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International Conference on Distributed Computing in Sensor Systems (DCOSS)

作者： Hongkai Wen Yiran Shen Savvas Papaioannou Winston Churchill Niki Trigoni Paul Newman Department of Computer Science University of Oxford UK Singapore-MIT Alliance for Research and Technology Singapore Mobile Robotics Group University of Oxford UK

Navigating autonomous ground vehicles with visual sensors has many advantages - it does not rely on global maps, yet is accurate and reliable even in GPS-denied environments. However, due to the limitation of the camera field of view, one typically has to record a large number of visual experiences for practical navigation. In this paper, we explore new avenues in linking together visual experiences, by opportunistically harvesting and sharing a variety of radio signals emitted by surrounding stationary access points and mobile devices. We propose a novel navigation approach, which exploits side-channel information of co-location to thread up visually-separated experiences with short exploration phases. The proposed approach empowers users to trade travel time for manual navigation effort, allowing them to choose the itinerary that best serves their needs. We evaluate the proposed approach with data collected from a typical urban area, and show that it achieves much better navigation performance in both reach ability and cost, comparing with the state of the arts that only use visual information.

关键词： Vehicles Visualization Radio navigation Image segmentation Turning Cameras

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An Anti-interference EEG-EOG Hybrid Detection Approach for Motor Image Identification and Eye Track Recognition

An Anti-interference EEG-EOG Hybrid Detection Approach for M...

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第三十四届中国控制会议

作者： Haoyue Tang Yue Zhao Wei He Wei Fu School of Computer Science and Technology University of Electronic Science and Technology of China School of Automation Engineering University of Electronic Science and Technology of China School of Automation Engineering & Center for Robotics University of Electronic Science and Technology of China

ISBN: (纸本)9781467374439

In this paper, an anti-interference EEG-EOG hybrid detection approach is adopted for motor image identification and eye track recognition. We present a wave trap filter and a band pass filter to suppress power frequency interference and white noise. Meanwhile, the filter can still separate EEG and EOG signal from hybrid signal. Then, the features of EEG/EOG signal are extracted by the wavelet transform algorithm, and classified by the linear discriminant analysis(LDA) *** effectiveness of the signal process method described in this paper can be clearly observed through both of simulations and experiments, and the accuracy rate of pattern recognition is demonstrated in the end of the paper.

关键词： EEG signal,EOG signal,wavelet transform,LDA algorithm

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Depth-based tracking with physical constraints for robot manipulation

Depth-based tracking with physical constraints for robot man...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Tanner Schmidt Katharina Hertkorn Richard Newcombe Zoltan Marton Michael Suppa Dieter Fox Dept. of Computer Science & Engineering University of Washington Seattle USA Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany

This work integrates visual and physical constraints to perform real-time depth-only tracking of articulated objects, with a focus on tracking a robot's manipulators and manipulation targets in realistic scenarios. As such, we extend DART, an existing visual articulated object tracker, to additionally avoid interpenetration of multiple interacting objects, and to make use of contact information collected via torque sensors or touch sensors. To achieve greater stability, the tracker uses a switching model to detect when an object is stationary relative to the table or relative to the palm and then uses information from multiple frames to converge to an accurate and stable estimate. Deviation from stable states is detected in order to remain robust to failed grasps and dropped objects. The tracker is integrated into a shared autonomy system in which it provides state estimates used by a grasp planner and the controller of two anthropomorphic hands. We demonstrate the advantages and performance of the tracking system in simulation and on a real robot. Qualitative results are also provided for a number of challenging manipulations that are made possible by the speed, accuracy, and stability of the tracking system.

关键词： Visualization Joints Robot sensing systems Cameras Calibration

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Effects of carbon dioxide on different PSK modulation formats of Optical Wireless Communications using USRP

Effects of carbon dioxide on different PSK modulation format...

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International Conference on Transparent Optical Networks

作者： Jan Vitasek Radek Martinek Ales Vanderka Lukas Hajek Jan Latal Zhenli Lu Bin Li Department of Telecommunications VSB-Technical University of Ostrava Ostrava Czech Republic Department of Cybernetics and Biomedical Engineering VSB-Technical University of Ostrava Ostrava Czech Republic Department of Telecommunications Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava 17. listopadu 15 708 33 Czech Republic State key Laboratoryof Robotics Chinese Academy of Sciences Shenyang China School of Electrical Engineering and Automation Changshu Instituteof Technology Changshu China

ISBN: (纸本)9781509014682

This article explores the influence of the concentrated carbon dioxide (CO 2 ) gas on the different Phase Shift Keying (PSK) modulations used for Optical Wireless Communication (OWC) links. In this work, the OWC consisted of a laser diode, a photodetector, and a transmission medium. The Universal Software Radio Peripheral (USRP) unit created and evaluated the PSK modulations. This unit modulated the laser diode on the transmitter side and demodulated the data which were received by the photodetector on the receiver side. The CO 2 gas was emitted as a consequence of sublimation of the solid carbon dioxide in hot water. The measurements were done in a closed box in laboratory. The CO 2 gas is a one element of smog which pollutes cities now and then. Our experimental results with CO 2 gas could help to choose a suitable modulation scheme for OWC which are installed in cities with smog-polluted atmospheric conditions.

