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arXiv 2018年

作者： Fan, Rui Liu, Yanan Bocus, Mohammud Junaid Wang, Lujia Liu, Ming Robotics and Multi-Perception Laborotary Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong SAR Hong Kong Visual Information Institute University of Bristol BristolBS81UB United Kingdom Bristol Robotics Laboratory University of Bristol BristolBS161QY United Kingdom Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

Stereo vision technique has been widely used in robotic systems to acquire 3-D information. In recent years, many researchers have applied bilateral filtering in stereo vision to adaptively aggregate the matching costs. This has greatly improved the accuracy of the estimated disparity maps. However, the process of filtering the whole cost volume is very time consuming and therefore the researchers have to resort to some powerful hardware for the real-time purpose. This paper presents the implementation of fast bilateral stereo on a stateof-the-art GPU. By highly exploiting the parallel computing architecture of the GPU, the fast bilateral stereo performs in real time when processing the Middlebury stereo datasets. Index Terms-stereo vision, disparity maps, real-time, fast bilateral stereo, GPU. Copyright © 2018, The Authors. All rights reserved.

关键词： Graphics processing unit

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Self-folded soft robotic structures with controllable joints

Self-folded soft robotic structures with controllable joints

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Sung, Cynthia Lin, Rhea Miyashita, Shuhei Yim, Sehyuk Kim, Sangbae Rus, Daniela The Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology CambridgeMA United States The Department of Electronics University of York York United Kingdom Robotics and Media Institute Korea Institute of Science and Technology Seoul Korea Republic of The Department of Mechanical Engineering Massachusetts Institute of Technology CambridgeMA United States

ISBN: (纸本)9781509046348

This paper describes additive self-folding, an origami-inspired rapid fabrication approach for creating actuatable compliant structures. Recent work in 3-D printing and other rapid fabrication processes have mostly focused on rigid objects or objects that can achieve small deformations. In contrast, soft robots often require elastic materials and large amounts of movement. Additive self-folding is a process that involves cutting slices of a 3-D object in a long strip and then pleat folding them into a likeness of the original model. The zigzag pattern for folding enables large bending movements that can be actuated and controlled. Gaps between slices in the folded model can be designed to provide larger deformations or higher shape accuracy. We advance existing planar fabrication and self-folding techniques to automate the fabrication process, enabling highly compliant structures with complex 3-D geometries to be designed and fabricated within a few hours. We describe this process in this paper and provide algorithms for converting 3-D meshes into additive self-folding designs. The designs can be rapidly instrumented for global control using magnetic fields or tendon-driven for local bending. We also describe how the resulting structures can be modeled and their responses to tendon-driven control predicted. We test our design and fabrication methods on three models (a bunny, a tuna fish, and a starfish) and demonstrate the method’s potential for actuation by actuating the tuna fish and starfish models using tendons and magnetic control. © 2017 IEEE.

关键词： Fabrication

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FBG-based control of a continuum manipulator interacting with obstacles

arXiv

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arXiv 2018年

作者： Sefati, Shahriar Murphy, Ryan J. Alambeigi, Farshid Pozin, Michael Iordachita, Iulian Taylor, Russell H. Armand, Mehran Laboratory for Computational Sensing and Robotics Johns Hopkins University BaltimoreMD United States Department of Mechanical Engineering Johns Hopkins University BaltimoreMD United States Department of Computer Science Johns Hopkins University BaltimoreMD United States Johns Hopkins University Applied Physics Laboratory LaurelMD United States Auris Health Inc. Redwood CityCA United States

Tracking and controlling the shape of continuum dexterous manipulators (CDM) in constraint environments is a challenging task. The imposed constraints and interaction with unknown obstacles may conform the CDM's shape and therefore demands for shape sensing methods which do not rely on direct line of sight. To address these issues, we integrate a novel Fiber Bragg Grating (FBG) shape sensing unit into a CDM, reconstruct the shape in real-time, and develop an optimization-based control algorithm using FBG tip position feedback. The CDM is designed for less-invasive treatment of osteolysis (bone degradation). To evaluate the performance of the feedback control algorithm when the CDM interacts with obstacles, we perform a set of experiments similar to the real scenario of the CDM interaction with soft and hard lesions during the treatment of osteolysis. In addition, we propose methods for identification of the CDM collisions with soft or hard obstacles using the jacobian information. Results demonstrate successful control of the CDM tip based on the FBG feedback and indicate repeatability and robustness of the proposed method when interacting with unknown obstacles. Copyright © 2018, The Authors. All rights reserved.

