检索结果-内蒙古大学图书馆

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Johannes A. Stork Luciano Spinello Jens Silva Kai O. Arras Social Robotics Laboratory Department of Computer Science University of Freiburg Germany

Human activity recognition is a key component for socially enabled robots to effectively and naturally interact with humans. In this paper we exploit the fact that many human activities produce characteristic sounds from which a robot can infer the corresponding actions. We propose a novel recognition approach called Non-Markovian Ensemble Voting (NEV) able to classify multiple human activities in an online fashion without the need for silence detection or audio stream segmentation. Moreover, the method can deal with activities that are extended over undefined periods in time. In a series of experiments in real reverberant environments, we are able to robustly recognize 22 different sounds that correspond to a number of human activities in a bathroom and kitchen context. Our method outperforms several established classification techniques.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Predicting Micro Air Vehicle Landing Behaviour from Visual Texture

Predicting Micro Air Vehicle Landing Behaviour from Visual T...

引用

IEEE/RSJ International Conference on Intelligent robotics and Systems

作者： John Bartholomew Andrew Calway Walterio Mayol-Cuevas Department of Computer Science University of Bristol UK Bristol Robotics Laboratory UK

ISBN: (纸本)9781467317375

We introduce a framework to predict the landing behaviour of a Micro Air Vehicle (MAV) from the appearance of the landing surface. We approach this problem by learning a mapping from visual texture observed from an onboard camera to the landing behaviour on a set of sample materials. In this case we exemplify our framework by predicting the yaw angle of the MAV after landing. Our framework demonstrates the applicability of established texture classification methods usually tested on stationary camera setups for the more challenging case of textures observed from a MAV. Results for supervised training demonstrate good estimation of the landing behaviour and motivate future work to implement autonomous decision making strategies and other behaviour predictions based on imagery.

关键词： autonomous strategies predictions

来源：评论

学校读者我要写书评

暂无评论

Towards Frame-based Source Code Generation for Heterogeneous Real-time Environments

引用

IFAC Proceedings Volumes 2012年第4期45卷 212-217页

作者： Benjamin Behringer Eric Wagner Department of Computer Science Embedded Robotics Laboratory Saarland University of Applied Sciences (HTWdS) D-66117 Saarbrücken Germany

This work focusses on the source code generation of task and communication patterns for different real-time operating systems. On the basis of reusable frames, an initial approach for implementing distributed applications will be presented. Thereby, distributed real-time systems can be mapped to the operating system framework Hyper Real-time Operating System (HyROS). In this respect, it is of great importance to cleanly separate functional from non-functional properties. Mapping different systems to HyROS can be achieved by using HyFrameLang, a language for frame operations and HyAppLang, an embedded domain specific language. Programming examples for HyFrameLang and HyAppLang are presented for task patterns of PXROS-HR and OSEK/VDX, representative real-time operating systems. Moreover, a short introduction on framing communication aspects is given.

关键词： programming platforms modelling design and implementation of real-time distributed and embedded systems frames templates generative programming

来源：评论

学校读者我要写书评

暂无评论

Planning for Simultaneous Localization and Mapping Using Topological Information

Planning for Simultaneous Localization and Mapping Using Top...

引用

IEEE Latin American robotics Symposium, LARS

作者： Rafael Gonçalves Colares Luiz Chaimowicz Vision and Robotics Laboratory (VeRLab) Computer Science Department Federal University of Minas Gerais Brazil

This paper presents a novel approach for augmenting simultaneous localization and mapping (SLAM) with planning. We use dynamically generated topological maps in conjunction with a utility function to decide which actions the robot should perform in order to improve mapping efficiency. We execute a series of simulated and real experiments in order to study the performance of the proposed approach and results show a significant improvement of mapping efficiency.

关键词： Navigation Simultaneous localization and mapping Robot kinematics Planning Skeleton

来源：评论

学校读者我要写书评

暂无评论

Mobile Robot Localization in Indoor Environments Using Multiple Wireless Technologies

Mobile Robot Localization in Indoor Environments Using Multi...