关键词： Phase shift keying Carbon dioxide Optical receivers Diode lasers Integrated optics Optical transmitters

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DWT-DCT based individuals identification using robust gait feature images

International Journal of Signal Processing, Image Processing...

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International Journal of Signal Processing, Image Processing and Pattern Recognition 2015年第4期8卷 113-124页

作者： Ibrahim Khalilullah, K.M. Hossain, Delowar Hamid, Ekramul Department of Computer Science and Engineering Bangladesh University of Business and Technology Dhaka Bangladesh Intelligent Robotics Lab Department of Electrical and Electronics System Engineering University of Toyama Japan Department of Computer Science and Engineering University of Rajshahi Rajshahi Bangladesh

Individual identification at a distance using gait features has newly gained growing interest from biometrics researchers. Most of the researchers have been shown that different covariate factors can affect different parts of the human body. In this paper, we propose a new approach that minimizes these difficulties, especially for carrying objects by combining static, dynamic, and part-based features. The Gait Features of the walking sequences are extracted by selecting only four sub bands of the Discrete Wavelet Transform (DWT) of the individual images. Moreover, Discrete Fourier Transform (DFT) and Discrete Cosine Transform (DCT) are implemented to extract lowest and middle frequency components that are used to create robust gait feature images (RGFIs). Then we select effective parts of the body from the Robust Gait Feature Images. After that, these parts of the body are trained using Principal Component Analysis (PCA) and Multiple Discriminant Analysis (MDA) to identify individuals. Experimental result shows promising performance in comparison with other methods. © 2015 SERSC.

关键词： Discrete cosine transforms

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A Bioinspired Feature-Projection-Based Approach to Electromyographic Pattern Recognition Based for High Dimensional Sparse Sensor Data

A Bioinspired Feature-Projection-Based Approach to Electromy...

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Symposia and Workshops on Ubiquitous, Autonomic and Trusted Computing, UIC-ATC

作者： Giovanni Schiboni Peidong Liang Chenguang Yang Liming Chen Sanja Dogramadzi Bristol Robotics Laboratory University of the West of England Bristol United Kingdom Centre for Robotics and Neural Systems Plymouth University Plymouth United Kingdom School of Computer Science and Informatics De Montfort University Leicester United Kingdom

ISBN: (纸本)9781467372121

The paper presents an electromyographic pattern recognition for sensor fusion able to discern motions of hand with a small number of training samples. We propose a learning algorithm able to classify estimate class statistics from a limited training set size. A Wavelet Packet Decomposition performs feature extraction. A sparse Principal Component Analysis projects the features in a lower dimensionality space. Classification is performed through multi-layer Perceptron. We employed sparse Principal Component Analysis because it is insensitive to the curse dimensionality problem differently from standard Principal Component Analysis that fails to capture discriminatory information in low-variance sensor data. The approach mitigates drawbacks of the training data collection as time consumption and acquisition difficulties. The latter are particularly relevant in case of high degrees of user disability, in which long sessions of training become unfeasible due to stress and exertion.

关键词： Electromyographic (EMG) Sparse principal component analysis Pattern recognition Wavelet packet transform (WPT) Pattern recognition Sensor Data component analysis principal components analysis Sensor fusion Training exertion

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Design, fabrication and dynamic modeling of a new step-walker robot platform using Wi-Fi based controller

Design, fabrication and dynamic modeling of a new step-walke...

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International Symposium on Innovations in Intelligent Systems and Applications, INISTA 2015

作者： Basiri, Salar Langroodi, Armin Kasemi Piredeir, Pooyan Jamshidpey, Aryo Mechatronics and Robotics Group Marlik Institute of Innovation and Technology Rasht Iran Department of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran Department of Mechanical Engineering University of Guilan Rasht Iran Department of Computer Science and IT Institute for Advanced Studies in Basic Sciences Zanjan Iran

ISBN: (纸本)9781467390965

In this article, a step-walker robot is introduced. In recent years too many explorer and moving robots are designed and manufactured. These kinds of robots need a mechanism for climbing stairs or steps to explore and discover all sections of a building. This introduced mechanism is an optimum mechanism in terms of energy consumption while climbing a step or stair with a specific altitude. The robot which is introduced in this article contains two axes. Each axis can change its Vertical position independently. This position changes upon the stair or step's height. When the robot meets a step or stair, it can climb by changing its wheel's axes alternatively. This robot's cinematic and 3D modeling that will be used for choosing the proper DC motors and other essentials for making robot, is done by MATLAB and CATIA software solution package. © 2015 IEEE.