关键词： Fiber Bragg gratings

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Relaxed conditions for uniform complete observability and controllability of LTV systems with bounded realizations

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IFAC-PapersOnLine 2017年第1期50卷 3598-3605页

作者： Batista P. Petit N. Silvestre C. Oliveira P. Institute for Systems and Robotics Laboratory for Robotics and Engineering Systems Instituto Superior Técnico Universidade de Lisboa Portugal MINES ParisTech PSL Research University CAS – Centre automatique et systémes 60 bd St Michel Paris 75272 France Department of Electrical and Computer Engineering Faculty of Science and Technology of the University of Macau Macau Department of Mechanical Engineering Instituto Superior Técnico Universidade de Lisboa Portugal

Uniform complete observability and controllability are key concepts for the design of state observers and controllers for linear time-varying systems. While the definitions of these properties are simple, it is more often that not very difficult to show they hold for a particular system. This paper presents alternative simpler sufficient conditions. Examples are shown that illustrate the improvement over previous results, the fact that the new conditions are not necessary, and a practical application. © 2017

关键词： linear time-varying systems uniform complete controllability uniform complete observability

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Underwater multi-robot convoying using visual tracking by detection

arXiv

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arXiv 2017年

作者： Shkurti, Florian Chang, Wei-Di Henderson, Peter Islam, Md Jahidul Higuera, Juan Camilo Gamboa Li, Jimmy Manderson, Travis Xu, Anqi Dudek, Gregory Sattar, Junaed Centre for Intelligent Machines School of Computer Science McGill University Interactive Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota- Twin Cities Element AI

We present a robust multi-robot convoying approach that relies on visual detection of the leading agent, thus enabling target following in unstructured 3-D environments. Our method is based on the idea of tracking-by-detection, which interleaves efficient model-based object detection with temporal filtering of image-based bounding box estimation. This approach has the important advantage of mitigating tracking drift (i.e. drifting away from the target object), which is a common symptom of model-free trackers and is detrimental to sustained convoying in practice. To illustrate our solution, we collected extensive footage of an underwater robot in ocean settings, and hand-annotated its location in each frame. Based on this dataset, we present an empirical comparison of multiple tracker variants, including the use of several convolutional neural networks, both with and without recurrent connections, as well as frequency-based model-free trackers. We also demonstrate the practicality of this tracking-by-detection strategy in real-world scenarios by successfully controlling a legged underwater robot in five degrees of freedom to follow another robot’s independent motion. Copyright © 2017, The Authors. All rights reserved.

关键词： Multipurpose robots

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Sensorless nonlinear control of fed-batch Escherichia coli cultivation bioprocess using the state-dependent approach 12th

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12th Portuguese Conference on Automatic Control, CONTROLO 2016

作者： Iratni, Abdelhamid Araújo, Rui Rastegar, Saeid Mostefai, Mohammed Faculty of Science and Technology Electrical Engineering Department University of Bordj Bou Arreridj El Anasser Algeria Department of Electrical and Computer Engineering Institute for Systems and Robotics University of Coimbra Coimbra Portugal Automatic Control Laboratory of Setif Electrical Engineering Department Faculty of Technology University of Setif1 Sétif Algeria

ISBN: (纸本)9783319436708

The cultivation of Escherichia coli bacteria is widely used by geneticists and biopharmaceuticals to produce medicines and vaccines. In such industries, Bioprocesses are known by their harsh environment and very expensive physical sensors. This paper deals with nonlinear estimation and control of fed-batch Escherichia coli bioprocess. Enhancing the process performance and maximizing its efficiency by optimizing the control of Escherichia coli cultures depends on the availability of appropriate online sensors for the main culture components. In this study, an innovative method for nonlinear estimation and control of bioprocesses is designed and assessed. The new algorithm for control and estimation of Escherichia coli bioprocess states, based on the State-Dependent Riccati Equation technique, is validated by numerical simulation. The results obtained clearly demonstrate the effectiveness of the proposed technique for Biosystems in measuring, monitoring, and control of their natural nonlinear dynamics. © Springer International Publishing Switzerland 2017.

关键词： Extended Kalman filters

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THE TROUBLED LINK BETWEEN GAS AND ELECTRICITY GRIDS

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IEEE SPECTRUM 2016年第6期53卷 11-12页

作者： Fairley, Peter Social Robotics Laboratory University of Freiburg Germany Computer Science Department USTHB University Algiers Algeria

Grid operators in Southern California are on edge in the aftermath of a massive leak from Aliso Canyon, the region's largest natural-gas storage facility. With the storage field shuttered until further notice, inadequate supply to gas-fired power plants in the Los Angeles basin could force rolling blackouts this summer, which begins this month. These might affect "millions of utility customers" for up to 14 days, according to a joint report by state agencies and utilities.

