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Robots for humanity: User-centered design for assistive mobile manipulation

Robots for humanity: User-centered design for assistive mobi...

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

作者： Chen, Tiffany L. Ciocarlie, Matei Cousins, Steve Grice, Phillip Hawkins, Kelsey Hsiao, Kaijen Kemp, Charles C. King, Chih-Hung Lazewatsky, Daniel A. Leeper, Adam Nguyen, Hai Paepcke, Andreas Pantofaru, Caroline Smart, William D. Takayama, Leila Healthcare Robotics Lab Georgia Institute of Technology Atlanta GA United States Media and Machines Laboratory Department of Computer Science and Engineering Washington University in St. Louis St. Louis MO United States Willow Garage Inc. Menlo Park CA United States

ISBN: (纸本)9781467317375

The Robots for Humanity project aims to enable people with severe motor impairments to interact with their own bodies and their environment through the use of an assistive mobile manipulator, thereby improving their quality of life. Assistive mobile manipulators (AMMs) are mobile robots that physically manipulate the world in order to provide assistance to people with disabilities. They present an exciting frontier for assistive technology, as they can operate away from the user, have a large dexterous workspace (due to their mobility), and not directly encumber their users. The cornerstone of this project is an ongoing, interactive design process with a quadriplegic user, Henry Evans, and his wife and primary caregiver, Jane Evans. Henry has been enabled, through the use of a PR2 robot, to scratch his own face, shave, fetch a towel from his kitchen, and hand out Halloween candy to trick-ortreating children at a local mall. © 2012 IEEE.

关键词： Manipulators

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Reports of the AAAI 2011 conference workshops

Reports of the AAAI 2011 conference workshops

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作者： Agmon, Noa Agrawal, Vikas Aha, David W. Aloimonos, Yiannis Buckley, Donagh Doshi, Prashant Geib, Christopher Grasso, Floriana Green, Nancy Johnston, Benjamin Kaliski, Burt Kiekintveld, Christopher Law, Edith Lieberman, Henry Mengshoel, Ole J. Metzler, Ted Modayil, Joseph Oard, Douglas W. Onder, Nilufer O'Sullivan, Barry Pastra, Katerina Precup, Doina Ramachandran, Sowmya Reed, Chris Sariel-Talay, Sanem Selker, Ted Shastri, Lokendra Singh, Satinder Smith, Stephen F. Srivastava, Siddharth Sukthankar, Gita Uthus, David C. Williams, Mary-Anne Department of Computer Science University of Texas at Austin United States Center for Knowledge Driven Information Systems Infosys Labs India Adaptive Systems Section Naval Research Laboratory Washington DC United States Department of Computer Science University of Maryland College Park United States EMC's Center of Excellence in Ireland Research Europe at EMC Ireland Department of Computer Science University of Georgia United States School of Informatics University of Edinburgh United Kingdom Department of Computer Science University of Liverpool United Kingdom Department of Computer Science University of North Carolina Greensboro United States Faculty of Engineering and Information Technology University of Technology Sydney Australia VeriSign Inc. United States Department of Computer Science University of Texas at El Paso United States Machine Learning Department Carnegie Mellon University United States Massachusetts Institute of Technology Media Laboratory United States Carnegie Mellon University's Silicon Valley Campus United States Darrell W. Hughes Program for Religion and Science Dialogue Oklahoma City University United States Department of Computing Science University of Alberta Canada College of Information Studies Institute for Advanced Computer Studies University of Maryland College Park United States Department of Computer Science Michigan Technological University United States Department of Computer Science University College Cork Ireland Cognitive Systems Research Insitute Athens Greece School of Computer Science McGill University Canada Stottler Henke Inc. United States School of Computing University of Dundee United Kingdom Department of Computer Engineering Istanbul Technical University Turkey Convergence Lab Infosys Technologies Ltd. United States Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor United States Robotics Institute Carnegie Mellon University United States University of Wisconsin

