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Formal Verification of Robot Movements - a Case Study on Home Service Robot SHR100

Formal Verification of Robot Movements - a Case Study on Hom...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Moonzoo Kim Kyo Chul Kang Hyoungki Lee Computer Science and Engineering Department Pohang University of Science and Technology Pohang South Korea Interaction Laboratory Samsung Advanced Institute of Technology Suwon South Korea

Home service robots have received much attention from both academia and industry because home service robots have wide range of potential applications such as home security, cleaning, etc. The robots need to add or update services frequently according to the changing needs of human users. Furthermore, reactive nature of the robots add complexity to develop robot applications. These challenges raise safety issues seriously. Considering that safe operation of home service robots is crucial, current practice of validating robot applications is, however, not mature enough for wide deployment of home service robots. In this paper, we present our experience of developing and formally verifying discrete control software of Samsung Home Robot (SHR) using Esterel. We give a brief background on Esterel, then illuminate our result in formally verifying stopping behavior of SHR. Through the verification, we could detect and solve a feature interaction problem which caused the robot not to stop when a user commanded the robot to stop.

关键词： Formal verification computer aided software engineering Service robots Robot kinematics Testing Application software Intelligent robots computer science humans Safety

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MOCHA: modular and configurable handset software architecture

MOCHA: modular and configurable handset software architectur...

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Consumer Communications and Networking Conference, CCNC IEEE

作者： K. Kim J.D. Kwak Seung Hwan Jo Department of Computer Science Virginia Tech Human Computer Interaction Group Blacksburg VA USA UMTS Research & Development Mobile Communication Division Telecommunication Network Samsung Electronics Company Limited South Korea

This paper describes Mocha, an open mobile S/W platform and application developed by Samsung Electronics. Mocha's key features are its efficiency (it fits in regular phones), its portability (it covers different stack/OS/chipsets for CDMA, EV-DO, GSM/GPRS, and UMTS), its modularity and configurability (it meets customers' varying needs), its extensibility (it can he adapted to include new features and interfaces), its interoperability based on de-facto standards such as OMA, 3GPP, 3GPP2, CDG; and its security (it can withstand the attack of malicious applications). Among these key features, in this paper, we outline the multimedia messaging service (MMS) that inspired this system and then describe its design, architecture, and prototype implementation.

关键词： Telephone sets Software architecture Application software Multiaccess communication GSM Ground penetrating radar 3G mobile communication Security Multimedia systems Message service

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A haptically enhanced broadcasting system

A haptically enhanced broadcasting system

引用

World Haptics Conference

作者： Jongeun Cha Jeha Ryu Seungjun Kim Byungha Ahn Human-Machine-Computer Interface Laboratory Department of Mechatronics Gwangju Institute of Science and Technology South Korea System Integration Laboratory South Korea

In this paper, we discuss a haptically enhanced broadcasting system. Four stages of a proposed system are briefly analyzed: scene capture, edit, transmission, and display with haptic interaction. In order to show usef... 详细信息

ISBN: (纸本)0769523102

关键词： Haptic interfaces Multimedia communication Layout Internet Web server Digital multimedia broadcasting Multimedia systems TV broadcasting Streaming media computer graphics

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Analysis of the 3D trajectory of absolute motion of an object using a motionless monocular camera

Analysis of the 3D trajectory of absolute motion of an objec...

引用

Optomechatronic Machine Vision

作者： Viet, Huynh Quang Huy Sato, Makoto Tanaka, Hiromi T. Department of Human and Computer Intelligence College of Information Science and Engineering Ritsumeikan University 1-1-1 Noji-higashi Kusatsu Shiga 525-8577 Japan Precision and Intelligence Laboratory Tokyo Institute of Technology 4259 Nagatsuta Midori-ku Yokohama 226-8503 Japan

Based on the triangulation method, the 3D motion of an object can be completely recognized by a stereo camera. However, the question whether or not the 3D motion of an object can be completely recognized by a motionless / fixed monocular camera is the yet-unanswered question. In this paper we propose a method using a motionless monocular camera of which the focus is changed in cycle to recognize the absolute 3D motion of an object. We name the method motion from focus.

关键词： Object recognition

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Making an impact in your community: HCI and us public policy

Making an impact in your community: HCI and us public policy

引用

Conference on human Factors in Computing Systems, CHI EA 2005

作者： Lazar, Jonathan Bederson, Ben Hochheiser, Harry Johnson, Jeff Karat, Clare-Marie Dept. of Computer and Information Sciences Universal Usability Laboratory Towson University 8000 York Road Towson MD 21252 United States Human-Computer Interaction Lab Dept. of Computer Science University of Maryland College Park MD 20742 United States National Institute on Aging 333 Cassell Drive Baltimore MD 21224 United States UI Wizards Inc. 231 Moscow St. San Francisco CA 94112 United States IBM TJ Watson Research Center 19 Skyline Drive [2N-D24 Hawthorne NY 10532 United States

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A hands-off physical therapy assistance robot for cardiac patients

A hands-off physical therapy assistance robot for cardiac pa...

