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Scaled Minimum Unscented Multiple Hypotheses Mixing Filter

Scaled Minimum Unscented Multiple Hypotheses Mixing Filter

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American Control Conference

作者： Henrique M. Menegaz Pedro Henrique R.Q.A. Santana Jo?o Y. Ishihara Geovany A. Borges Laboratory of Robotics and Automation (LARA) at the Department of Electrical Engineering University of Brasilia Brasilia DF Brasil Computer Science and Artificial Intelligence Lab Massachusetts Institute of Technology Cambridge MA 02139 USA

ISBN: (纸本)9781479901777

This work brings two new contributions. First, it introduces the Scaled Minimum Unscented Multiple Hypotheses Mixing Filter, a novel filter for hybrid dynamical systems that 1) uses a new minimum set of sigma points along with the scaled unscented transform in a hybrid framework;2) can estimate the Markovian Transition Probability Matrix in real-time;3) features a pruning step that reduces the filter's computational effort and prevents its estimates from being degraded by very unlikely hypotheses;and 4) has a mixing step with merging depth greater than one. Second, we present a result revealing the conservativeness of one of the scaled unscented transform forms.

关键词： hybrid dynamical systems sigma points along scaled unscented transform

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Cooperative AUV Motion Planning using Terrain Information

Cooperative AUV Motion Planning using Terrain Information

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Oceans 2013 - Norway

作者： Andreas J. Hausler Alessandro Saccon Antonio M. Pascoal John Hauser A. Pedro Aguiar Laboratory of Robotics and Systems in Science and Engineering Instituto Superior Tecnico Department of Mechanical Engineering Eindhoven University of Technology Electrical Computer and Energy Engineering Department University of Colorado at Boulder Faculdade de Engenharia University of Porto

ISBN: (纸本)9781479900022

There is widespread interest in the deployment of fleets of marine robots with the potential to roam the oceans freely and collect data at an unprecedented scale. This calls for the development of efficient algorithms for multiple vehicle motion planning that can take directly into account the capabilities of each vehicle as well as the environmental conditions and lend themselves to seamless integration with control and navigation systems. The latter connection is for the most part eschewed in the literature, in spite of the obvious fact that in order for the vehicles to execute the planned motions they must at a later stage navigate with great accuracy and follow the trajectories using control algorithms that take explicitly into account the dynamical constraints of the vehicles involved. Among the methods available for underwater vehicle navigation, terrain-based techniques have recently come to the fore. These techniques avoid the use of overly expensive inertial-like motion sensor units and hold considerable promise for the development of a new breed of affordable long range navigation systems. Motivated by these considerations, we tackle in the present paper the problem of multiple vehicle motion planning by taking explicitly into consideration inter-vehicle collision avoidance, together with a number of criteria that may include simultaneous times of arrival at assigned target points, energy minimization, acoustic communication constraints, and the maximization of terrain information along the vehicle paths (as measured by some appropriate criterion) for terrain-based navigation purposes.

关键词： vehicle motion planning Collision avoidance terrains Autonomous underwater vehicles Data Collection Methods Navigation systems computer algorithms

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Sufficient condition for real-time non-preemptive scheduling of interactive multimedia tasks

Sufficient condition for real-time non-preemptive scheduling...

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International Symposium on Image and Signal Processing and Analysis

作者： Kristijan Lenac Enzo Mumolo Massimiliano Nolich Medical Robotics Laboratory Department of Computer Science at University of Houston Houston TX USA Biomedical Magnetic Resonance Laboratory Washington University St. Louis MO USA Arlington Innovation Center Virginia Polytechnic Institute and State University Arlington VA USA

In many fields, non-preemptive real-time scheduling of a set of periodic tasks with different release times is very important if not even necessary. The number and characteristics of tasks may vary during time, thus imposing to re-evaluate the task schedulability over time. In this paper we propose an efficient sufficient schedulability condition, and we analytically show that if this bound is satisfied, the tasks are real-time schedulable under the non-preemptive Earliest Deadline First and Rate Monotonic policies. We experimentally analyse, by simulation, the bound and show that in practical cases occurring in Multimedia processing its validity remains significant for a very large range of CPU utilisation factors. In the same way we show by simulation that the gap of the proposed condition to the sufficient and necessary condition is negligible if the difference between the periods of periodic tasks is small. Finally, we give a graphical interpretation of the proposed bound and some application examples.

关键词： Streaming media Multimedia communication Signal processing Processor scheduling Real-time systems Schedules Scheduling

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Efficient Target Visiting Path Planning for Multiple Vehicles with Bounded Curvature

Efficient Target Visiting Path Planning for Multiple Vehicle...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Douglas G. Macharet Armando Alves Neto Vilar F. da Camara Neto Mario F. M. Campos Computer Vision and Robotics Laboratory (VeRLab) Computer Science Department Universidade Federal de Minas Gerais MG Brazil. Telecommunication and Mechatronic Department Universidade Federal de S?o Jo?o del-Rei MG Brazil. Funda??o Centro de Análise Pesquisa e Inova??o Tecnológica (FUCAPI) Manaus AM Brazil.

