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IEEE International Conference on robotics and Automation (ICRA)

作者： Chad C. Kessens Daniel C. Smith Philip R. Osteen United States Army Research Laboratory MD USA University of Maryland College Park MD USA US Army Research Laboratory USA Department of Computer Science and Electrical Engineering West Virginia University Morgantown WV USA

Increasingly, robots are being applied to challenges in dynamic, unstructured environments including urban search and rescue (USAR), planetary exploration, and military missions. During the execution of these missions, the robot may unintentionally tip over, rendering it unable to move normally. The ability to self-right and recover in such situations is crucial to mission completion and safe robot recovery. However, to date, nearly all self-righting solutions have been point solutions, each designed for a specific platform. As a first step toward a generic solution, this paper presents a framework for analyzing the self-righting capabilities of any generic robot on sloped planar surfaces. Based on the planar assumption, interactions with the ground can be defined entirely in terms of the robot's convex hull. Motion of arms, legs, or other appendages may change the convex hull shape and/or center of mass position, affecting the robot's orientation. Our framework for solving this problem can be summarized as follows: first, for each stable conformation, we analyze the position of the center of mass relative to the vertical projection of the convex hull face in contact with the ground. From this, we develop a conformation space map, defining stable state sets as nodes and the conformations where discontinuous state changes occur as transitions. Finally, we convert this map into a directed graph, and assign costs to the transitions according to changes in potential energy between states. Based upon the ability to traverse this directed graph to the goal state, one can analyze a robot's ability to self-right. To illustrate each step in our framework, we use a simple two-dimensional robot with a one degree of freedom arm, and then show a case study of iRobot's 510 Packbot®. Ultimately, we project that this framework will be useful both for designing robots with the ability to self-right and for planning joint movements to achieve efficient, autonomous self-righting behav

关键词： Joints Potential energy Educational robots Face Stability analysis Service robots

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Towards an ontology for autonomous robots

Towards an ontology for autonomous robots

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25th IEEE/RSJ International Conference on robotics and Intelligent Systems, IROS 2012

作者： Paull, Liam Severac, Gaetan Raffo, Guilherme V. Angel, Julian Mauricio Boley, Harold Durst, Phillip J. Gray, Wendell Habib, Maki Nguyen, Bao Ragavan, S. Veera Saeedi G., Sajad Sanz, Ricardo Seto, Mae Stefanovski, Aleksandar Trentini, Michael Li, Howard COBRA Department of Electrical and Computer Engineering University of New Brunswick Fredericton NB E3B 5A3 Canada ONERA-University of Toulouse France Department of Automation and Systems Federal University of Santa Catarina Brazil Department of Computer Engineering Pontificia Universidad Javeriana Bogot Colombia National Research Council Canada US Army ERDC 3909 Halls Ferry Road Vicksburg MS 39180 United States Mechanical Engineering Department School of Sciences and Engineering American University in Cairo New Cairo Egypt Defence Research and Development Canada-CORA Ottawa ON Canada Monash University Sunway Campus Australia Systems Engineering and Automatic Control Autonomous Systems Laboratory Research Group Universidad Politcnica de Madrid Madrid Spain Defence Research and Development Canada-Atlantic Dartmouth NS Canada Department of Computer Science George Washington University United States Defence R and D Canada-Suffield PO Box 4000 Station Main Medicine Hat AB T1A 8K6 Canada

ISBN: (纸本)9781467317375

The IEEE RAS Ontologies for robotics and Automation Working Group is dedicated to developing a methodology for knowledge representation and reasoning in robotics and automation. As part of this working group, the Autonomous Robots sub-group is tasked with developing ontology modules for autonomous robots. This paper describes the work in progress on the development of ontologies for autonomous systems. For autonomous systems, the focus is on the cooperation, coordination, and communication of multiple unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), and autonomous underwater vehicles (AUVs). The ontologies serve as a framework for working out concepts of employment with multiple vehicles for a variety of operational scenarios with emphasis on collaborative and cooperative missions. © 2012 IEEE.

