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19th Scandinavian Conference on Image Analysis, SCIA 2015

作者： Berg, Amanda Öfjäll, Kristoffer Ahlberg, Jörgen Felsberg, Michael Computer Vision Laboratory Department of Electrical Engineering Linköping University Linköping581 83 Sweden Termisk Systemteknik AB Diskettgatan 11 B Linköping583 35 Sweden

ISBN: (纸本)9783319196640

We propose a method for detecting obstacles on the railway in front of a moving train using a monocular thermal camera. The problem is motivated by the large number of collisions between trains and various obstacles, resulting in reduced safety and high costs. The proposed method includes a novel way of detecting the rails in the imagery, as well as a way to detect anomalies on the railway. While the problem at a first glance looks similar to road and lane detection, which in the past has been a popular research topic, a closer look reveals that the problem at hand is previously unaddressed. As a consequence, relevant datasets are missing as well, and thus our contribution is two-fold: We propose an approach to the novel problem of obstacle detection on railways and we describe the acquisition of a novel data set. © Springer International Publishing Switzerland 2015.

关键词： computer vision

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Oximetry: Miniaturized Battery‐Free Wireless Systems for Wearable Pulse Oximetry (Adv. Funct. Mater. 1/2017)

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Advanced Functional Materials 2017年第1期27卷

作者： Jeonghyun Kim Philipp Gutruf Antonio M. Chiarelli Seung Yun Heo Kyoungyeon Cho Zhaoqian Xie Anthony Banks Seungyoung Han Kyung‐In Jang Jung Woo Lee Kyu‐Tae Lee Xue Feng Yonggang Huang Monica Fabiani Gabriele Gratton Ungyu Paik John A. Rogers Department of Materials Science and Engineering Frederick Seitz Materials Research Laboratory University of Illinois at Urbana‐Champaign Urbana IL 61801 USA Departments of Materials Science and Engineering Northwestern University Evanston IL 60208 USA Beckman Institute University of Illinois at Urbana‐Champaign Urbana IL 61801 USA Departments of Biomedical Engineering Northwestern University Evanston IL 60208 USA Department of Electrical and Computer Engineering Frederick Seitz Materials Research Laboratory University of Illinois at Urbana‐Champaign Urbana IL 61801 USA Department of Civil and Environmental Engineering Northwestern University Evanston IL 60208 USA AML Department of Engineering Mechanics Center for Mechanics and Materials Tsinghua University Beijing 100084 China Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 South Korea Departments of Civil and Environmental Engineering Mechanical Engineering Materials Science and Engineering Center for Engineering and Health Skin Disease Research Center Northwestern University Evanston IL 60208 USA Department of Energy Engineering Hanyang University Seoul 133‐791 Republic of Korea Departments of Materials Science and Engineering Biomedical Engineering Chemistry Neurological Surgery Mechanical Engineering Electrical Engineering and Computer Science Simpson Querrey Institute & Feinberg Medical School Center for Bio‐Integrated Electronics Northwestern University Evanston IL 60208 USA

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Imaging and mapping individual target proteins on clinical lymphoma cells by AFM 9

Imaging and mapping individual target proteins on clinical l...

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9th IEEE International Conference on Nano/Molecular Medicine and engineering, NANOMED 2015

作者： Li, Mi Liu, Lianqing Xi, Ning Wang, Yuechao Wang, Wenxue State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Department of Electrical and Computer Engineering Michigan State University East LansingMI48824 United States

ISBN: (纸本)9781467396714

The wide applications of atomic force microscopy (AFM) in the past decade have contributed much to the field of cell biology, providing a lot of novel insights into cellular behaviors at the nanoscale. However, current AFM studies are commonly performed on cell lines cultured in vitro which are quite different from the cells in the human body. Directly investigating the physiological activities on tumor cells from clinical patients is of great significance for helping us to better understand the actual cellular activities taking place in the clinical environment. Under the fluorescence recognition of specific tumor cell surface marker, we have used AFM to investigate the binding affinity and nanoscale distributions of CD20 target protein directly on tumor cells prepared from the bone marrow of lymphoma patients. The results provide a new idea to develop closer links between laboratory study and clinical practice, which may have potential impacts on diverse fields such as drug evaluation and efficacy prediction. © 2015 IEEE.