ISBN: (纸本)9781467363563

In this paper, we introduce the k-Dubins Traveling Salesman Problem with Neighborhoods (k-DTSPN), the problem of planning efficient paths among target regions for multiple robots with bounded curvature constraints (Dubins vehicles). This paper presents two approaches for the problem. Firstly, we present a heuristic that solves it in two steps, based on classical techniques found in the literature. Secondly, we employ a Memetic Algorithm to solve both combinatorial and continuous phases of the problem in a combined manner. We provide formal analysis about both proposed techniques, presenting upper bounds to the length of the longest tour. Numerous trials in simulated environments were executed, providing statistical examination of the final results.

关键词： Bounded Curvature k-DTSPN bounded curvature constraints (Dubins vehicles) Cooperating robots vehicle formal analysis Curvature Bounded Path planning Upper bound Heuristics Targets travelling salesman problems

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Towards Extended Virtual Presence of the Therapist in Stroke Rehabilitation

Towards Extended Virtual Presence of the Therapist in Stroke...

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IEEE International Conference on Rehabilitation robotics

作者： Hee-Tae Jung Takeshi Takahashi Yu-Kyong Choe Jennifer Baird Tammie Foster Roderic A. Grupen Laboratory for Perceptual Robotics School of Computer Science University of Massachusetts Amherst Amherst Massachusetts 01003 Department of Communication Disorders University of Massachusetts Amherst Amherst Massachusetts 01003 Physical Therapy Department St. Ambrose University Davenport Iowa 52803 Center for Human Motion Cooley Dickinson Hospital Northampton Massachusetts 01061

ISBN: (纸本)9781467360210

This paper considers the use of humanoid robots in residential stroke care to facilitate both direct and indirect interaction between clients and therapists. Direct interaction is realized through a humanoid-mediated teletherapy where a therapist assesses the motor function of a patient and provides therapy customized to the individual. During the teletherapy sessions, the therapist uses a simple speech interface to program therapeutic behavior and activity. Indirect interaction is implemented by the therapist-programmed artifact where a humanoid robot delivers therapeutic activities to the stroke patient in the absence of the therapist. We propose that such an approach can amplify the outcome per hour of therapist time. Outcome data from the current study indicate that the therapist can successfully provide customized therapy to individuals in residential settings and warrant further study.

关键词： Presence Therapist Stroke

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Color-based hybrid reconstruction for endoscopy

Color-based hybrid reconstruction for endoscopy

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2012 IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops, CVPRW 2012

作者： Tokgozoglu, Haluk N. Meisner, Eric M. Kazhdan, Michael Hager, Gregory D. Computer Science Department Johns Hopkins University United States Computational Interaction and Robotics Laboratory Johns Hopkins University United States

ISBN: (纸本)9781467316118

Three-dimensional (3D) reconstruction of images acquired during endoscopy presents an enormous opportunity for computer vision, however reconstructing geometry from such images is challenging due to lack of features. Shape From Shading (SFS) is an approach to obtain the shape of an object from a single image, but most current methods that are applicable to endoscopy are susceptible to errors caused by surfaces with differing reflectance characteristics. Another weakness of SFS is that while it has high frequency detail information, its shape is inaccurate in the low frequency sense, which makes it difficult to compare to ground truth. Multiview reconstruction (MR), on the other hand, yields reliable shape but lacks details. In this paper, we propose a novel method to perform SFS using a color projection that minimizes intensity variance caused by differing surface characteristics. We then combine the resulting reconstruction with a multiview reconstruction obtained from bundle adjustment, and combine the two reconstructions using an approach inspired by Laplacian surface editing to get a reconstruction that is accurate both in details and overall shape. We compare our results to ground truth to show improvement over existing approaches. © 2012 IEEE.

关键词： Endoscopy

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A new hand exoskeleton device for rehabilitation using a three-layered sliding spring mechanism

A new hand exoskeleton device for rehabilitation using a thr...

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IEEE International Conference on robotics and Automation

作者： Jumpei Arata Keiichi Ohmoto Roger Gassert Olivier Lambercy Hideo Fujimoto Ikuo Wada Department of Computer Science and Engineering Graduate School of Engineering Nagoya Institute of Technology Gokiso-cho Showa-ku Nagoya 466-8555 Japan. Rehabilitation Engineering Laboratory Institute of Robotics and Intelligent Systems ETH Zurich 8092 Zurich Switzerland. Department of Rehabilitation Nagoya City University Hospital 1-Kawasumi MIzuho-cho Mizuho-ku Nagoya 467-8602 Japan.

