-DOF humanoid manipulator constitute the fitness function of HBBO. The proposed HBBO algorithm has been used to solve the inverse kinematics problem of the 8-DOF redundant humanoid manipulator. Numerical simulation results demonstrate the effectiveness of this method.

关键词： Inverse kinematics problem 8-DOF humanoid manipulator Biogeography-based optimization （BBO） Differential evolution （DE）

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Distributed subgradient algorithm for multi-agent optimization with directed communication topology

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IFAC-PapersOnLine 2015年第28期48卷 863-868页

作者： YIN, Yanhui LIU, Zhongxin CHEN, Zengqiang College of Computer and Control Engineering Nankai University Tianjin300071 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin300071 China College of Science Civil Aviation University of China Tianjin300300 China

This paper studies a distributed subgradient algorithm in directed graphs. In contrast to previous work the problem is considered when the weighted adjacency matrices are not doubly stochastic. First the paper shows that an agreement can be reached in general directed graphs, but the global optimal function may not be minimized. Then some knowledge about homogeneous Markov chains is used to analyze the transition matrices and a new update rule is proposed to ensure that the a lgorithm converges to the optimal set for the case when the topology of graphs is fixed and known to all agents. For switching topology the paper establishes the relationship between the optimal results and the limit vector sequence. The paper provides explicit proof for the results and stimulation research validates the effectiveness. © 2015

关键词： Topology Chains Directed graphs Graphic methods Markov processes Multi agent systems Stochastic systems Adjacency matrices Communication topologies Distributed optimization Doubly stochastic Homogeneous markov chains Sub gradient algorithm Switching topology Transition matrices

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Data-driven comparison of four cutaneous displays for pinching palpation in robotic surgery

Data-driven comparison of four cutaneous displays for pinchi...

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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS)

作者： Jeremy D. Brown Mary Ibrahim Elyse D. Z. Chase Claudio Pacchierotti Katherine J. Kuchenbecker Department of Mechanical Engineering & Applied Mechanics University of Pennsylvania Philadelphia PA USA Department of Advanced Robotics Instituto Italiano di Tecnologia Genova Italy Departments of Mechanical Engineering & Applied Mechanics and Computer & Information Science’ University of Pennsylvania Philadelphia PA USA

ISBN: (纸本)9781509009046

Current teleoperated surgical robots do not provide surgeons with haptic feedback, due in part to the safety risks associated with grounded kinesthetic forces. Ungrounded cutaneous feedback provides an elegant and inherently stable way to refer haptic feedback to the surgeon in such situations. Choosing the most appropriate display, however, is challenging given the substantial number of unique cutaneous displays presented in the literature. In this work, we demonstrate how measuring the space of tactile sensations that a device can create can be employed to objectively compare different cutaneous displays for a specific task. We built four cutaneous displays and compared their ability to render sensations measured while pinching four disparate materials with a biomimetic tactile sensor. As predicted, quantitative tactile rendering errors varied significantly across devices and materials. The results of this comparison can be used to design better cutaneous displays for pinching palpation in robotic surgery. Furthermore, the proposed approach could provide a useful tool for evaluating novel cutaneous devices for various other tactile tasks, providing an objective framework to supplement and guide future human subject studies.

关键词： Servomotors Fabrics Surgery Haptic interfaces Couplings Robot sensing systems

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Preface

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in computer science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2017年 10170 LNCS卷 V页

作者： Peters, Terry Yang, Guang-Zhong Navab, Nassir Mori, Kensaku Luo, Xiongbiao Reichl, Tobias McLeod, Jonathan Robarts Research Institute LondonON Canada Imperial College London United Kingdom Johns Hopkins University BaltimoreMD United States Graduate School of Information Science Nagoya University Nagoya Japan Department of Computer Science Xiamen University Xiamen China KUKA Robotics AugsburgBayern Germany Robarts Research Institute Western University London Canada

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Design issues for real-time remote robotic science operations support tools: Observations from the field 14th

Design issues for real-time remote robotic science operation...

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14th International Conference on Space Operations, SpaceOps 2016

作者： Kim, Hyunjung Park, Young-Woo Baker, Electa A. Adams, Julie A. Fong, Terrence W. Electronics and Telecommunications Research Institute SWContent Laboratory 218 Gajeong-ro Yuseong-guDaejeon34129 Korea Republic of Ulsan National Institute of Science and Technology Dept. of Industrial Design 50 UNIST-gil 901-10 Engineering Bldg 1. Eonyang-eup UlsanUljugun44919 Korea Republic of Vanderbilt University Dept. of Electrical Engineering and Computer Science VU Station B #351824 NashvilleTN37235 United States NASA Ames Research Center Intelligent Robotics Group MS 269-3 Moffett FieldCA94035 United States

ISBN: (数字)9781624104268

ISBN: (纸本)9781624104268

Real-time remote robotic science operations will be a key part of future planetary exploration missions because the use of robots can reduce operational costs and increase scientific returns. To better understand real-time remote robotic science operations, and to provide practical guidance for improving the design of operations support tools, we conducted in-field observations of a team of 14 scientists remotely operating a planetary rover during a five-day prospecting mission. On the basis of our results, we identify the characteristics of real-time remote robotic science operations. In addition, we discuss the identified challenges, opportunities, and guidelines associated with improving the design of support tools. We expect that our findings will inform future research on robotic operations support tools and future study of additional use cases, including numerous terrestrial field science deployments and a planned 2020 NASA lunar rover mission. © 2016 American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： NASA

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Iterative Closest Labeled Point for tactile object shape recognition

Iterative Closest Labeled Point for tactile object shape rec...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Shan Luo Wenxuan Mou Kaspar Althoefer Hongbin Liu Centre for Robotics Research Department of Informatics King's College London WC2R 2LS UK School of Electronic Engineering and Computer Science Queen Mary University of London E1 4NS UK

ISBN: (纸本)9781509037636

Tactile data and kinesthetic cues are two important sensing sources in robot object recognition and are complementary to each other. In this paper, we propose a novel algorithm named Iterative Closest Labeled Point (iCLAP) to recognize objects using both tactile and kinesthetic information. The iCLAP first assigns different local tactile features with distinct label numbers. The label numbers of the tactile features together with their associated 3D positions form a 4D point cloud of the object. In this manner, the two sensing modalities are merged to form a synthesized perception of the touched object. To recognize an object, the partial 4D point cloud obtained from a number of touches iteratively matches with all the reference cloud models to identify the best fit. An extensive evaluation study with 20 real objects shows that our proposed iCLAP approach outperforms those using either of the separate sensing modalities, with a substantial recognition rate improvement of up to 18%.

关键词： Three-dimensional displays Feature extraction Shape Measurement Robot sensing systems Object recognition

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