关键词： Ontology

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Dominant sources of variability in passive walking

Dominant sources of variability in passive walking

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IEEE International Conference on robotics and Automation (ICRA)

作者： Thrishantha Nanayakkara Katie Byl Hongbin Liu Xiaojing Song Tim Villabona Division of Engineering Kings College University of London London UK Electrical and Computer Engineering Department University of California Santa Barbara CA USA Tim Villabona is with the Research Laboratory of Electronics Massachusetts Institute of Technology Cambridge MA USA

This paper investigates possible sources of variability in the dynamics of legged locomotion, even in its most idealized form. The rimless wheel model is a seemingly deterministic legged dynamic system, popular within the legged locomotion community for understanding basic collision dynamics and energetics during passive phases of walking. Despite the simplicity of this legged model, however, experimental motion capture data recording the passive step-to-step dynamics of a rimless wheel down a constant-slope terrain actually demonstrate significant variability, providing strong evidence that stochasticity is an intrinsic-and thus unavoidable-property of legged locomotion that should be modeled with care when designing reliable walking machines. We present numerical comparisons of several hypotheses as to the dominant source(s) of this variability: 1) the initial distribution of the angular velocity, 2) the uneven profile of the leg lengths and 3) the distribution of the coefficients of friction and restitution across collisions. Our analysis shows that the 3rd hypothesis most accurately predicts the noise characteristics observed in our experimental data while the 1st hypothesis is also valid for certain contexts of terrain friction. These findings suggest that variability due to ground contact dynamics, and not simply due to geometric variations more typically modeled in terrain, is important in determining the stochasticity and resulting stability of walking robots. Although such ground contact variability might be an expected result in field robotics on significantly rough terrain, we again note our experimental data applies seemingly deterministic-looking terrains: our results suggest that stochastic ground collision models should play an important role in the analysis and optimization of dynamic performance and stability in robot walking.

关键词： Legged locomotion Wheels Equations Friction Energy loss Mathematical model

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Adaptive and nonlinear techniques for visibility improvement of hazy images

Adaptive and nonlinear techniques for visibility improvement...

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7th International Symposium on Visual Computing, ISVC 2011

作者： Arigela, Saibabu Asari, Vijayan K. Computer Vision and Wide Area Surveillance Laboratory Department of Electrical and Computer Engineering University of Dayton Dayton OH United States

In outdoor video processing systems, the image frames of a video sequence are usually subjected to poor visibility and contrast in hazy or foggy weather conditions. A fast and efficient technique to improve the visibility and contrast of digital images captured in such environments is proposed in this paper. The image enhancement algorithm constitutes three processes viz. dynamic range compression, local contrast enhancement and nonlinear color restoration. We propose a nonlinear function to modify the wavelet coefficients for dynamic range compression and uses an adaptive contrast enhancement technique in wavelet domain. A nonlinear color restoration process based on the chromatic information of the input image frame is applied to convert the enhanced intensity image back to a color image. We also propose a model based image restoration approach which uses a new nonlinear transfer function on luminance component to obtain the transmission map. Experimental results show better visibility compared to those images enhanced with other state of art techniques. © 2011 Springer-Verlag.

关键词： Visibility

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A probabilistic framework to detect buildings in aerial and satellite images

A probabilistic framework to detect buildings in aerial and ...

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作者： Sirmacek, Beril Unsalan, Cem Wessling 82234 Germany Computer Vision Research Laboratory Department of Electrical and Electronics Engineering Yeditepe University Istanbul 34755 Turkey

Detecting buildings from very high resolution (VHR) aerial and satellite images is extremely useful in map making, urban planning, and land use analysis. Although it is possible to manually locate buildings from these VHR images, this operation may not be robust and fast. Therefore, automated systems to detect buildings from VHR aerial and satellite images are needed. Unfortunately, such systems must cope with major problems. First, buildings have diverse characteristics, and their appearance (illumination, viewing angle, etc.) is uncontrolled in these images. Second, buildings in urban areas are generally dense and complex. It is hard to detect separate buildings from them. To overcome these difficulties, we propose a novel building detection method using local feature vectors and a probabilistic framework. We first introduce four different local feature vector extraction methods. Extracted local feature vectors serve as observations of the probability density function (pdf) to be estimated. Using a variable-kernel density estimation method, we estimate the corresponding pdf. In other words, we represent building locations (to be detected) in the image as joint random variables and estimate their pdf. Using the modes of the estimated density, as well as other probabilistic properties, we detect building locations in the image. We also introduce data and decision fusion methods based on our probabilistic framework to detect building locations. We pick certain crops of VHR panchromatic aerial and Ikonos satellite images to test our method. We assume that these crops are detected using our previous urban region detection method. Our test images are acquired by two different sensors, and they have different spatial resolutions. Also, buildings in these images have diverse characteristics. Therefore, we can test our methods on a diverse data set. Extensive tests indicate that our method can be used to automatically detect buildings in a robust and fast manner in Ikonos