The AAAI-11 workshop program was held Sunday and Monday, August 7-18, 2011, at the Hyatt Regency San Francisco in San Francisco, California USA. The AAAI-11 workshop program included 15 workshops covering a wide range of topics in artificial intelligence. The titles of the workshops were Activity Context Representation: Techniques and Languages;Analyzing Microtext;Applied Adversarial Reasoning and Risk Modeling;Artificial Intelligence and Smarter Living: The Conquest of Complexity;Artifiicial Intelligence for Data Center Management and Cloud Computing;Automated Action Planning for Autonomous Mobile Robots;Computational Models of Natural Argument;Generalized Planning;Human Computation;Human-Robot Interaction in Elder Care;Interactive Decision Theory and Game Theory, 2010;Language-Action Tools for Cognitive Artificial Agents: Integrating Vision, Action, and Language;Lifelong Learning from Sensorimotor Experience;Plan, Activity, and Intent Recognition;and Scalable Integration of Analytics and Visualization. This article presents short summaries of those events. Copyright © 2012, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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Robots for Humanity: User-Centered Design for Assistive Mobile Manipulation

Robots for Humanity: User-Centered Design for Assistive Mobi...

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IEEE/RSJ International Conference on Intelligent robotics and Systems

作者： Tiffany L. Chen Matei Ciocarlie Steve Cousins Phillip Grice Kelsey Hawkins Kaijen Hsiao Charles C. Kemp Chih-Hung King Daniel A. Lazewatsky Adam Leeper Hai Nguyen Andreas Paepcke Caroline Pantofaru William D. Smart Leila Takayama Healthcare Robotics Lab Georgia Institute of Technology Atlanta GA USA. Willow Garage Inc. Menlo Park CA USA. Media and Machines Laboratory Department of Computer Science and Engineering Washington University in St. Louis St. Louis MO USA.

ISBN: (纸本)9781467317375

关键词： AMM PR2 primary

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Accurate Evaluation of a Distance Function for Optimization-based Motion Planning

Accurate Evaluation of a Distance Function for Optimization-...

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IEEE/RSJ International Conference on Intelligent robotics and Systems

作者： Youngeun Lee Sébastien Lengagne Abderrahmane Kheddar Young J. Kim Department of Computer Science and Engineering at Ewha Womans University in Seoul Korea Karlsruhe Institute of Technology Institute for Anthropomatics Humanoids and Intelligence Systems Lab Adenauerring 2 76131 Karlsruhe Germany CNRS-AIST Joint Robotics Laboratory (JRL) UMI3218/CRT Tsukuba Japan and also with the CNRS-UM2 LIRMM Interactive Digital Human group Montpellier France.

ISBN: (纸本)9781467317375

We propose three novel methods to evaluate a distance function for robotic motion planning based on semi-infinite programming (SIP) framework;these methods include golden section search (GSS), conservative advancement (CA) and a hybrid of GSS and CA. The distance function can have a positive and a negative value, each of which corresponds to the Euclidean distance and penetration depth, respectively. In our approach, each robot's link is approximated and bounded by a capsule shape, and the distance between some selected link pairs is continuously evaluated along the joint's trajectory, provided by the SIP solver, and the global minimum distance is found. This distance is fed into the SIP solver, which subsequently suggests a new trajectory. This process is iterated until no negative distance is found anywhere in the links of the robot. We have implemented the three distance evaluation methods, and experimentally validated that the proposed methods effectively and accurately find the global minimum distances to generate a self-collision-free motion for the HRP-2 humanoid robot. Moreover, we demonstrate that the hybrid method outperforms other two methods in terms of computational speed and reliability.

关键词： Motion Planning GSS SIP motion planning distance function Aerospace ground services PRNP gene STATE IMPLEMENTATION PLANS TSACC gene Global Minimum Robot Euclidean distance

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Retinal vessel tortuosity evaluation via circular hough transform

Retinal vessel tortuosity evaluation via circular hough tran...

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2011 18th Iranian Conference of Biomedical engineering, ICBME 2011

作者： Ghadiri, Farnoosh Pourreza, Hamidreza Banaee, Touka Delgir, Morteza Computer Engineering Department Machine Vision Lab Ferdowsi University Mashhad Iran Ophthalmic Research Center Khatam-Al-Anbia Hospital Medical Science University Mashhad Iran Computer Science Department Robotics Lab Northeastern University United States

