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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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User-curated image collections: Modeling and recommendation

User-curated image collections: Modeling and recommendation

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IEEE International Conference on Big Data

作者： Yuncheng Li Tao Mei Yang Cong Jiebo Luo Department of Computer Science Rochester University of Rochester New York USA Chinese Academy of Sciences State Key Laboratory of Robotics Microsoft Research Beijing China

Most state-of-the-art image retrieval and recommendation systems predominantly focus on individual images. In contrast, socially curated image collections, condensing distinctive yet coherent images into one set, are largely overlooked by the research communities. In this paper, we aim to design a novel recommendation system that can provide users with image collections relevant to individual personal preferences and interests. To this end, two key issues need to be addressed, i.e., image collection modeling and similarity measurement. For image collection modeling, we consider each image collection as a whole in a group sparse reconstruction framework and extract concise collection descriptors given the pretrained dictionaries. We then consider image collection recommendation as a dynamic similarity measurement problem in response to user's clicked image set, and employ a metric learner to measure the similarity between the image collection and the clicked image set. As there is no previous work directly comparable to this study, we implement several competitive baselines and related methods for comparison. The evaluations on a large scale Pinterest data set have validated the effectiveness of our proposed methods for modeling and recommending image collections.

关键词： Measurement Feature extraction Dictionaries Search engines Image reconstruction Computational modeling Visualization

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Transient Electronics: Dry Transient Electronic Systems by Use of Materials that Sublime (Adv. Funct. Mater. 12/2017)

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Advanced Functional Materials 2017年第12期27卷

作者： Bong Hoon Kim Jae‐Hwan Kim Luana Persano Suk‐Won Hwang Seungmin Lee Jungyup Lee Yongjoon Yu Yongseon Kang Sang M. Won Jahyun Koo Youn Kyoung Cho Gyum Hur Anthony Banks Jun‐Kyul Song Phillip Won Young Min Song Kyung‐In Jang Daeshik Kang Chi Hwan Lee Dario Pisignano John A. Rogers Departments of Materials Science and Engineering Biomedical Engineering Chemistry Neurological Surgery Mechanical Engineering Electrical Engineering and Computer Science Simpson Querrey Institute and Feinberg Medical School Center for Bio‐Integrated Electronics Northwestern University Evanston IL 60208 USA Department of Materials Science and Engineering Frederick Seitz Materials Research Laboratory University of Illinois at Urbana‐Champaign Urbana IL 61801 USA NEST Istituto Nanoscienze‐CNR Piazza S. Silvestro 12 I‐56127 Pisa Italy KU‐KIST Graduate School of Converging Science and Technology Korea University Seoul 02841 Republic of Korea School of Electrical Engineering and Computer Science Gwangju Institute of Science and Technology (GIST) Gwangju 61005 Republic of Korea Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea Department of Mechanical Engineering Ajou University Suwon 443–749 Republic of Korea Weldon School of Biomedical Engineering School of Mechanical Engineering The Center for Implantable Devices and Birck Nanotechnology Center Purdue University West Lafayette IN 47907 USA Dipartimento di Matematica e Fisica “Ennio De Giorgi” Università del Salento Via Arnesano I‐73100 Lecce Italy

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FLIRT: Interest regions for 2D range data with applications to robot navigation 12

FLIRT: Interest regions for 2D range data with applications ...

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12th International Symposium on Experimental robotics, ISER 2010

作者： Tipaldi, Gian Diego Braun, Manuel Arras, Kai O. Social Robotics Laboratory Department of Computer Science University of Freiburg Germany

ISBN: (纸本)9783642285714

In this paperwe present the Fast Laser InterestRegion Transform (FLIRT), a multi-scale interest region operator for 2D range data. FLIRT combines a detector based on a geodesic curve approximation of the range signal and a descriptor based on a polar histogram of occupancy probabilities. This combination was found to perform best in a set of comparative benchmarks on standard indoor and outdoor data sets. The experiments show that FLIRT features have similar repeatability and matching performance than interest points in the computer vision *** demonstrate how FLIRT in conjunction with RANSAC make up an accurate, highly robust and particularly simple SLAM front-end that can be applied for navigation tasks such as loop closing, global localization, incremental mapping and SLAM. In the experiments carried out in structured, unstructured, indoor, outdoor, highly dynamic and static environments, we find that FLIRT is able to robustly capture the invariant structures in the data, allowing for very high global localization and loop detection probabilities from single scans. As data association with FLIRT scales linearly with themap size, the method is also fast. The evaluation of FLIRT maps using a recently introduced SLAM characterizationmetric further shows that the maps are better or on par with the state of the art while being produced by simpler algorithms. Finally, the presented methods are structurally identical to the algorithms for visual interest points making the unified treatment of range and image data possible. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Indoor positioning systems

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SIMO detection schemes for underwater optical wireless communication under turbulence

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Photonics Research 2015年第3期3卷 48-53页

作者： Weihao Liu Zhengyuan Xu Liuqing Yang School of Information Science and Technology University of Science and Technology of ChinaHefeiChina State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyangChina Key Laboratory of Wireless-Optical Communications Chinese Academy of SciencesHefeiChina Department of Electrical and Computer Engineering Colorado State UniversityFort CollinsColorado 80521USA

In underwater optical wireless communication(UOWC),a channel is characterized by abundant scattering/absorption effects and optical *** previous studies on UOWC have been limited to scattering/absorption ***,experiments in the literature indicate that underwater optical turbulence(UOT)can cause severe degradation of UOWC *** this paper,we characterize an UOWC channel with both scattering/absorption and UOT taken into consideration,and a spatial diversity receiver scheme,say a singleinput–multiple-output(SIMO) scheme,based on a light-emitting-diode(LED) source and multiple detectors is proposed to mitigate deep *** Monte Carlo based statistical simulation method is introduced to evaluate the bit-error-rate performance of the *** is shown that spatial diversity can effectively reduce channel fading and remarkably extend communication range.

