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IEEE Conference on Visualization

作者： G. Grinstein A. Kobsa C. Plaisant J.T. Stasko Institute for Visualization and Perception Research University of Massachusetts Lowell Lowell MA University of California School of Information and Computer Science Irvine CA Human Computer Interaction Laboratory University of Maryland College Park MD Georgia Institute of Technology College of Computing/GVU Center Atlanta GA

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Motion planning for digital humans

Motion planning for digital humans

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IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA)

作者： J. Kuffner Department of Computer Science Carnegie Mellon University Pittsburgh PA USA Digital Human Laboratory National Institute for Advanced Industrial Science and Technology Kouto Tokyo Japan

Research efforts are underway to develop sophisticated computer models of human physiology, biomechanics and appearance. Applications of these "digital humans" range from medical research to virtual reality entertainment. This paper presents an overview of several motion planning techniques for automatically generating motion trajectories for digital humans. The ultimate goal is to create autonomous animated characters that are able to move naturally and realistically in response to high-level task commands. These "digital human" characters can be viewed as "virtual robots" operating in simulated environments, since developing software to control such characters shares much in common with programming real robots. Experimental results involving both simulated human characters and real humanoid robots are shown.

关键词： humans Physiology Biomechanics Application software Virtual reality Motion planning Trajectory Animation Robotics and automation Automatic control

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Block jam: A tangible interface for interactive music

Block jam: A tangible interface for interactive music

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International conference on New Interfaces for Musical Expression, NIME 2003

作者： Newton-Dunn, Henry Nakano, Hiroaki Gibson, James Interaction Laboratory Sony Computer Science Laboratories Inc. 3-14-13 Higashigotanda Shinagawa-ku Tokyo141-0022 Japan Creative Development Group Sony Design Center 6-7-35 Kitashinagawa Shinagawa-ku Tokyo141-0001 Japan Human Interface Design Group Sony Design Center Europe The Heights Brooklands Weybridge SurreyKT13 0XW United Kingdom

In this paper, we introduce Block Jam, a Tangible User Interface that controls a dynamic polyrhythmic sequencer using 26 physical artifacts. These physical artifacts, that we call blocks, are a new type of input device for manipulating an interactive music system. The blocks’ functional and topological statuses are tightly coupled to an ad hoc sequencer, interpreting the user’s arrangement of the blocks as meaningful musical phrases and structures. We demonstrate that we have created both a tangible and visual language that enables both the novice and musically trained users by taking advantage of both their explorative and intuitive abilities. The tangible nature of the blocks and the intuitive interface promotes face-to-face collaboration and social interaction within a single system. The principle of collaboration is further extended by linking two Block Jam systems together to create a network. We discuss our project vision, design rational, related works, and the implementation of Block Jam prototypes. © 2003, Steering Committee of the International Conference on New Interfaces for Musical Expression. All rights reserved.

关键词： Visual languages

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ID CAM: a smart camera for scene capturing and ID recognition 03

ID CAM: a smart camera for scene capturing and ID recognitio...

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International Symposium on Mixed and Augmented Reality (ISMAR)

作者： N. Matsushita D. Hihara T. Ushiro S. Yoshimura J. Rekimoto Y. Yamamoto Department of Science and TechnologyHigashigotanda Shinagawa-ku Keio University Tokyo Japan Interaction Laboratory Sony Computer Science Laboratories Inc. Tokyo Japan Sony-Kihara Research Center Inc. Tokyo Japan Department of Science and Technology Keio University Tokyo Japan

ISBN: (纸本)9780769520063

An ID recognition system is described that uses optical beacons and a high-speed image sensor. The ID sensor captures a scene like an ordinary camera and recognizes the ID of a beacon emitted over a long distance. The ID recognition system has three features. The system is robust to changes in the optical environment, e.g. complete darkness, spotlights, and sunlight. It can recognize up to 255 multiple optical beacons simultaneously. Furthermore, it can recognize beacons even over a long distance, e.g. 40 m indoors and 20 m outdoors. Implementation and evaluation of this ID recognition system showed that a mobile augmented reality system can be achieved by combining this ID recognition system with a PDA and a wireless network.