关键词： Land use

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Towards an Ontology for Autonomous Robots

Towards an Ontology for Autonomous Robots

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2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Liam Paull Gaetan Severac Guilherme V. Raffo Julian Mauricio Angel Harold Boley Phillip J Durst Wendell Gray Maki Habib Bao Nguyen S. Veera Ragavan Sajad Saeedi G. Ricardo Sanz Mae Seto Aleksandar Stefanovski Michael Trentini Howard Li COBRA Department of Electrical and Computer Engineering University of New Brunswick Fredericton Canada ONERA - University of Toulouse France Department of Automation and Systems Federal University of Santa Catarina Brazil Department of Computer Engineering Pontificia Universidad Javeriana Bogot Colombia National Research Council Canada US Army ERDC Vicksburg Ms Mechanical Engineering Department School of Sciences and Engineering The American University in Cairo New Cairo Egypt Defence Research and Development Canada - CORA Ottawa ON Canada Monash University Sunway Campus Systems Engineering and Automatic Control Autonomous Systems Laboratory research group Universidad Politcnica de Madrid Madrid Spain Defence Research and Development Canada - Atlantic NS Canada Department of Computer Science The George Washington University Defence R&D Canada - Suffield Medicine Hat AB Canada

ISBN: (纸本)9781467317375

关键词： Ontologies Robot kinematics Sensors Planning Mobile robots Navigation

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Prolog to the section on optics and photonics

Prolog to the section on optics and photonics

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作者： Willner, Alan E. Byer, Robert L. Chang-Hasnain, Constance J. Forrest, Stephen R. Kressel, Henry Kogelnik, Herwig Tearney, Guillermo J. Townes, Charles H. Zervas, Michalis N. Department of Electrical Engineering University of Southern California Los Angeles CA 90089-2565 United States E.L. Ginzton Laboratory Stanford University Stanford CA 94305-4088 United States Electrical Engineering and Computer Science Department University of California Berkeley Berkeley CA 94720-1770 United States Vice President for Research Ann Arbor MI 48109-1340 United States Warburg Pincus LLC New York NY 10017 United States Bell Labs Alcatel-Lucent Holmdel NJ 07733-0400 United States Harvard Medical School Boston MA 02114 United States Graduate School University of California Berkeley Berkeley CA 94720 United States Optoelectronics Research Centre University of SouthamptonHighfield Hampshire SO17 1BJ United Kingdom

A section of the Centennial Special Issue of the proceedings of the IEEE, entitled 'Optics and Photonics', contains an article in which different topics are included. Many technical advances are measured in terms of orders of magnitude and an ever-growing list exists of industries that are critically enabled by these dramatic advances. Over the past several decades, optics and photonics have cemented themselves as key enabling technologies for a myriad of industries. The paper in this section tries to capture some of the excitement of this field, and it is divided into several different subsections, including: lasers, materials and devices, communications, bioimaging, displays, manufacturing, and the evolution of the photonics industry. Each subsection is divided further into subsections, introduction: context and importance of the topic, past: key past milestones and perspectives, present: state of the art and current thinking, and future: speculative vision into the future.

关键词： Display devices

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Residual muscle contraction and prosthetic socket interface force in a transtibial amputee upon the osteomyoplastic procedure - A preliminary study

Residual muscle contraction and prosthetic socket interface ...