关键词： Atomic force microscopy

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Control of wheeled mobile robots singularly perturbed by using the slipping and skidding variations: Curvilinear coordinates approach (Part I)

Control of wheeled mobile robots singularly perturbed by usi...

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作者： Peña Fernández, C.A. Cerqueira, J.J.F. Lima, A.M.N. Robotics Laboratory Department of Electrical Engineering Federal University of Bahia Rua Aristides Novis 02 Federação Salvador Bahia40210-630 Brazil Center of Electrical and Computer Engineering Department of Electrical Engineering Federal University of Campina Grande Rua Agripio Veloso 882 Universitário Campina Grande Paraíba58429-970 Brazil

In work reported here, it is proposed a method to reduce the effects of slipping and skidding in WMRs not exactly satisfying kinematic constraints. It is studied the case for WMRs whose kinematic constraints are violated owing to deformability or flexibility. To this end, it is considered the static-state linearization whose robustness will be based on singular perturbation methods and an auxiliary control law that is modeled on a suitable transformation for curvilinear coordinates. In results will be seen that the tracking error converges to small ball of the origin whose radius can be adjusted by a known function that depends on the slipping and skidding variations. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Mobile robots

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Control of wheeled mobile robots singularly perturbed by using the slipping and skidding variations: Curvilinear coordinates approach (Part II)

Control of wheeled mobile robots singularly perturbed by usi...

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作者： Peña Fernández, C.A. Cerqueira, J.J.F. Lima, A.M.N. Robotics Laboratory Department of Electrical Engineering Federal University of Bahia Rua Aristides Novis 02 Federacao Salvador Bahia40210-630 Brazil Center of Electrical and Computer Engineering Department of Electrical Engineering Federal University of Campina Grande Rua Agripio Veloso 882 Universitário Campina Grande Paraíba58429-970 Brazil

关键词： Mobile robots

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Trajectory control of wheeled mobile robots not satisfying ideal velocity constraints by using slipping and skidding variations: A singular perturbation approach 1

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11th Latin-American robotics Symposium on robotics, LARS 2014

作者： Peña Fernández, C.A. Cerqueira, J.J.F. Lima, A.M.N. Robotics Laboratory - Department of Electrical Engineering Federal University of Bahia Rua Aristides Novis 02 Federação Bahia Salvador40210-630 Brazil Center of Electrical and Computer Engineering Department of Electrical Engineering Federal University of Campina Grande Rua Agripio Veloso 882 Universitário Paraíba Campina Grande58429-970 Brazil

ISBN: (数字)9783662481349

ISBN: (纸本)9783662481332

Control of wheeled mobile robots (WMRs) on trajectory tracking problems has given rise to an abundant proposals at recent years. Normally, WMRs are subject to phenomena like sliding, deformability or flexibility, which are strongly associated with violation of velocity constraints. Here, we propose a method to reduce the effects of slipping and skidding in WMRs by using an auxiliary control law whose robustness is based on slipping and skidding variations. It is considered the control law based on state-feedback linearization whose robustness with respect to the deformability of wheel will be based on singular perturbation methods. The tracking problem is studied by using the auxiliary control law proposed in a feedforward loop. The results show that the law proposed is robust to slipping and skidding and that tracking error converges toward zero. © Springer-Verlag Berlin Heidelberg 2015.