引用

IEEE Latin American robotics Symposium, LARS

作者： Moisés Lisboa Rodrigues Luiz Filipe M. Vieira Mario F. M. Campos Vision and Robotics Laboratory (VerLab) Computer Science Department Universidade Federal de Minas Gerais Brazil

Localization is a fundamental problem that arises in many potential applications. The use of wireless technologies to perform localization has been a trend in recent years. Most existing approaches use the received signal strength indication (RSSI) to localize. In general, one of the several existing wireless standards such as ZigBee, Bluetooth or Wi-Fi, is chosen as the target standard. In this paper we present an experimental study on the use of multiple wireless technologies to perform mobile robot localization in indoor environments. We use real ZigBee and Wi-Fi compliant devices. In our study we analyse results obtained by fusing robot odometry data with distance estimations between the robot and wireless beacons. These distances are estimated based on the RSSI obtained from radio frequency (RF) signals received from those technologies compliant devices. The extended kalman filter (EKF) is used to fuse these information. We show that robots equipped with multiple wireless interfaces from different technologies can achieve better localization in regions where the coverage of one technology is reduced (e.g., we show that the robot can maintain a reasonable localization accuracy even in areas where Wi-Fi coverage is very poor, due to the presence of Zigbee sensor nodes). We also present a discussion of advantages and challenges of using multiple wireless technologies to perform localization in indoor environments.

关键词： IEEE 802.11 Standards Wireless communication Wireless sensor networks Robot sensing systems Zigbee Mathematical model

来源：评论

学校读者我要写书评

暂无评论

Decentralized active robotic exploration and mapping for probabilistic field classification in environmental sensing

Decentralized active robotic exploration and mapping for pro...

引用

11th International Conference on Autonomous Agents and Multiagent Systems 2012: Innovative Applications Track, AAMAS 2012

作者： Low, Kian Hsiang Chen, Jie Dolan, John M. Chien, Steve Thompson, David R. Department of Computer Science National University of Singapore Singapore Singapore Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 United States Jet Propulsion Laboratory California Institute of Technology Pasadena CA 91109 United States

ISBN: (纸本)9781627481564

A central problem in environmental sensing and monitoring is to classify/label the hotspots in a large-scale environmental field. This paper presents a novel decentralized active robotic exploration (DARE) strategy for probabilistic classification/labeling of hotspots in a Gaussian process (GP)-based field. In contrast to existing state-of-the-art exploration strategies for learning environmental field maps, the time needed to solve the DARE strategy is independent of the map resolution and the number of robots, thus making it practical for in situ, real-time active sampling. Its exploration behavior exhibits an interesting formal trade-off between that of boundary tracking until the hotspot region boundary can be accurately predicted and wide-area coverage to find new boundaries in sparsely sampled areas to be tracked. We provide a theoretical guarantee on the active exploration performance of the DARE strategy: under reasonable conditional independence assumption, we prove that it can optimally achieve two formal cost-minimizing exploration objectives based on the misclassification and entropy criteria. Importantly, this result implies that the uncertainty of labeling the hotspots in a GP-based field is greatest at or close to the hotspot region boundaries. Empirical evaluation on real-world plankton density and temperature field data shows that, subject to limited observations, DARE strategy can achieve more superior classification of hotspots and time efficiency than state-of-the-art active exploration strategies. Copyright © 2012, International Foundation for Autonomous Agents and Multiagent Systems (***). All rights reserved.

关键词： Gaussian distribution

来源：评论

学校读者我要写书评

暂无评论

An Actuated Phantom for Developing and Studying MRI-Guided Interventions in Dynamic Environments

An Actuated Phantom for Developing and Studying MRI-Guided I...

引用

IEEE RAS & EMBS International Conference on Biomedical robotics and Biomechatronics

作者： Nicholas C. von Sternberg Yousef S. Hedayati Habib M. Zaid Erol Yeniaras Eftychios Christoforou Nikolaos V. Tsekos Medical Robotics Lab Department of Computer Science University of Houston University of Texas MD Anderson Cancer Center KIOS Research Center at the University of Cyprus Medical Robotics Laboratory at the Department of Computer Science at the University of Houston

ISBN: (纸本)9781457711992

During early development stages of novel medical technologies the use of cost-effective, reusable and adaptable dynamic models can be an effective precursor to animal studies. This paper describes and demonstrates a novel, MR compatible, actuated phantom which can mimic the global motion of the left ventricular corridor. This prototype has five actuated DoF and is controlled to replicate specific in vivo motion according to pre-collected MR images. Studies conducted demonstrate 21.1% open-loop error in replicating 1.57 mm motions. MR studies in a 1.5T clinical scanner manifested that the system is MR compatible. SNR was measured to be 90.9 ± 15.4 with the motors in motion and 89.4 ± 2.6 with the motors idle. The purpose of this device is to be used as a phantom for the development and validation of image-guided and robot-assisted intracardiac surgeries in the beating heart.

