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15th Annual Conference on Advances in Autonomous robotics Systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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Implementation of fuzzy color extractor on NI myRIO embedded device

Implementation of fuzzy color extractor on NI myRIO embedded...

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： David Oswald Wei Li Linwei Niu Jin Zhang Yan Li Jiangchen Yu Fuchun Sun Department of Computer & Electrical Engineering and Computer Science California State University Bakersfield CA USA Department of Computer & Electrical Engineering and Computer Science California State University Bakersfield Liaoning USA Department of Mathematics & Computer Science West Virginia State University USA Robotics State Key Laboratory Chinese Academy of Sciences Shenyang Liaoning China Robotics State Key Laboratory Chinese Academy of Sciences Shenyang China Department of Computer Science and Technology Tsinghua University Beijing China

A fuzzy color extractor is defined by fuzzy rules to extract certain colors based on a color pattern (color seed). In order to extract certain colors from images in real-time, this paper attempts to implement a fuzzy color extractor on NI myRIO embedded device, which features the Xilinx Zynq-7010 all-programmable system including a dual-core ARM® Cortex™-A9 real-time processor and an Artix-7 FPGA with customizable I/O. To implement the fuzzy color extractor on NI myRIO, the fuzzy logic module, real-time module, and FPGA module of Lab VIEW 2013 are required. LabVIEW is a system-design platform and development environment for a visual programming language. First, we define the fuzzy membership functions and fuzzy rules for the fuzzy color extractor using the Fuzzy Logic module. Second, we implement the fuzzy color extractor using Real-Time module. Finally, we implement the fuzzy color extractor a DaNI robot to test the color extraction performance under varying illumination conditions.

关键词： Image color analysis Nickel Robots Cameras Feature extraction Fuzzy logic Real-time systems

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Semi-supervised Low-rank Representation for Image Representation with Label Constraint

Semi-supervised Low-rank Representation for Image Representa...

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2014年国际计算机科学与软件工程学术会议

作者： Chen-Xue YANG Mao YE Jiao BAO Chao ZHANG School of Computer Science and Engineering Center for RoboticsKey Laboratory for NeuroInformation o Marketing Execution Department ITHuaweiChengduP.R.China

LRR is a popular technique for learning an efficient representation of image information and is reported to have excellent performance in machine learning and computer ***,LRR is an unsupervised method and has poor applicability and performance in real scenarios because of lack of image *** this paper,we propose a novel semi-supervised approach for studying the lowest-rank representation among all the coefficient matrices that represent the images as linear combinations of the basis in the given dictionary,called semi-supervised Low-Rank Representation (semi-LRR),which incorporates the label information as an additional hard ***,we develop an optimization process in which the improvement of the discriminating power of the low rank decomposition is presented explicitly by adding the label information constraint.A semi-LRR graph is constructed to represent data structures for semi-supervised learning and the weights of edges in the graph is provided by seeking a low-rank and sparse *** experimental results show the effectiveness of semi-LRR in comparison to the state-of-the-art approaches.

关键词： Low-rank representation Semi-supervised learning Image representation

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Design and implementation of a range-based formation controller for marine robots 1

Design and implementation of a range-based formation control...

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ROBOT 2013: 1st Iberian robotics Conference

作者： Soares, Jorge M. Aguiar, A. Pedro Pascoal, António M. Martinoli, Alcherio Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico Technical University of Lisbon Av. Rovisco Pais Lisboa1049-001 Portugal Department of Electrical and Computer Engineering University of Porto Rua Dr. Roberto Frias Porto4200-465 Portugal LausanneCH-1015 Switzerland

ISBN: (纸本)9783319034126

There is considerable worldwide interest in the use of groups of autonomous marine vehicles to carry our challenging mission scenarios, of which marine habitat mapping of complex, non-structured environments is a representative example. Relative positioning and formation control becomes mandatory in many of the missions envisioned, which require the concerted operation of multiple marine vehicles carrying distinct, yet complementary sensor suites. However, the constraints placed by the underwater medium make it hard to both communicate and localise the vehicles, even in relation to each other, let alone maintain them in a formation. As a contribution to overcoming some of these problems, this paper deals with the problem of keeping an autonomous marine vehicle in a moving triangular formation with respect to two leader vehicles. Simple feedback laws are derived to drive a controlled vehicle to its intended position in the formation using acoustic ranges obtained to the leading vehicles with no knowledge of the formation path. The paper discusses the implementation of this solution in the MEDUSA class of autonomous marine vehicles operated by IST and describes the results of trials with these vehicles exchanging information and ranges over an acoustic network. © Springer International Publishing Switzerland 2014.

关键词： Machine design

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Towards the safety of human-in-the-loop robotics: Challenges and opportunities for safety assurance of robotic co-workers'

Towards the safety of human-in-the-loop robotics: Challenges...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Kerstin Eder Chris Harper Ute Leonards Bristol Robotics Laboratory Bristol UK Department of Computer Science University of Bristol UK Avian Technologies Ltd School of Experimental Psychology University of Bristol UK

The success of the human-robot co-worker team in a flexible manufacturing environment where robots learn from demonstration heavily relies on the correct and safe operation of the robot. How this can be achieved is a challenge that requires addressing both technical as well as human-centric research questions. In this paper we discuss the state of the art in safety assurance, existing as well as emerging standards in this area, and the need for new approaches to safety assurance in the context of learning machines. We then focus on robotic learning from demonstration, the challenges these techniques pose to safety assurance and outline opportunities to integrate safety considerations into algorithms “by design”. Finally, from a human-centric perspective, we stipulate that, to achieve high levels of safety and ultimately trust, the robotic co-worker must meet the innate expectations of the humans it works with. It is our aim to stimulate a discussion focused on the safety aspects of human-in-the-loop robotics, and to foster multidisciplinary collaboration to address the research challenges identified.