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2012 ISSNIP Biosignals and Biorobotics Conference: Biosignals and robotics for Better and Safer Living, BRC 2012

作者： Mai, Anh Commuri, Sesh Day, Jonathan Dionne, Carol Ertl, William J. J. School of Electrical and Computer Engineering University of Oklahoma Norman OK 73019 United States Intelligent and Robotic Systems United States Department of Orthopaedic Surgery and Rehabilitation Orthotic/Prosthetic Section University of Oklahoma Health Sciences Center Oklahoma City OK 73117 United States Mechanical Therapy Research Laboratory Department of Rehabilitation Sciences United States College of Allied Health University of Oklahoma Health Sciences Center Oklahoma City OK 73117 United States Department of Orthopedic Surgery and Rehabilitation United States College of Medicine University of Oklahoma Health Sciences Center Oklahoma City OK 73117 United States

ISBN: (纸本)9781467324762

In the Transtibial Osteomyoplastic Amputation (TOA) technique, the fibular end and the tibial end are connected to each other by a bone bridge in order to stabilize the bony anatomy of the residual limb. In addition, during the myoplasty procedure, the ends of the muscles are secured to one another and to the bony foundations to re-establish the length-tension relationship. In contrast to conventional amputation techniques in which the muscles are cut and the length-tension relationship is lost overtime, the TOA procedure is anticipated to allow muscles to actively contract and return blood to the heart more efficiently [1]. In this study, the outcomes of the TOA procedure were investigated by measuring electromyography signals from the tibialis anterior and gastrocnemius muscles on the amputated leg as well as the interface force inside the prosthetic socket at the end-bearing level of a transtibial amputee. The subject had undergone the TOA procedure and the study was conducted while the subject walked on different terrain (level ground with different speeds, stairs, and incline) with two different kinds of prosthetic feet. Preliminary results showed that (1) the residual muscles appeared to be active while walking on various terrain, and (2) the activation level of the residual tibialis anterior muscle was found to be related to the force variation inside the prosthetic socket. © 2012 IEEE.

关键词： Muscle

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Generalized Fuzzy C-Means Clustering with Improved Fuzzy Partitions and Shadowed Sets

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International Scholarly research Notices 2012年第1期2012卷

作者： Seyed Mohsen Zabihi Mohammad-R Akbarzadeh-T Machine Vision Laboratory Computer Engineering Department Ferdowsi University of Mashhad Mashhad *** Iranum.ac.ir Departments of Electrical Engineering and Computer Engineering Ferdowsi University of Mashhad Mashhad *** Iranum.ac.ir

Clustering involves grouping data points together according to some measure of similarity. Clustering is one of the most significant unsupervised learning problems and do not need any labeled data. There are many clustering algorithms, among which fuzzy c-means (FCM) is one of the most popular approaches. FCM has an objective function based on Euclidean distance. Some improved versions of FCM with rather different objective functions are proposed in recent years. Generalized Improved fuzzy partitions FCM (GIFP-FCM) is one of them, which uses L p norm distance measure and competitive learning and outperforms the previous algorithms in this field. In this paper, we present a novel FCM clustering method with improved fuzzy partitions that utilizes shadowed sets and try to improve GIFP-FCM in noisy data sets. It enhances the efficiency of GIFP-FCM and improves the clustering results by correctly eliminating most outliers during steps of clustering. We name the novel fuzzy clustering method shadowed set-based GIFP-FCM (SGIFP-FCM). Several experiments on vessel segmentation in retinal images of DRIVE database illustrate the efficiency of the proposed method.

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RANSAC-based Training Data Selection for speaker state recognition

RANSAC-based Training Data Selection for speaker state recog...

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12th Annual Conference of the International Speech Communication Association, INTERSPEECH 2011

作者： Bozkurt, Elif Erzin, Engin Erdem, Çiǧdem Eroǧlu Erdem, A.Tanju Multimedia Vision and Graphics Laboratory Koç University Istanbul Turkey Department of Electrical and Electronics Engineering Bahçeşehir University Istanbul Turkey Department of Electrical and Computer Engineering Özyeǧin University Istanbul Turkey

We present a Random Sampling Consensus (RANSAC) based training approach for the problem of speaker state recognition from spontaneous speech. Our system is trained and tested with the INTERSPEECH 2011 Speaker State Challenge corpora that includes the Intoxication and the Sleepiness Sub-challenges, where each sub-challenge defines a two-class classification task. We aim to perform a RANSAC-based training data selection coupled with the Support Vector Machine (SVM) based classification to prune possible outliers, which exist in the training data. Our experimental evaluations indicate that utilization of RANSAC-based training data selection provides 66.32 % and 65.38 % unweighted average (UA) recall rate on the development and test sets for the Sleepiness Sub-challenge, respectively and a slight improvement on the Intoxication Sub-challenge performance. Copyright © 2011 ISCA.

关键词： Support vector machines

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