关键词： Imaging Phantom Engines Motor Precocious Development Environments

来源：评论

学校读者我要写书评

暂无评论

Bayesian fusion of thermal and visible spectra camera data for region based tracking with rapid background adaptation

Bayesian fusion of thermal and visible spectra camera data f...

引用

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

作者： Rustam Stolkin David Rees Mohammed Talha Ionut Florescu Intelligent Robotics Laboratory of the School of Computer Science University of Binningham UK Department of Mathematical Science Stevens Institute of Technology USA

This paper presents a method for optimally combining pixel information from an infra-red thermal imaging camera, and a conventional visible spectrum colour camera, for tracking a moving target. The tracking algorithm rapidly re-learns its background models for each camera modality from scratch at every frame. This enables, firstly, automatic adjustment of the relative importance of thermal and visible information in decision making, and, secondly, a degree of “camouflage target” tracking by continuously re-weighting the importance of those parts of the target model that are most distinct from the present background at each frame. Furthermore, this very rapid background adaptation ensures robustness to large, sudden and arbitrary camera motion, and thus makes this method a useful tool for robotics, for example visual servoing of a pan-tilt turret mounted on a moving robot vehicle. The method can be used to track any kind of arbitrarily shaped or deforming object, however the combination of thermal and visible information proves particularly useful for enabling robots to track people. The method is also important in that it can be readily extended for data fusion of an arbitrary number of statistically independent features from one or arbitrarily many imaging modalities.

关键词： Target tracking Image color analysis Cameras Robot vision systems Adaptation models Histograms

来源：评论

学校读者我要写书评

暂无评论

Adaptive control for a cable driven robot arm

Adaptive control for a cable driven robot arm

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Ma, Jianjun Li, Yanan Ge, Shuzhi Sam Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Singapore Department of Automatic Control College of Mechatronics and Automation National University of Defense Technology Changsha 410073 China NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781467312776

The cable-driven mechanism is usually used in robotic systems for the efficient transmission of forces or torques from actuators to the end-effector. However, the control design is challenging for these systems due to the cable compliance and transmission elasticity. In this paper, adaptive control in a cascaded structure is designed for the trajectory tracking of a cable driven robot arm. The desired control input is obtained by developing an adaptation scheme, which does not require the computation of the regressor matrix. Proportional-derivative (PD) control is designed to specify the actual control input such that the trajectory tracking is achieved. Simulation results are provided to show the effectiveness of the proposed method. © 2012 IEEE.

关键词： Cables

来源：评论

学校读者我要写书评

暂无评论

Navigation of uncertain terrain by fusion of information from real and synthetic imagery

引用

Proceedings of SPIE - The International Society for Optical Engineering 2012年 8407卷

作者： Lyons, Damian M. Nirmal, Paramesh Paul Benjamin, D. Fordham University Robotics and Computer Vision Laboratory Bronx NY 10458 United States Pace University Department of Computer Science New York NY 10023 United States

ISBN: (纸本)9780819490858

We consider the scenario where an autonomous platform that is searching or traversing a building may observe unstable masonry or may need to travel over unstable rubble. A purely behaviour-based system may handle these challenges but produce behaviour that works against long-terms goals such as reaching a victim as quickly as possible. We extend our work on ADAPT, a cognitive robotics architecture that incorporates 3D simulation and image fusion, to allow the robot to predict the behaviour of physical phenomena, such as falling masonry, and take actions consonant with long-term goals. We experimentally evaluate a cognitive only and reactive only approach to traversing a building filled with various numbers of challenges and compare their performance. The reactive only approach succeeds only 38% of the time, while the cognitive only approach succeeds 100% of the time. While the cognitive only approach produces very impressive behaviour, our results indicate how much better the combination of cognitive and behaviour-based can be. © 2012 SPIE.

关键词： Robots

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：