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IEEE International Conference on Rehabilitation Robotics (ICORR)

作者： Kyong Il Kang S. Freedman M.J. Mataric M.J. Cunningham B. Lopez Interaction Laboratory Computer Science Department University of Southern California Los Angeles CA USA Department of Cardiothoracic Surgery Keck School of Medicine University of Southern California Los Angeles CA USA

This paper presents a feasibility study of using socially-aware autonomous robots to assist hospitals in reducing the effects of nursing shortages. A hands-off assistive robot is described that provides motivation and support for cardiac patients who must perform regular but painful breathing exercises. Initial validation of the system has garnered positive responses from test subjects and shows that robots have a potential to aid nursing staff in some tasks requiring patient interaction.

关键词： Medical treatment Mobile robots Rehabilitation robotics Medical robotics Medical services Hospitals Senior citizens Surgery Aging Navigation

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Please STeP/spl ***/IN: a socio-technical platform for in situ networking

Please STeP/spl ***/IN: a socio-technical platform for in si...

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Asia-Pacific Conference on Software Engineering

作者： Y. Nishinaka M. Asada Y. Yamamoto Y. Ye SRA Key Technology Laboratory Inc. Shinjuku Tokyo Japan Knowledge Interaction Design Laboratory RCAST University of Tokyo Meguro Tokyo Japan Department of Computer Science University of Colorado Boulder CO USA

This paper describes a system called STeP/spl ***/IN (standing for socio-technical platform for in situ networking) that assists software developer to find and learn Java API libraries. It provides individualized search interface for Java developers, examples that illustrate the usage, and more distinctively a facilitating mechanism that connects Java developers to exchange expertise based on their expertise and social relations. STeP/spl ***/IN is designed and developed based on the dynamic community theory, a new collaboration form that we have proposed.

关键词： Intelligent networks Java Software libraries Documentation Laboratories Object oriented programming Productivity Software standards Packaging computer science

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Turning information visualization innovations into commercial products: lessons to guide the next success

Turning information visualization innovations into commercia...

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IEEE Symposium on Information Visualization (INFOVIS)

作者： B. Shneiderman R. Rao K. Andrews C. Ahlberg D. Brodbeck T. Jewitt J. Mackinlay Department of Computer Science & Human-Computer Interaction Laboratory Institute for Advanced Computer Studies College Park MD USA Inxight Software Inc. Sunnyvale CA USA Graz University of Technology IICM Graz Austria Spotfire Inc. Somerville MA USA Macrofocus GmbH Zurich Switzerland The Hive Group San Mateo CA USA User Interface Tableau Software Seattle WA USA

As information visualization matures as an academic research field, commercial spinoffs are proliferating, but success stories are harder to find. This is the normal process of emergence for new technologies, but the panel organizers believe that there are certain strategies that facilitate success. To teach these lessons, we have invited several key figures who are seeking to commercialize information visualization tools. The panelists make short presentations, engage in a moderated discussion, and respond to audience questions.

关键词： Turning Technological innovation Data visualization User interfaces Books Management training computer science Laboratories computer interfaces Educational institutions

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Annotation-based rescue assistance system for teleoperated unmanned helicopter with wearable augmented reality environment

Annotation-based rescue assistance system for teleoperated u...

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IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR)

作者： M. Koeda Y. Matsumoto T. Ogasawara Collage of Information Science and Engineering Department of Human and Computer Intelligence Ritsumeikan University Kusatsu Shiga Japan Graduate School of Information Science Robotics Laboratory Nara Institute of Science and Technology Ikoma Nara Japan

We introduce an annotation-based rescue assistance system for a teleoperated unmanned helicopter with an wearable augmented reality (AR) environment. In this system, an operator controls the helicopter remotely while watching an annotated view from the helicopter through a head mounted display (HMD) with a laptop PC in a backpack. Virtual buildings and textual annotations assist the rescue operation indicating the position to search rapidly and intensively. The position and the attitude of the helicopter is measured by a GPS and a gyroscope, and sent to the operator's PC via a wireless LAN. Using this system, we conducted experiments to find persons and verified the feasibility.

关键词： Helicopters Augmented reality Control systems Gyroscopes Wireless LAN Global Positioning System Cameras Information science Intelligent robots Robot kinematics

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Comparing interlaced and progressive scans for MPEG coding of medical video

Comparing interlaced and progressive scans for MPEG coding o...

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Annual Northeast Bioengineering Conference

作者： Chengquan Hu R.J. Sclabassi M.L. Scheuer J. Yang J. Xu Q. Liu M. Sun College of Computer Science and Technology Jilin University Changchun China Department of Electrical Engineering University of Pittsburgh Pittsburgh PA USA Department of Electrical Engineering Department of Neurological Surgery Department of Biomedical Engineering University of Pittsburgh Pittsburgh PA USA Department of Neurology University of Pittsburgh Pittsburgh PA USA Human-Computer Interaction Institute Carnegie Mellon University Pittsburgh PA USA

This paper examines MPEG-4 coding efficiency for interlaced and progressively scanned video data recorded during remote patient monitoring. Experiments are performed using both interlaced and progressive coding methods to compress interlaced, deinterlaced and progressively scanned video sequences at different bit rates. Our results show that progressively scanned video outperforms interlaced video in both coding efficiency and video quality. We also found that the use of a deinterlacing algorithm improves video coding performance. In addition, we found that interlaced or progressively scanned video data can be compressed using either progressive or interlaced coding algorithms without significant difference in performance.

关键词： Video compression Video equipment PSNR MPEG 4 Standard Video coding Layout Biomedical engineering Data engineering Patient monitoring Codecs

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