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IEEE International Conference on Pervasive Computing and Communications (PerCom)

作者： Jadwiga Indulska Claudio Bettini Roy Campbell Cecilia Mascolo Centro E. Piaggio and the Department of Information Engineering University of Pisa Pisa Italy Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA “Soft Robotics for Human Cooperation and Rehabilitation” Lab Istituto Italiano di Tecnologia Genoa Italy

A warm welcome to the Ninth Annual IEEE International Conference on Pervasive Computing and Communications (PerCom 2011). We are very excited to introduce you to the technical program of our conference that this year includes 27 papers representing high-quality research conducted over the broad spectrum of topics related to pervasive computing.

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Extraction of 3D images using pitch-actuated 2D laser range finder for robotic vision

Extraction of 3D images using pitch-actuated 2D laser range ...

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2010 8th IEEE International Workshop on Robotic and Sensors Environments, ROSE 2010

作者： Ben-Tzvi, Pinhas Charifa, Samer Shick, Michael Robotics and Mechatronics Lab. Department of Mechanical and Aerospace Engineering George Washington University Washington DC United States Computer Sciences Corporation Alexandria VA United States Department of Computer Science George Washington University Washington DC United States

ISBN: (纸本)9781424471461

Volumetric mapping is essential for recognizing the 3D environment and consequentially for the decision making process for special-task mobile robots (such as stair climbing, inspection, or search and rescue). In this paper, we propose a fast surface detection algorithm based on point cloud data from a small pitch-actuated laser range finder mounted on a mobile manipulator arm. The developed algorithm is mainly composed of two steps: (i) gradient based classification;and (ii) Recursive Connected Component labeling (RCCL) algorithm. The algorithm was experimentally validated. A complete segmentation of different planes in the environment was also successfully accomplished. © 2010 IEEE.

关键词： computer vision

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Adaptive predictive control of a class of discrete-time MIMO nonlinear systems with uncertain couplings

Adaptive predictive control of a class of discrete-time MIMO...

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作者： Yang, Chenguang Li, Yanan Ge, Shuzhi Sam Lee, Tong Heng Department of Bioengineering Imperial College London London SW7 2AZ United Kingdom Social Robotics Lab Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781424474264

In this paper, a novel adaptive predictive control is presented for a class of multi-input-multi-output (MIMO) nonlinear systems in block-triangular form with uncertain couplings of states/delayed states as well as inputs among subsystems. For each subsystem of the MIMO system, future states prediction is developed and using the predicted future states, adaptive predictive control is designed under certainty equivalence principal to compensate the parametric uncertainties in the couplings. To eliminate the functional uncertainties in the couplings, a novel compensation mechanism is developed for each subsystem. Under the proposed adaptive controls, all the signals in the closed-loop MIMO systems are guaranteed to be globally bounded. In addition, all the output tracking errors are guaranteed to converge to zeros. The effectiveness of the proposed control is demonstrated in the simulation. © 2010 AACC.

关键词： Couplings

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Learning compliance control of robot manipulators in contact with the unknown environment

Learning compliance control of robot manipulators in contact...

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2010 IEEE International Conference on Automation science and engineering, CASE 2010

作者： Li, Yanan Yang, Chenguang Ge, Shuzhi Sam Social Robotics Lab. NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Bioengineering Imperial College London London SW7 2AZ United Kingdom 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

ISBN: (纸本)9781424454471

In this paper, a control mechanism is presented to improve the compliance performance of the robot manipulator when it is in contact with the unknown environment. This mechanism guarantees that the dynamics of the whole system follows a target impedance model so that the desired compliance performance is obtained. In particular, under the assumption that the dynamics is periodic, a learning law is developed to estimate the unknown dynamics parameters. Besides, the proposed systematic learning control does not require the accurate force measurement. Its performance and robustness are discussed in details by the rigorous analysis. At last, the validity of the proposed method is verified by simulation. © 2010 IEEE.

关键词： Modular robots

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Extraction of 3D images using pitch-actuated 2D laser range finder for robotic vision

Extraction of 3D images using pitch-actuated 2D laser range ...

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International Workshop on Robot Sensing (ROSE)

作者： Pinhas Ben-Tzvi Samer Charifa Michael Shick Robotics and Mechatronics Lab Department of Mechanical and AeroSpace Engineering George Washington University Washington D.C. DC USA Computer Science Corporation Alexandria VA USA Department of Computer Science George Washington University Washington D.C. USA

Volumetric mapping is essential for recognizing the 3D environment and consequentially for the decision making process for special-task mobile robots (such as stair climbing, inspection, or search and rescue). In this paper, we propose a fast surface detection algorithm based on point cloud data from a small pitch-actuated laser range finder mounted on a mobile manipulator arm. The developed algorithm is mainly composed of two steps: (i) gradient based classification; and (ii) Recursive Connected Component labeling (RCCL) algorithm. The algorithm was experimentally validated. A complete segmentation of different planes in the environment was also successfully accomplished.