关键词： Energy utilization

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Choice of training data for classifier transfer in error related potentials based on signal characteristics

Choice of training data for classifier transfer in error rel...

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International IEEE/EMBS Conference on Neural Engineering, CNE

作者： Su Kyoung Kim Elsa Andrea Kirchner Robotics Innovation Center German Research Center for Artificial Intelligence (DFKI) GmbH Bremen Germany Faculty of Mathematics and Computer Science University of Bremen Germany

In brain computer interfaces, different amounts of training data can be generated during the same recording time depending on the type of e.g., error related potential (ErrP) that is evoked. In our previous study (Kim & Kirchner, 2013), we obtained more training data containing observation ErrPs compared to interaction ErrPs within the same recording time under similar scenario conditions. Thus we trained a classifier on observation ErrPs to detect interaction ErrPs. This led to the reduction of calibration time. In this previous study we assumed that features extracted from a window, in which both types of ErrPs show a similar shape of averaged activity (0.16- 0.6 s after error events), are optimal for classifier transfer. In this study we test this assumption on a larger group of subjects. Further, we evaluate an extended training window that covers a late negativity at 0.6-0.8 s, which has a stronger amplitude in case of observation ErrPs. Such an extension of the training window allows to improve the classification performance in case that observation ErrPs are used to train and test a classifier (no transfer case). However, in this study we will show that for the transfer case this long window [0.16-0.8 s] is outperformed by the short window [0.16-0.6 s], which contains only the part of both types of ErrPs with similar shape. The results indicate that the signal characteristics can guide the choice of training data for classifier transfer between different types of ErrPs.

关键词： Feature extraction Training Electroencephalography Shape Training data Calibration Brain-computer interfaces

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Multi-crease self-folding by global heating

Multi-crease self-folding by global heating

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作者： Miyashita, Shuhei Onal, Cagdas D. Rus, Daniela Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology 32 Vassar Street 32-379 CambridgeMA02139 United States Worcester Polytechnic Institute Department of Mechanical Engineering Robotics Engineering Program 100 Institute Rd. HL 105 WorcesterMA01609 United States

This study demonstrates a new approach to autonomous folding for the body of a 3D robot from a 2D sheet, using heat. We approach this challenge by folding a 0.27-mm sheetlike material into a structure. We utilize the thermal deformation of a contractive sheet sandwiched by rigid structural layers. During this baking process, the heat applied on the entire sheet induces contraction of the contracting layer and thus forms an instructed bend in the sheet. To attain the targeted folding angles, the V-fold spans method is used. The targeted angle θout can be kinematically encoded into crease geometry. The realization of this angle in the folded structure can be approximately controlled by a contraction angle θin. The process is non-reversible, is reliable, and is relatively fast. Our method can be applied simultaneously to all the folds in multi-crease origami structures. We demonstrate the use of this method to create a lightweight mobile robot. © 2015 Massachusetts Institute of Technology.

关键词： Self assembly

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Robotic joint design by agonist and antagonist arrangement with twisting small-diameter round-belts

Robotic joint design by agonist and antagonist arrangement w...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： T. Inoue S. Yamamoto R. Miyata S. Hirai Faculty of Dept. Computer Science and System Engineering Okayama Prefectural Univ. Japan Dept. of Computer Science and System Engineering Okayama Prefectural Univ. Faculty of Dept. Robotics Ritsumeikan Univ. Japan

This paper develops a novel robotic joint mechanism by means of twisting a small-diameter round-belt, which enables slow movements of joint rotation unlike direct-drive actuator mechanisms. The actuator mechanism proposed in this manuscript is composed of two small-diameter round-belts located near the joint with opposite configurations. The two round-belts are twisted by DC motors placed on a motor stage, which can be activated by a step motor. This novel mechanism realizes movement of the robotic joint around its axis due to contraction forces generated by twisting both round-belts. That is, these round-belts act as agonist and antagonist actuators for the robotic joint, which give a human-like compliance to the rotational motion of the joint. Experimental results using the proposed one-link robot show that a high position resolution of the joint control can be achieved by increases and decreases in the amount of twisting. In addition, we clearly indicate a linear relationship between twisting and the joint angle of the robot. Finally, this paper reveals that the antagonistic twist-actuator system has a secondary role as a gear reducer that is capable of largely decreasing the velocity of joint movement.

关键词： DC motors Force Actuators Robot sensing systems Belts Force measurement

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