关键词： SIMO detection schemes for underwater optical wireless communication under turbulence than

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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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OCEANS

作者： Yu Tian Wei Li Fumin Zhang State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China Department of Computer and Electrical Engineering and Computer Science California State University Bakersfield CA USA School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA

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.

关键词： Chemicals Chemical and biological sensors Position measurement Chemical sensors Trajectory Robots

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Measurement of Biomechanical Interactions at the Stump-Socket Interface in Lower Limb Prostheses

Measurement of Biomechanical Interactions at the Stump-Socke...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： V. Noll J. Wojtusch J. Schuy M. Grimmer P. Beckerle S. Rinderknecht the Institute for Mechatronic Systems in Mechanical Engineering Department of Mechnical Engineering TU Darmstadt Germany the Simulation Systems Optimization and Robotics Group Department of Computer Science TU Darmstadt Germany the Locomotion Laboratory Institute of Sport Science TU Darmstadt Germany

ISBN: (纸本)9781424492695

This paper introduces a novel measuring approach for detecting relative movement between stump and socket in lower limb prostheses. The application of the motion capturing based measuring approach is shown at a single male trans-tibial amputee using a Patella Tendon Bearing (PTB) socket. It further investigates and assesses the feasibility of measuring the relative movement between stump and socket during level walking at different velocities and allocating it to the coinciding loads. Representative results for the two translational degrees of freedom in the sagittal plane are presented and discussed. For the proximodistal (pd) direction, a linear correlation between applied load and relative movement is found, while for the anteroposterior (ap) direction the stump movement is largely influenced by the motion sequence during the respective gait event. Additionally, the effect of walking speed is discussed.

关键词： Biomechanical Interactions Stump-Socket Interface Lower Limb Prostheses

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A web-based infrastructure for recording user demonstrations of mobile manipulation tasks

A web-based infrastructure for recording user demonstrations...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ellis Ratner Benjamin Cohen Mike Phillips Maxim Likhachev Computer Science Department Bowdoin College Brunswick ME RobotWits LLC Pittsburgh PA Grasp Laboratory University of Pennsylvania Philadelphia PA Robotics Institute Carnegie Mellon University Pittsburgh PA

Learning from demonstration (LfD) is a common technique applied to many problems in robotics, such as populating grasp databases, training for reinforcement learning of high-level skill sets and bootstrapping motion planners. While such approaches are generally highly valued, they rely on the often time-consuming process of gathering user demonstrations, and hence it becomes difficult to attain a sizeable dataset. In this paper, we present a tool capable of recording large numbers of high-dimensional demonstrations of mobile manipulation tasks provided by non-experts in the field. Our tool accomplishes this via a web interface that requires no additional software to be installed beyond a web browser, as well as a scalable architecture that is capable of supporting 10 concurrent demonstrators on a single server. Our architecture employs a lightweight simulation environment to reduce unnecessary computations and improve performance. Furthermore, we show how our tool can be used to gather a large set of demonstrations of a mobile manipulation task by leveraging existing crowdsource platforms. The data set collected has been made available to the robotics community. We also present experiments in which we apply demonstrations collected through our infrastructure to teach a robot how to grasp, to teach a robot how to perform dexterous manipulation tasks such as scooping and to accelerate motion planning for full-body manipulation tasks.

关键词： Robots Mobile communication Trajectory Servers Crowdsourcing Software Computational modeling

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Robotic Software System for the Disaster Circumstances: System of Team KAIST in the DARPA robotics Challenge Finals

Robotic Software System for the Disaster Circumstances: Syst...

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IEEE-RAS International Conference on Humanoid Robots

作者： Jeongsoo Lim Inwook Shim Okkee Sim Hyunmin Joe Inhyeok Kim Jungho Lee Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory Department of Electrical Engineering College of Information Science and Technology Korea Advanced Institute of Science and Technology Rainbow Co.

ISBN: (纸本)9781479968862

We developed a software system for operating the humanoid robot DRC-HUBO+ in disaster circumstances that the US Defense Advanced Research Projects Agency suggested. This system was developed under the consideration of the stability of whole system, the systemic software environment for multiple developers, and the recovery routine when the system encounters a seriously abnormal situation. With these design goals, we devised our strategy for three domains: system, vision, and communication. Following the strategy we made two software frameworks (PODO and VPC) and one logical flow of data for remote process management. With this software system, we conducted all Tasks in the DARPA robotics Challenge Finals, and we won the competition.

关键词： Software systems DARPA design target robotics Disasters Religious Missions flow datas

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Editorial

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International Journal of Social robotics 2014年第1期6卷 1-3页

作者： Ge, Shuzhi Sam Khatib, Oussama Social Robotics Laboratory Interactive Digital Media Institute The National University of Singapore Singapore Singapore The Robotics Institute University of Electronic Science and Technology of China Chengdu China Artificial Intelligence Laboratory Department of Computer Science Stanford University Stanford CA United States

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