关键词： computer aided manufacturing CADCAM Smart cameras Layout High speed optical techniques Stimulated emission Optical sensors Image recognition Image sensors Intelligent sensors

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ID CAM: A smart camera for scene capturing and ID recognition 2

ID CAM: A smart camera for scene capturing and ID recognitio...

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2nd IEEE and ACM International Symposium on Mixed and Augmented Reality, ISMAR 2003

作者： Matsushita, Nobuyuki Hihara, Daisuke Ushiro, Teruyuki Yoshimura, Shinichi Rekimoto, Jun Yamamoto, Yoshikazu Interaction Laboratory Sony Computer Science Laboratories Inc. Takanawa Muse Bldg. 3-14-13 Higashigotanda Shinagawa-ku Tokyo141-0022 Japan Sony-Kihara Research Center Inc. Takanawa Muse Bldg. 3-14-13 Higashigotanda Shinagawa-ku Tokyo141-0022 Japan Department of Science and Technology Keio University Takanawa Muse Bldg. 3-14-13 Higashigotanda Shinagawa-ku Tokyo141-0022 Japan

ISBN: (纸本)0769520065

关键词： Cameras

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humanoid arm motion planning using stereo vision and RRT search

Humanoid arm motion planning using stereo vision and RRT sea...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： S. Kagami J. Kuffner K. Nishiwaki K. Okada M. Inaba H. Inoue CREST Program Japan Science and Technology Agency Japan Digital Human Laboratory National Institute for Advanced Industrial Science and Technology Japan School of Computer Science Carnegie Mellon University USA Department of Mechano-Informatics School of Information Science and Technology University of Tokyo Japan

This paper describes an experimental stereo vision based motion planning system for humanoid robots. The goal is to automatically generate arm trajectories that avoid obstacles in unknown environments from high-level task commands. Our system consists of three components: 1) environment sensing using stereo vision with disparity map generation and on-line consistency checking, 2) probabilistic mesh modeling in order to accumulate continuous vision input, and 3) motion planning for the robot arm using RRTs (rapidly exploring random trees). We demonstrate results from experiments using an implementation designed for the humanoid robot H7.

关键词： Stereo vision humanoid robots Motion planning humans Technology planning Robot sensing systems Orbital robotics Kinematics computer science Information science

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Online footstep planning for humanoid robots

Online footstep planning for humanoid robots

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IEEE International Conference on Robotics and Automation (ICRA)

作者： J. Kuffner S. Kagami K. Nishiwaki M. Inaba H. Inoue Department of Computer Science Robotics Institute Carnegie Mellon University Pittsburgh PA USA Digital Human Laboratory National Institute for Advanced Industrial Science and Technology Tokyo Japan Japan Science and Technology Corporation Japan School of Information Science and Technology University of Tokyo Tokyo Japan

We present an online algorithm for planning sequences of footstep locations that encode goal-directed navigation strategies for humanoid robots. Planning footsteps is more general than most existing navigation methods designed for wheeled robots, since the options of stepping over or upon obstacles in a cluttered terrain are available. Given a discrete set of plausible footstep locations, a forward dynamic programming approach is used to compute a footstep sequence to a specified goal location in the environment. Heuristics designed to minimize the number and complexity of the step motions are used to encode cost functions used for searching a footstep transition graph. If successful, the planner returns an optimal sequence of footstep locations according to the cost functions and plausible sets of footstep locations defined. We show results from an experimental implementation of the algorithm running on the H7 humanoid robot. Using a stereo vision system to sense obstacles in the immediate environment and identify a target goal location, the robot updates the current optimal footstep sequence to the goal from its present location.

关键词： humanoid robots Navigation Cost function Strategic planning Design methodology Mobile robots Dynamic programming Stereo vision Robot sensing systems Robot vision systems

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Vision-based 2.5D terrain modeling for humanoid locomotion

Vision-based 2.5D terrain modeling for humanoid locomotion

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IEEE International Conference on Robotics and Automation (ICRA)

作者： S. Kagami K. Nishiwaki J.J. Kuffner K. Okada M. Inaba H. Inoue CREST Program Japan Science and Technology Corporation Japan Digital Human Laboratory National Institute for Advanced Industrial Science and Technology Kouto Tokyo Japan Department of Mechano-lnformatics School of Information Science and Technology University of Tokyo Bunkyo Tokyo Japan School of Computer Science Carnegie Mellon University Pittsburgh PA USA

We present an integrated humanoid locomotion and online terrain modeling system using stereo vision. From a 3D depth map, a 2.5D probabilistic description of the nearby terrain is generated. The depth map is calculated from a pair of stereo camera images, correlation-based localization is performed, and candidate planar walking surfaces are extracted. The results are used to update a probabilistic map of the terrain, which is input to an online footstep planning system. Experimental results are shown using the humanoid robot H7, which was designed as a research platform for intelligent humanoid robotics.