关键词： Mobile robots

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Autonomous robotic refueling of an unmanned surface vehicle in varying sea states

Autonomous robotic refueling of an unmanned surface vehicle ...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： G. P. Scott C. G. Henshaw I. D. Walker B. Willimon Spacecraft Engineering Department Robotics researchers with the Naval Research Laboratory Washington DC Department of Electrical and Computer Engineering Clemson University Clemson SC

In an effort to improve sailor safety during underway replenishment on the open sea, a robotic refueling system has been developed to autonomously refuel unmanned surface vehicles (USVs). The Rapid Autonomous Fuel Transfer (RAFT) project has demonstrated a methodology that could be used on the open water to autonomously refuel Navy vessels at significant sea states. The prototype refueling system is made up of two robotic arms: a rigid and precise industrial robotic manipulator to pinpoint the location of the target fuel tank and a novel soft pneumatic arm (Octarm) to provide compliant and safe contact with the USV. At the end of the Octarm, a magnetic end effector was designed (patent pending) to transfer a refueling "puck" from the robotic system to the target fuel tank. Acting under manual control or autonomously through visual tracking techniques, the robotic refueling system was shown to effectively transfer fuel to the target US Navy Sea Fox vessel under sea state 3.25 conditions at the US Army Aberdeen Test Center. The results demonstrate the feasibility of using a robotic solution to allow autonomous shore-to-ship or ship-to-USV refueling. It also illustrates the benefits and challenges of future robotic ship-to-USV refueling operations. This represents the first demonstrated use of a robotic system for fluid transfer to vessels in active sea states. This paper describes the design, development, and demonstration of the prototype autonomous refueling system.

关键词： Fuels Manipulators Service robots Pneumatic systems Robot kinematics Vehicles

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An Analysis of Sampling Effect on Bilateral Teleoperation System Transparency

An Analysis of Sampling Effect on Bilateral Teleoperation Sy...

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第三十四届中国控制会议

作者： Ting YANG Yi Li FU Mahdi TAVAKOI State Key Laboratory of Robotics and Systems Harbin Institute of Technology Department of Electrical and Computer Engineering University of Alberta

ISBN: (纸本)9781467374439

The performances of continuous-time controlled and discrete-time controlled bilateral teleoperation systems are mathematically and experimentally studied and compared. The results show that under stability conditions, continuous-time controlled teleoperation systems have hybrid matrix parameters that are closer to their ideal values than their discrete-time controlled counterparts. This means better force tracking and position tracking performance under continuous-time control, which can lead to better task performance.

关键词： Bilateral teleoperation,hybrid parameters,discrete-time control,continuous-time control,system performance

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FPAA-based Control of Bilateral Teleoperation Systems

FPAA-based Control of Bilateral Teleoperation Systems

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第三十四届中国控制会议

作者： Ting YANG Yi Li FU Mahdi TAVAKOI State Key Laboratory of Robotics and Systems Harbin Institute of Technology Department of Electrical and Computer Engineering University of Alberta

ISBN: (纸本)9781467374439

Discretizing the continuous-time controller of a master-slave teleoperation system can simplify control implementation. However, in teleoperation systems, discrete-time control can cause a performance degradation compared to continuous-time control. In digitally controlled bilateral teleoperation systems, there exist stability-imposed bounds on the gains of the discrete-time controller and the sampling period, and a trade-off between the two. This means that given a sampling period, it is impossible for the discretized controller to have gains above a threshold, which may well be necessary for successful performance of teleoperated tasks requiring highly accurate master-slave position tracking. In a teleoperation system with analog controller, however, stability does not impose any upper bound on the control gains, thus facilitating the performance of tasks that do require highly accurate master-slave position tracking. Inspired by this advantage of analog control, in this paper we develop a Field Programmable Analog Arrays(FPAA) based controller for bilateral teleoperation, which can achieve higher control gain than its discrete-time counterpart. We present the results of a user study measuring the human performance for a task involving flipping a stiff switch through a teleoperation system. We experimentally show that large sampling periods, necessitating low control gains for maintaining stability, lead to unacceptable task performance. We then show that humans can successfully perform the same task with the FPAA-based controller for the teleoperation system.

关键词： Bilateral teleoperation,stability,discrete-time control,FPAA-based control,task performance

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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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