关键词： Safety Collaboration Runtime Monitoring Standards Service robots

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Efficient incremental map segmentation in dense RGB-D maps

Efficient incremental map segmentation in dense RGB-D maps

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ross Finman Thomas Whelan Michael Kaess John J. Leonard Computer Science and Artificial Intelligence Laboratory (CSAIL) Massachusetts Institute of Technology (MIT) Cambridge MA USA Department of Computer Science National University of Ireland Maynooth Ireland Robotics Institute Carnegie Mellon University Pittsburgh PA USA

In this paper we present a method for incrementally segmenting large RGB-D maps as they are being created. Recent advances in dense RGB-D mapping have led to maps of increasing size and density. Segmentation of these raw maps is a first step for higher-level tasks such as object detection. Current popular methods of segmentation scale linearly with the size of the map and generally include all points. Our method takes a previously segmented map and segments new data added to that map incrementally online. Segments in the existing map are re-segmented with the new data based on an iterative voting method. Our segmentation method works in maps with loops to combine partial segmentations from each traversal into a complete segmentation model. We verify our algorithm on multiple real-world datasets spanning many meters and millions of points in real-time. We compare our method against a popular batch segmentation method for accuracy and timing complexity.

关键词： Silicon Complexity theory Image segmentation Real-time systems Timing Simultaneous localization and mapping

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Optimal Sensor Trajectories for Mobile Underwater Target Positioning with Noisy Range Measurements

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IFAC Proceedings Volumes 2014年第3期47卷 5139-5144页

作者： D. Moreno-Salinas A.M. Pascoal J. Aranda Department of Computer Science and Automatic Control National University Distance Education (UNED) Spain Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico (IST) University of Lisbon Portugal Adjunct Scientist National Institute of Oceanography (NIO) Goa India

There is considerable interest in reducing the number of sensors/beacons involved in underwater positioning/navigation systems since this has the potential to drastically reduce the costs and the time spent in deploying, calibrating, and recovering acoustic equipment at sea. Motivated by these considerations, we address the problem of single underwater target positioning based on acoustic range measurements between the target and a moving sensor at the sea surface. In particular, the goal of the present work is to compute optimal geometric trajectories for the surface sensor that will, in a well defined sense, maximize the range-related information available for underwater target positioning and tracking. To this effect, the Fisher Information Matrix and the maximization of its determinant are used to determine the sensor trajectory that yields the most accurate positioning of the target, while the latter describes a preplanned trajectory. It is shown that the optimal trajectory depends on the velocity of the sensor, the velocity and trajectory of the target, the sampling time between measurements, the measurement error model, and the number of measurements used to compute the FIM. Simulation examples illustrate the key results derived.

关键词： Autonomous underwater vehicles Fisher information matrix Cramer-Rao Bound optimization positioning single tracker

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Emotion analysis of children's stories with context information

Emotion analysis of children's stories with context informat...

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Asia-Pacific Signal and Information Processing Association Annual Summit and Conference (APSIPA)

作者： Zhengchen Zhang Minghui Dong Shuzhi Sam Ge Human Language Technology Department Institute for Infocomm Research (I2R) A *STAR Singapore Robotics Institute University of Electronic Science and Technology of China Chengdu China Department of Electrical and Computer Engineering and Social Robotics Laboratory National University of Singapore Singapore

ISBN: (纸本)9781479942503

In this paper, we analyse the emotion of children's stories in sentence level by considering the context information. We demonstrate that the emotion of a sentence is not only dependent on its content, but also affected by its neighbours in a story. A Hidden Markov Model (HMM) based method is proposed to model the emotion sequence and to detect whether a sentence is neutral or not. We show the important features for emotion detection by studying a children's story corpus. An empirical evaluation is conducted to investigate the efficiency of the model. The results demonstrate that the proposed method can achieve competitive performance with the state-of-the-art methods, and it is affected more slightly by the training set than traditional classification methods. Classifier fusion is applied to combine different methods to achieve better results.

关键词： Hidden Markov models Training Accuracy Support vector machines Testing Feature extraction Context

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Guest editorial : Special issue on progress and open problems in motion planning and navigation for humanoids

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International Journal of Humanoid robotics 2014年第2期11卷

作者： Stasse, Olivier Bennewitz, Maren LAAS-CNRS Université de Toulouse 7 av. du Colonel Roche F-31400 Toulouse France Humanoid Robotics Laboratory University of Freiburg Department of Computer Science Georges-Koehler-Allee 74 D-79110 Freiburg Germany

Humanoid robots have become more and more popular, which is illustrated by the increasing number of available platforms and the huge number of high-quality publications in the research area of navigation and motion planning for humanoids. Recently, a lot of progress has been made in the areas of 3D perception, efficient environment representation, fast collision checking, as well as motion planning for navigation and manipulation with humanoids, also under uncertainty and real-time constraints. All these techniques work well for their independent application scenario, however, currently no system exists that combines the individual approaches. Thus, we are still far from the deployment of a humanoid robot in the real world. The goal of this special issue is to identify gaps in the research directions and to discuss which aspect need to be considered for combining the different approaches so as to enable humanoids to reliably act and navigate in real environments for an extended period of time. © 2014 World Scientific Publishing Company.

关键词： Motion planning

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Flexible triangular formation keeping of marine robotic vehicles using range measurements 19

Flexible triangular formation keeping of marine robotic vehi...

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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Rego, Francisco Soares, Jorge M. Pascoal, António Aguiar, A. Pedro Jones, Colin Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

ISBN: (纸本)9783902823625

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation. © IFAC.

关键词： Vehicle performance

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