关键词： Three dimensional displays Lasers Classification algorithms Robot sensing systems Robot kinematics Surface treatment

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Rapid image completion system using multiresolution patch-based directional and nondirectional approaches

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IEEE Transactions on Image Processing 2009年第12期18卷 2769-2779页

作者： Fang, Chih-Wei Lien, Jenn-Jier James Robotics Lab. Department of Computer Science and Information Engineering National Cheng Kung University Tainan 70101 Taiwan

This study presents a rapid image completion system comprising a training (or analysis) process and an image completion (or synthesis) process. The proposed system adopts a multiresolution approach, which not only improves the convergence rate of the synthesis process, but also provides the ability to deal with large replaced regions. In the training process, a down-sampling approach is applied to create a patch-based texture eigenspace based on multiresolution background region information. In the image completion process, an up-sampling approach is applied to synthesize the replaced foreground regions. To ensure the continuity of the geometric texture structure between the original background scene regions and the replaced foreground regions, directional and nondirectional image completion approaches are developed to reconstruct the global geometric structure and to enhance the local detailed features of the replaced foreground regions in the lower and higher resolution level images, respectively. Moreover, the synthesis priority order of the individual patches and the appropriate choice of completion scheme (i.e., directional or nondirectional) are both determined in accordance with a Hessian matrix decision value (HMDV) parameter. Finally, a texture refinement process is performed to optimize the resolution of the synthesized result. © 2009 IEEE.

关键词： Image analysis

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Next billion cameras 09

Next billion cameras

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ACM SIGGRAPH 2009 Courses, SIGGRAPH '09

作者： Efros, Alexei Raskar, Ramesh Seitz, Steve Robotics Institute Computer Science Department Carnegie Mellon University United States MIT Media Lab. Camera Culture Research Group United States Department of Computer Science and Engineering University of Washington United States

ISBN: (纸本)9781450379380

What will a camera look like 10 years from now? How should we change the camera to improve mobile photography? How will a billion networked and portable cameras change the social culture? How can we use bio-inspired processing to decompose sensed values into perceptually critical elements? How will online photo collections transform visual social computing? Capture and analysis of visual information plays an important role in photography, art, medical imaging, tele-presence, worker safety, scene understanding, and robotics. But current computational approaches analyze images from single cameras that have only limited abilities. Cameras of the future will exploit unusual optics, novel illumination, and emerging sensors. A significant enhancement in the next billion cameras to support scene analysis and mechanisms for superior metadata tagging for effective sharing will bring about a revolution in visual communication. This course explores the trends and issues associated with that revolution.

关键词： Image enhancement

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robotics as a tool for immersive, hands-on freshmen engineering instruction

Robotics as a tool for immersive, hands-on freshmen engineer...

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2008 ASEE Annual Conference and Exposition

作者： Mataric, Maja Fasola, Juan Feil-Seifer, David University of Southern California Department of Computer Science and Neuroscience University of Southern California USC Center for Robotics and Embedded Systems USC Robotics Research Lab. USC Viterbi School of Engineering Computer Science Department University of Southern California Computer Science Department University of Southern California Interaction Lab.

Hands-on experience plays a key role in undergraduate engineering education. It is a recognized tool for recruitment and retention, as well as for encouraging participation in class and in research outside of the classroom. However, early undergraduate engineering education, especially during the freshman year, is often focused on foundational theory, and delivered through lecture format, rather than hands-on projects. We have developed and taught a semesterlong class at the University of Southern California Viterbi School of engineering (VSoE) that uses robotics as a pedagogical tool for engaging students in engineering, and illustrating general engineering principles and techniques in a hands-on manner. The model for the new course is to combine lectures on principles and applications of engineering from professors from a variety of VSoE departments with lab experience, wherein students work with robots in order to directly apply those principles and scratch the surface of some applications. Our goal is to create a curriculum where, with little to no prior experience with either programming or robotics, freshmen interested in engineering can explore both the breadth of engineering, and glimpse the depth of a single domain through engaging hands-on projects. Unlike most other robotics courses, especially introductory ones that use simple robot platforms such as LEGO robots, ours features highly sophisticated mobile and humanoid robots, allowing the students to develop engaging and sophisticated-appearing behavior. The semester culminated in a public exhibition of team projects at a local science museum. We will use the experiences of the students and instructors of this new course to study the impact of hands-on engineering, team-work, and open challenges on encouraging retention in engineering beyond the first year, for recruitment and retention of traditionally under-represented student groups. © American Society for engineering Education, 2008.

关键词： Teaching

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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Joint-action for humans and industrial robots for assembly tasks

Joint-action for humans and industrial robots for assembly t...

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17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN

作者： Lenz, Claus Nair, Suraj Rickert, Markus Knoll, Alois Rösel, Wolgang Gast, Jürgen Bannat, Alexander Wallhoff, Frank Robotics and Embedded Systems Lab. Department of Computer Science Technische Universität München Germany Machine Tools and Industrial Management Department of Mechanical Engineering Technische Universität München Germany Human-Machine Communication Department of Electrical Engineering and Information Technologies Technische Universität München Germany

ISBN: (纸本)9781424422135

This paper presents a concept of a smart working environment designed to allow true joint-actions of humans and industrial robots. The proposed system perceives its environment with multiple sensor modalities and acts in it with an industrial robot manipulator to assemble capital goods together with a human worker. In combination with the reactive behavior of the robot, safe collaboration between the human and the robot is ***, the system anticipates human behavior, based on knowledge databases and decision processes, ensuring an effective collaboration between the human and robot. As a proof of concept, we introduce a use case where an arm is assembled and mounted on a robot's body. © 2008 IEEE.

关键词： Industrial manipulators

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