关键词： Robot kinematics Legged locomotion humanoid robots Mobile robots Robot vision systems Intelligent robots Foot Stereo vision Cameras Robot sensing systems

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Grace: An autonomous robot for the AAAI Robot Challenge

Grace: An autonomous robot for the AAAI Robot Challenge

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作者： Simmons, Reid Goldberg, Dani Goode, Adam Montemerlo, Michael Roy, Nicholas Sellner, Brennan Urmson, Chris Schultz, Alan Abramson, Myriam Adams, William Atrash, Amin Bugajska, Magda Coblenz, Michael MacMahon, Matt Perzanowski, Dennis Horswill, Ian Zubek, Robert Kortenkamp, David Milam, Tod Wolfe, Bryn Maxwell, Bruce Robotics and Computer Science Carnegie Mellon University Pittsburgh PA United States Robotics Institute Carnegie Mellon University Pittsburgh PA United States ACT-R Research Group Human-Computer Interaction Institute Carnegie Mellon University Pittsburgh PA United States Carnegie Mellon University Pittsburgh PA United States Carnegie Mellon Robotics Institute Carnegie Mellon University Pittsburgh PA United States Intelligent Systems Section Navy Ctr. Appl. Res. Artif. Intell. Naval Research Laboratory Washington DC United States George Mason University Fairfax VA United States Naval Research Laboratory Washington DC United States Georgia Institute of Technology Atlanta GA United States School of Computer Science Carnegie Mellon University Pittsburgh PA United States Stanford University Austrian Research Institute for AI NASA Johnson Space Center Stanford CA United States Intelligent Multimodal Multimedia G. Navy Ctr. Appl. Res. Artif. Intell. Naval Research Laboratory Washington DC United States

The article discusses an autonomous robot for the AAAI Robot Challenge. In an attempt to solve as much of the AAAI Robot Challenge as possible, five research institutions representing academia, industry and government integrated their research into a single robot named Grace. The article describes the first-year effort by the Grace team, including not only the various techniques each participant brought to Grace but also the difficult integration effort itself.

关键词： Artificial intelligence

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Predicting Job Performance with a Fuzzy Rule-Based System

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International Journal of Information Technology & Decision Making 2003年第3期2卷 425-444页

作者： J. Philip Craiger Michael D. Coovert Mark S. Teachout Department of Computer Science & Nebraska University Consortium For Information Assurance University of Nebraska at Omaha Omaha NE 68182-0392 USA Tel: (402) 554-3974 Department of Psychology & Institute for Human Performance Decision Making & Cybernetics University of South Florida USA Armstrong Laboratory Brooks Air Force Base TX 78235-5000 USA Currently with USAA Insurance Co.

Classification problems affect all organizations. Important decisions affecting an organization's effectiveness include predicting the success of job applicants and the matching and assignment of individuals from a pool of applicants to available positions. In these situations, linear mathematical models are employed to optimize the allocation of an organization's human resources. Use of linear techniques may be problematic, however, when relationships between predictor and criterion are nonlinear. As an alternative, we developed a fuzzy associative memory (FAM: a rule-based system based on fuzzy sets and logic) and used it to derive predictive (classification) equations composed of measures of job experience and job performance. The data consisted of two job experience factors used to predict measures of job performance for four US Air Force job families. The results indicated a nonlinear relationship between experience and performance for three of the four data sets. The overall classification accuracy was similar for the two systems, although the FAM provided better classification for two of the jobs. We discuss the apparent nonlinear relationships between experience and performance, and the advantages and implications of using these systems to develop and describe behavioral models.

关键词： Fuzzy logic fuzzy set theory fuzzy associative memory behavioral models job performance job experience

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