ISBN: (纸本)9781467356404

In this paper, a new hand exoskeleton device using a three-layered sliding spring mechanism is presented. In contrast to state of the art hand exoskeleton mechanisms (typically link, wire or pneumatically driven), the proposed mechanism is driven through large deformations of the compliant mechanism body. The mechanism can be made compact and lightweight by adequately positioning the compliant elements. In addition, the mechanism is designed to distribute 1-DOF actuated linear motion into three rotational motions of the finger joints, which translate into natural finger flexion/extension. The primary applicatoin of the proposed mechanism is to provide robotic support during physical therapy at the hospital (e.g. Continuous Passive Motion). However, thanks to its light and wearable structure, the proposed device could also be used at home as an assistive/therapeutic device to support activities of daily living. We introduce the mechanical structure of the three-layered sliding spring mechanism, present a prototype implementation as a hand exoskeleton device, and provide a preliminary evaluation.

关键词： three-layered sliding spring mechanism art hand exoskeleton mechanisms compliant mechanism body

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Analysing the reliability of a self-reconfigurable modular robotic system

Analysing the reliability of a self-reconfigurable modular r...

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6th International ICST Conference on Bio-Inspired Model of Network, Information, and Computing Systems, BIONETICS 2011

作者： Murray, Lachlan Liu, Wenguo Winfield, Alan Timmis, Jon Tyrrell, Andy Department of Electronics University of York United Kingdom Bristol Robotics Laboratory University of the West of England United Kingdom Department of Computer Science University of York United Kingdom

ISBN: (纸本)9783642327100

In this paper, the reliability of a collective robotic system is analysed using two different techniques from the field of reliability engineering. The techniques, Failure Mode and Effect Analysis (FMEA) and Fault Tree Analysis (FTA), are used to analyse and compare two variants of a previously developed 'autonomous morphogenesis' controller. The reliability of the controller is discussed and areas where improvements could be made are suggested. The usefulness of FMEA and FTA as aids to the design of fault tolerant collective robotic systems, and the comparative effectiveness of the two approaches, is also discussed. © 2012 Springer-Verlag Berlin Heidelberg.

关键词： Fault tree analysis

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Joint Action Understanding improves Robot-to-Human Object Handover

Joint Action Understanding improves Robot-to-Human Object Ha...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Elena Corina Grigore Kerstin Eder Anthony G. Pipe Chris Melhuish Ute Leonards Department of Computer Science University of Bristol Merchant Venturers Building Bristol BS8 1UB GB Bristol Robotics Laboratory T Block UWE Frenchay Campus Bristol BS16 1QY GB School of Experimental Psychology University of Bristol 12A Priory Road Bristol BS8 1TU GB

ISBN: (纸本)9781467363563

The development of trustworthy human-assistive robots is a challenge that goes beyond the traditional boundaries of engineering. Essential components of trustworthiness are safety, predictability and usefulness. In this paper we demonstrate that the integration of joint action understanding from human-human interaction into the human-robot context can significantly improve the success rate of robot-to-human object handover tasks. We take a two layer approach. The first layer handles the physical aspects of the handover. The robot's decision to release the object is informed by a Hidden Markov Model that estimates the state of the handover. Inspired by human-human handover observations, we then introduce a higher-level cognitive layer that models behaviour characteristic for a human user in a handover situation. In particular, we focus on the inclusion of eye gaze / head orientation into the robot's decision making. Our results demonstrate that by integrating these non-verbal cues the success rate of robot-to-human handovers can be significantly improved, resulting in a more robust and therefore safer system.

关键词： predictability usefulness handover Handover Hidden Markov models Robot TWO-LAYER Joints Joints Action HEAD ON ORIENTATION

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Computing optimal strategies to commit to in stochastic games 26

Computing optimal strategies to commit to in stochastic game...

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26th AAAI Conference on Artificial Intelligence and the 24th Innovative Applications of Artificial Intelligence Conference, AAAI-12 / IAAI-12

作者： Letchford, Joshua MacDermed, Liam Conitzer, Vincent Parr, Ronald Isbell, Charles L. Duke University Department of Computer Science Durham NC 27708 United States Georgia Institute of Technology Robotics and Intelligent Machines Laboratory Atlanta GA 30332 United States

ISBN: (纸本)9781577355687

Significant progress has been made recently in the following two lines of research in the intersection of AI and game theory: (1) the computation of optimal strategies to commit to (Stackelberg strategies), and (2) the computation of correlated equilibria of stochastic games. In this paper, we unite these two lines of research by studying the computation of Stackelberg strategies in stochastic games. We provide theoretical results on the value of being able to commit and the value of being able to correlate, as well as complexity results about computing Stackelberg strategies in stochastic games. We then modify the QPACE algorithm (MacDermed et al. 2011) to compute Stackelberg strategies, and provide experimental results. Copyright © 2012, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Game theory

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