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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Simon Kalouche David Rollinson Howie Choset Carnegie Mellon's Robotics Institute School of Computer Science Pittsburgh PA USA

We present a set of modular series-elastic actuators (SEAs) that allow rapid and robust prototyping of mobile legged robots. The SEA modules were originally developed for a snake robot, SEA Snake, and have recently been reconfigured into Snake Monster, a multi-modal walking robot that can be easily adapted to hexapod, quadruped, and biped configurations. The use of SEAs allows the implementation of a compliant hybrid controller using both position and force-based walking. This paper presents the mechanical design, control architecture, and initial locomotion experiments using the Snake Monster platform. Additionally, we discuss the enhanced capabilities, pertaining particularly to search and rescue applications, enabled by the use of our modular hardware. Finally, we highlight how these modules provide a powerful tool for both field deployment requiring locomotion and manipulation tasks.

关键词： Legged locomotion Robot sensing systems Foot Torque Brushless DC motors

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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

作者： T. Pire T. Fischer J. Civera P. De Cristoforis J. J. Berlles Computer Science Department University of Buenos Aires Argentina Robotics University of Zaragoza Spain

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.

关键词： Cameras Simultaneous localization and mapping Robot vision systems Feature extraction Visualization

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Detecting and Correcting Model Anomalies in Subspaces of Robot Planning Domains 15

Detecting and Correcting Model Anomalies in Subspaces of Rob...

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International Conference on Autonomous Agents and Multiagent Systems

作者： Juan Pablo Mendoza Manuela Veloso Reid Simmons The Robotics Institute Carnegie Mellon University Computer Science Department Carnegie Mellon University

ISBN: (纸本)9781450337717

Making decisions based on accurate models enables robots to exploit domain knowledge to act intelligently. However, in many realistic domains, it is impossible to have globally accurate models, as the world may exhibit modes of behavior during deployment that were unforeseeable during model building. This paper addresses the problem of adaptation in domains in which robots have access to a model of the world that is generally accurate, but which is inadequate in particular sets of similar situations {i.e., subspaces of the task domain. Using optimization techniques to find parametric approximations to these subspaces, our framework generalizes from sparse observations to find and correct for statistical incongruences between expected and observed behavior. We demonstrate this framework in a domain in which single deployment adaptation is essential: a team of soccer robots keeping the ball away from a previously unknown opponent. Empirical results show that the framework improves model accuracy and task performance over timescales comparable to a single soccer game.

关键词： Multi-robot systems Robot planning and plan execution Single and multi-agent learning Fault tolerance and resilience

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Effects of geometry and material on the insertion oi very small neural electrode 38

Effects of geometry and material on the insertion oi very sm...

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38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016

作者： Marshall, Shaun P. Lin, Wei-Chen Patel, Paras R. Shih, Albert J. Chestek, Cynthia A. Department of Mechanical and Biomedical Engineering University of Michigan Ann ArborMI48109 United States Department of Mechanical Engineering University of Michigan Ann ArborMI48109 United States Advanced Institute of Manufacturing with High-Tech Innovations Chiayi62102 Taiwan Department of Biomedical Engineering University of Michigan Ann ArborMI48109 United States Department of Mechanical Engineering and Biomedical Enineering University of Michigan Ann ArborMI48109 United States Department of Biomedical Engineering Electrical Engineering and Computer Science Neuroscience and Robotics University of Michigan Ann ArborMI48109 United States

ISBN: (纸本)9781457702204

For neural probes to be used chronically for years in the human body, they must provoke minimal scarring. Recently, a number of groups have reported substantially reduced scar tissue using cellular scale electrodes below 15 μm in size. This size scale is accessible to manufacturing techniques, but can be very difficult to insert in the brain for most common electrode materials. In this study, we explore the design space available to cellular scale electrodes that will self-insert into the brain. First a mathematical model is developed using beam buckling equations for different materials and geometries. Buckling mode was found to be one fixed and one hinged end resulting in a mode conditional constant of, n, 2.045. Model predicts insertion success between 90-100% for a 6.8 μm diameter electrode and was used to approximate applied force as 750 μΝ which is close to reference data of 780 μΝ [1]. Second, we developed a PVC phantom that mimics the brain's elastic modulus. This phantom was matched to insertion success data obtained from carbon fiber arrays [1]. Overall, these results enable studies to be conducted on other proposed cellular scale electrodes prior to animal testing or large scale fabrication. © 2016 IEEE.