ISBN: (纸本)9781467310055

Retinal vessel tortuosity has shown to be significantly associated with cardiovascular diseases such as hypertension and diabetes. Despite importance of this field a few techniques have been proposed yet. All previous methods rely on a vessel extraction phase, which its accuracy affects final output and also time consuming. Nobility of presented algorithm is to introduce a method for evaluating retinal vessel tortuosity without any explicit vessel detection. We use the Circular Hough Transform (CHT) based on gradient field of the retinal image. Each vessel curve is detected as a semi-circle by Hough transform and tortuosity of the curve is determined with the help of accumulated value of circle center and its radius. As there are no any specific database for tortuosity evaluation, the algorithm was tasted on database consisting of 40 images, mixture of DRIVE database and images from Khatam-Al-Anbia Hospital consisting of 40 retinal images, of which 20 were tortuous and 20 were non-tortuous. The proposed algorithm can achieve classification rate of 92% along with less computation time in compare of previous methods. © 2011 IEEE.

关键词： Database systems

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Safe automotive software

Safe automotive software

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Lecture Notes in computer science

作者： Heckemann, Karl Gesell, Manuel Pfister, Thomas Berns, Karsten Schneider, Klaus Trapp, Mario Fraunhofer Institute for Experimental Software Engineering Fraunhofer-Platz 1 67663 Kaiserslautern Germany Embedded Systems Group Department of Computer Science University of Kaiserslautern Germany Robotics Research Lab. Department of Computer Science University of Kaiserslautern Germany

ISBN: (纸本)9783642238659

For automotive manufacturers and tier-1 suppliers, the upcoming safety standard ISO 26262 results in new requirements for the development of embedded electronics and software. In particular, the variety of driver assistance systems that autonomously influence the driving dynamics of a vehicle may have a high risk potential and require development in accordance with the normative guidelines. But especially for those systems whose function is typically not based solely on hardware but on complex software algorithms, safety certification can be very complex or even impossible. In this paper the problems of development of vehicle systems according to ISO 26262 are described. Finally an approach for a safety-oriented reference architecture is presented that introduces adaptive software safety cages. This architecture enables application of formal verification methods. Supported by multisensor data fusion this allows to reduce safety requirements for vehicle control systems. © 2011 Springer-Verlag.

关键词： Control system synthesis

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Mechanical design of social robot Nancy

Mechanical design of social robot Nancy

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2011 IEEE/SICE International Symposium on System Integration, SII 2011

作者： Ge, S.S. Safizadeh, M.R. Li, Y. Social Robotics Lab. Interactive Digital Media Institute National University of Singapore Singapore 117576 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 Social Robotics Lab. Interactive Digital Media Institute National University of Singapore Singapore 119613 Singapore NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9781457715235

This paper presents the mechanical design of a social robot, Nancy, developed by Social robotics laboratory, Interactive and Digital Media Institute, National University of Singapore. The objective of our project is to introduce the social robot which is capable to interact with people, especially the elderly, based on fundamental, functional and social tasks. We developed Nancy with multi-module structure and 32 degrees of freedom (DOFs), including 24 and 8 DOFs in upper-body and lower-body, respectively. 8 DOFs are considered in each arm to make Nancy able to imitate human limbs' motion. Nancy's head involves eye and eyelid motions with 3 DOFs which is on top of a 2-DOFs neck. The wheeled-base is designed in such a way to facilitate the multi-directional movements for Nancy. One of our main objectives in Nancy's mechanical design is to obtain powerful and smooth motion, light-weight joints and simple kinematics. They are achieved by Bowden cable-pulley mechanism driven by actuators located in lower-body. Accordingly, all joints are designed to have intersected axes. Most joints are driven by brushless D.C. motors embedded with electrical brake system to stabilize the robot, especially in case of power loss. © 2011 IEEE.

关键词： Digital storage

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System design and implementation of social interactive robot Nancy

System design and implementation of social interactive robot...

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4th International Conference on Interaction sciences: IT, Human and Digital Content, ICIS 2011

作者： Ge, Shuzhi Sam Liew, Chun Fui Li, Yanan Department of Electrical and Computer Engineering Interactive Digital Media Institute National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu 610054 China Social Robotics Lab NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9788988678442

This paper presents a social interactive robot Nancy that has been developed in Social robotics laboratory, National University of Singapore. Fundamentally different from factory robots, Nancy's design focuses on social interaction and social intelligent system. The design objectives and consideration are examined in the beginning, followed by the description of hardware and software architectures. Contrast to current existing social robots, Nancy has a graphical user interface (GUI), which acts as an additional channel for human-robot interaction. This GUI helps users to have a better understanding of Nancy's internal states and hence make users feel more comfortable during the interaction with Nancy. Visitors' interaction experience with Nancy is discussed together with Nancy's social skills. © 2011 AICIT.