关键词：

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Mathematical models of adaptation in human-robot collaboration

arXiv

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arXiv 2017年

作者： Nikolaidis, Stefanos Forlizzi, Jodi Hsu, David Shah, Julie Srinivasa, Siddhartha Robotics Institute Carnegie Mellon University Human-Computer Interaction Institute Carnegie Mellon University Department of Computer Science National University of Singapore Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology

A robot operating in isolation needs to reason over the uncertainty in its model of the world and adapt its own actions to account for this uncertainty. Similarly, a robot interacting with people needs to reason over its uncertainty over the human internal state, as well as over how this state may change, as humans adapt to the robot. This paper summarizes our own work in this area, which depicts the different ways that probabilistic planning and game-theoretic algorithms can enable such reasoning in robotic systems that collaborate with people. We start with a general formulation of the problem as a two-player game with incomplete information. We then articulate the different assumptions within this general formulation, and we explain how these lead to exciting and diverse robot behaviors in real-time interactions with actual human subjects, in a variety of manufacturing, personal robotics and assistive care settings. Copyright © 2017, The Authors. All rights reserved.

关键词： Game theory

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Reports on the 2017 AAAI spring symposium series

Reports on the 2017 AAAI spring symposium series

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作者： Bohg, Jeannette Boix, Xavier Chang, Nancy Chu, Vivian Churchill, Elizabeth F. Fang, Fei Feldman, Jerome González, Avelino J. Kido, Takashi Lawless, William F. Montaña, José L. Ontañón, Santiago Sinapov, Jivko Sofge, Don Steels, Luc Steenson, Molly Wright Takadama, Keiki Yadav, Amulya Max Planck Institute for Intelligent Systems United States Massachusetts Institute of Technology United States Institute of Robotics and Intelligent Machines Georgia Institute of Technology United States Google United States Harvard University United States University of California Berkeley United States Department of Computer Science University of Central Florida United States Preferred Networks in Japan Japan Paine College in Augusta GA United States Department of Mathematics Statistics and Computer Science University of Cantabria Spain Department of Computer Science Drexel University United States Department of Computer Science University of Texas Austin United States Naval Research Laboratory United States Barcelona Spain Carnegie Mellon University School of Design United States University of Electro-Communications Japan Computer Science Department University of Southern California United States

The Association for the Advancement of Artificial Intelligence, in cooperation with Stanford University's department of computer science, presented the 2017 Spring Symposium Series, held Monday through Wednesday, March 27-29, 2017, on the campus of Stanford University. The eight symposia held were Artificial Intelligence for the Social Good (SS-17-01);Computational Construction Grammar and Natural Language Understanding (SS-17-02);Computational Context: Why It's Important, What It Means, and Can It Be Computed? (SS-17-03);Designing the User Experience of Ma chine-Learning Systems (SS-17-04);Interactive Multisensory Object Perception for Embodied Agents (SS-17-05);Learning from Ob servation of Humans (SS-17-06);science of Intelligence: Com putational Principles of Natural and Artificial Intelligence (SS-17-07);and Well-Being AI: From Machine Learning to Subjectivity-Oriented Computing (SS-17-08). This report, compiled from organizers of the symposia, summarizes the research that took place. © Copyright 2017, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Learning systems

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Retrospective study on phantom for the application of medical image registration in the operating room scenario 12

Retrospective study on phantom for the application of medica...

引用

12th IASTED International Conference on Biomedical Engineering, BioMed 2016

作者： Maris, Bogdan Mihai Fiorini, Paolo Altair Robotics Laboratory Department of Computer Science University of Verona Verona Italy

ISBN: (纸本)9780889869813

This paper presents a phantom study to asses the feasibility of the medical image registration algorithms in the operating room (OR) scenario. The main issues of the registration algorithms in an OR application are, on one hand, the lack of the initial guess of the registration transformation - the images to be registered may be completely independentand, on the other hand, the multimodality of the data. Other requirements to be addressed by the OR registration algorithms are: real-time execution and the necessity of the validation of the results. This work analyzes how, under these requirements, the current state of the art algorithms in medical image registration may be used and shows which direction should be taken when designing a OR navigation system that includes registration as a component.

关键词： Metadata

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