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Planning Views to Model Planetary Pits under Transient Illumination

Planning Views to Model Planetary Pits under Transient Illum...

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IEEE Aerospace Conference

作者： Heather Jones Wennie Tabib William L. "Red" Whittaker Robotics Institute Carnegie Mellon University Department of Computer Science Carnegie Mellon University

ISBN: (纸本)9781479953813

This paper addresses the problem of planning views for modeling large, local, substantially 3D terrain features at long range from surface rovers. These include building-size and stadium size pits with vertical walls. Pits have been identified in recent high-resolution images of the Moon and Mars. Planetary pits are interesting scientific targets created by collapse, often exposing layers of bare rock in their walls, hinting at past volcanism and other subsurface processes with their morphology. Some offer glimpses into caves. This paper presents a pipeline for view trajectory planning that enables detailed modeling of planetary pits from surface rovers. Techniques for converting prior terrain knowledge into a planning problem are developed, methods for planning rover images are discussed, and a comparison of different image-based reconstruction methods for pit modeling is presented. Results from preliminary field experiments for the end-to-end view trajectory planning pipeline are presented.

关键词： Planning Trajectory Lighting Cameras Computational modeling Moon Robot sensing systems

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Moth-inspired plume tracing via autonomous underwaer vehicle with only a pair of separated chemical sensors

Moth-inspired plume tracing via autonomous underwaer vehicle...

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MTS/IEEE Washington, OCEANS 2015

作者： Tian, Yu Li, Wei Zhang, Fumin State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Department of Computer and Electrical Engineering and Computer Science California State University BakersfieldCA93311 United States School of Electrical and Computer Engineering Georgia Institute of Technology AtlantaGA30332 United States

ISBN: (纸本)9780933957435

Effective chemical plume tracing strategies are important for autonomous underwater vehicles (AUVs) to perform a variety of missions of searching for underwater targets, such as oil spill sources and deep-sea hydrothermal vents. In such circumstances where fluid flow direction cannot be measured by AUVs or fluid flow direction provides little or wrong information about the distribution of a dynamic chemical plume or its source location, chemical plume tracing strategies that rely on information of fluid flow direction may not work effectively. In this paper, a modified moth-inspired chemical plume tracing strategy is presented, which could trace a turbulent chemical plume without need of information of flow direction. The strategy estimates the direction of plume centerline based on information from a pair of spatially separated chemical sensors symmetrically mounted on an AUV's nose together with the AUV's zigzag plume-tracing trajectory, and employs the estimated direction of plume centerline to implement the plume tracing. The proposed strategy is implemented in a computer simulation environment and the simulation results demonstrate that with the strategy an AUV could track a turbulent chemical plume over a long distance and finally localize the plume source. © 2015 MTS.

关键词： Autonomous underwater vehicles

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Self-Organized Construction with Continuous Building Material: Higher Flexibility Based on Braided Structures

Self-Organized Construction with Continuous Building Materia...

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IEEE International Workshops on Foundations and Applications of Self Systems

作者： Mary Katherine Heinrich Mostafa Wahby Mohammad Divband Soorati Daniel Nicolas Hofstadler Payam Zahadat Phil Ayres Kasper Støy Heiko Hamann Centre for IT and Architecture Royal Danish Academy Copenhagen Denmark Heinz Nixdorf Institute University of Paderborn Germany Universitat Paderborn Paderborn Nordrhein-Westfalen DE Artificial Life Lab of the Department of Zoology Karl-Franrens University Graz Austria Robotics Evolution and Art Lab IT University of Copenhagen Denmark Department of Computer Science Chemnitz University of Technology Germany

Self-organized construction with continuous, structured building material, as opposed to modular units, offers new challenges to the robot-based construction process and lends the opportunity for increased flexibility in constructed artifact properties, such as shape and deformation. As an example investigation, we look at continuous filaments organized into braided structures, within the context of bio-hybrids constructing architectural artifacts. We report the result of an early swarm robot experiment. The robots successfully constructed a braid in a self-organized process. The construction process can be extended by using different materials and by embedding sensors during the self-organized construction directly into the braided structure. In future work, we plan to apply dedicated braiding robot hardware and to construct sophisticated 3-d structures with local variability in patterns of filament interlacing.