关键词： Graphical user interfaces

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Reports of the AAAI 2010 fall symposia

Reports of the AAAI 2010 fall symposia

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作者： Azevedo, Roger Biswas, Gautam Bohus, Dan Carmichael, Ted Finlayson, Mark A. Hadzikadic, Mirsad Havasi, Catherine Horvitz, Eric Kanda, Takayuki Koyejo, Oluwasanmi Lawless, William F. Lenat, Doug Meneguzzi, Felipe Mutlu, Bilge Oh, Jean Pirrone, Roberto Raux, Antoine Sofge, Donald A. Sukthankar, Gita Van Durme, Benjamin Yorke-Smith, Neil Department of Educational and Counseling Psychology McGill University Canada Center for Intelligent Systems Vanderbilt University United States Microsoft Research Redmond United States Department of Software and Information Systems University of North Carolina Charlotte United States Complex Systems Institute United States Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology United States Media Lab. Massachusetts Institute of Technology United States ATR Intelligent Robotics and Communication Laboratories Kyoto Japan Department of Electrical and Computer Engineering University of Texas Austin United States Department of Mathematics Paine College Augusta GA United States Cycorp Austin TX United States Robotics Institute Carnegie Mellon University United States Department of Computer Sciences University of Wisconsin Madison United States University of Palermo Italy Honda Research Institute United States Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory Washington DC United States Department of Electrical Engineering and Computer Science University of Central Florida United States Department of Computer Science Johns Hopkins University United States American University of Beirut Lebanon SRI International's Artificial Intelligence Center United States

The Association for the Advancement of Artificial Intelligence (AAAI) presented the 2010 Fall Symposium Series on November 11-13, 2010. The eight symposia included Cognitive and Metacognitive Educational Systems, Commonsense Knowledge, Complex Adaptive Systems: Resilience, Robustness, and Evolvability, Computational Models of Narrative, Dialog with Robots, Manifold Learning and Its Applications, Proactive Assistant Agents and Quantum Informatics for Cognitive, Social, and Semantic Processes. Cognitive and Metacognitive Educational Systems aimed to provide a comprehensive definition of metacognitive educational systems that is inclusive of the theoretical, architectural, and educational aspects of this field. The AAAI Commonsense Knowledge Fall Symposium had the goal of bringing together the diverse elements of this community whose work benefits from or contributes to the representation of general knowledge about the world. One of the specific goals of Proactive symposium was to gather the researchers from various projects in assistant agents to share their wisdom in retrospect.

关键词： Semantics

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Persistent Ocean Monitoring with Underwater Gliders: Towards Accurate Reconstruction of Dynamic Ocean Processes

Persistent Ocean Monitoring with Underwater Gliders: Towards...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Ryan N. Smith Mac Schwager Daniela Rus Stephen L. Smith Gaurav S. Sukhatme School of Engineering Systems at the Queensland University of Technology BrisbaneQLD4000 Australia GRASP Lab University of PennsylvaniaPhiladelphiaPA 19104USA Distributed Robotics Lab Computer Science and Artificial Intelligence LaboratoryMassachusetts Insti Robotic Embedded Systems Laboratory Department of Computer ScienceUniversity of Southern California

This paper proposes a path planning algorithm and a velocity control algorithm for underwater gliders to persistently monitor a patch of ocean. The algorithms address a pressing need among ocean scientists to collect high-value data for studying ocean events of scientific and environmental interest, such as the occurrence of harmful algal blooms. The path planner optimizes a cost function that blends two competing factors: it maximizes the information value of the path, while minimizing the deviation from the path due to ocean currents. The speed control algorithm then optimizes the speed along the planned path so that higher resolution samples are collected in areas of higher information value. The resulting paths are closed circuits that can be repeatedly traversed to collect long term ocean data in dynamic environments. The algorithms were tested during sea trials on an underwater glider operating off the coast of southern California over the course of several weeks. The results show significant improvements in data resolution and path reliability compared to a sampling path that is typically used in the region.

关键词： Oceans Heuristic algorithms Vehicles Monitoring Sea measurements Vehicle dynamics Read only memory

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