关键词： Robot sensing systems Context Mobile robots Switches Carbon

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Nadzoru: A Software Tool for Supervisory Control of Discrete Event Systems

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IFAC-PapersOnLine 2015年第7期48卷 182-187页

作者： Pinheiro, Lucas Preischadt Lopes, Yuri Kaszubowski Leal, André Bittencourt Rosso Junior, Roberto Silvio Ubertino Department of Computer Science Santa Catarina State University Joinville-SC Brazil Department of Automatic Control and Systems Engineering Sheffield Robotics University of Sheffield Sheffield South Yorkshire United Kingdom Department of Electrical Engineering Santa Catarina State University Joinville-SC Brazil

This article presents a software tool for the synthesis of supervisory control based on untimed finite state automata. The tool has a friendly graphical interface for the creation of models and, among other features, allows: automata simulation;analysis of problems related to the implementation of the control logic;and code generation for multiple devices. The code generation is based on a template system that allows the easy inclusion of support for new devices. Currently the tool is able to generate code for some microcontrollers and programmable logic controllers. Another feature of the tool is the capability of being easily extended with new algorithms and modules. © 2015

关键词： Discrete event simulation

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Electronic Stuctures: Mechanically Guided Post‐Assembly of 3D Electronic Systems (Adv. Funct. Mater. 48/2018)

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Advanced Functional Materials 2018年第48期28卷

作者： Bong Hoon Kim Fei Liu Yongjoon Yu Hokyung Jang Zhaoqian Xie Kan Li Jungyup Lee Ji Yoon Jeong Arin Ryu Yechan Lee Do Hoon Kim Xueju Wang KunHyuck Lee Jong Yoon Lee Sang Min Won Nuri Oh Jeonghyun Kim Ju Young Kim Seong‐Jun Jeong Kyung‐In Jang Seungmin Lee Yonggang Huang Yihui Zhang John A. Rogers Department of Materials Science and Engineering Simpson Querrey Institute and Feinberg Medical School Center for Bio‐Integrated Electronics Northwestern University Evanston IL 60208 USA Center for Mechanics and Materials Center for Flexible Electronics Technology AML Department of Engineering Mechanics Tsinghua University Beijing 100084 China Frederick Seitz Materials Research Laboratory University of Illinois at Urbana‐Champaign Urbana IL 61801 USA Department of Civil and Environmental Engineering Mechanical Engineering and Materials Science and Engineering Northwestern University Evanston IL 60208 USA AML Department of Engineering Mechanics Center for Mechanics and Materials Tsinghua University Beijing 100084 China Division of Materials Science and Engineering Hanyang University Seoul 04763 Republic of Korea Department of Electronics Convergence Engineering Kwangwoon University Seoul 01897 Republic of Korea Multidisciplinary Sensor Research Group Electronics and Telecommunications Research Institute (ETRI) Daejeon 34129 Republic of Korea Department of Organic Materials and Fiber Engineering Department of Information Communication Materials and Chemistry Convergence Technology Soongsil University 369 Sangdo‐ro Dongjak‐gu Seoul 06978 Republic of Korea Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea Department of Energy Electronics Convergence Kookmin University Seoul 02707 Republic of Korea Department of Civil and Environmental Engineering Mechanical Engineering Materials Science and Engineering Northwestern University Evanston IL 60208 USA Department of Materials Science and Engineering Department of Biomedical Engineering Department of Chemistry Department of Neurological Surgery Department of Mechanical Engineering Department of Electrical Engineering and Computer Science Simpson Querrey Institute and Feinberg Medical School Center for Bio‐Integrated Electronics Northwestern University Evanston IL 60208 USA

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Author Correction: Zebrafish as an animal model in epilepsy studies with multichannel EEG recordings

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Scientific reports 2017年第1期7卷 18112页

作者： Sung-Joon Cho Donghak Byun Tai-Seung Nam Seok-Yong Choi Byung-Geun Lee Myeong-Kyu Kim Sohee Kim School of Electrical Engineering and Computer Science Gwangju Institute of Science and Technology (GIST) Gwangju 61005 Republic of Korea. School of Mechanical Engineering Gwangju Institute of Science and Technology (GIST) Gwangju 61005 Republic of Korea. Department of Neurology Chonnam National University Medical School Gwangju 61469 Republic of Korea. Department of Biomedical Sciences Chonnam National University Medical School Gwangju 61469 Republic of Korea. Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea. soheekim@dgist.ac.kr.

A correction to this article has been published and is linked from the HTML version of this paper. The error has been fixed in the paper.

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