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作者： Chen, Zhuan Xiong, Jin Meng, Dan National Research Center for Intelligent Computing Systems Institute of Computing Technology Chinese Academy of Sciences China Graduate University of Chinese Academy of Sciences China Department of Computer Science University of Rochester United States

ISBN: (纸本)9780769542201

In cluster file systems, the metadata management is critical to the whole system. Past researches mainly focus on journaling which alone is not enough to provide high-available metadata service. Some others try to use replication, but the extra latency accompanied is a main problem. To guarantee both availability and efficiency, we propose a mechanism for building highly available metadata servers based on replication, which integrates Paxos algorithm effectively into metadata service. The Packed Multi-Paxos is proposed to reduce the latency brought by replication, which is self-adaptive and can make the replication to achieve high throughput under heavy client load and low latency under light client load. By designing efficient architecture and coordination mechanism, all replica server nodes simultaneously provide metadata read-access service. This high-available mechanism could decrease the impact of server failures and there is no interruption of service. The performance results show that the latency caused by replication and redundancy is well under control, and the performance of metadata read operation gains improvement. © 2010 IEEE.

关键词： Metadata

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Heterogeneous sensor fusion framework for autonomous mobile robot obstacle avoidance

Heterogeneous sensor fusion framework for autonomous mobile ...

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International Conference on intelligent systems Design and Applications (ISDA)

作者： Ali Zia Tauseef Gulrez Tayyab Chaudhry Department of Computer Science Intelligent Machines & Robotics Research Group COMSATS Institute of Information Technology Lahore Pakistan

This paper addresses the problem of moving obstacle detection for autonomous mobile robots in unknown urban environments through the fusion of (vehicle-mounted) forward looking laser and vision sensors. In this approach we reparameterize the 2D gaussian distribution of the laser free-configuration eigenspaces by vision saliency gaussian kernel function. The approach uses bi-sensor paradigm to achieve greater effective mapping of the environment and improved accuracy in obstacle position estimation. Where the laser lower dimensional manifolds provide an eigenvector which corresponds to the free configuration space of the high order geometric representation of the environment and vision based edge detection followed by the saliency mapping provides the road detection and existance of dynamic obstacles on the road. We have shown that while the vectorial combination of eigenvectors at discrete time scan-frames of laser data manifest a trajectory, and once followed and fused with the vision sensor data, enables mobile robot to build an efficient and accurate online environment map free of obstacles. We demonstrated this process using real-time NAVLAB CMU (Autonomous Jeep's) data-set which is a good representation of autonomous mobile robot's navigation in an urban environment.

关键词： Robot sensing systems Laser modes Collision avoidance Mobile robots Gaussian distribution

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Exploring the uncanny valley with geminoid HI-1 in a real-world application

Exploring the uncanny valley with geminoid HI-1 in a real-wo...

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作者： Becker-Asano, Christian Ogawa, Kohei Nishio, Shuichi Ishiguro, Hiroshi Intelligent Robotics and Communications Laboratory Advanced Telecommunications Research Institute Intl. 2-2-2 Hikaridai Keihanna Science City Kyoto Japan Department of Adaptive Machine Systems Osaka University Osaka Japan

ISBN: (纸本)9789728939182

This paper presents a qualitative analysis of 24 interviews with visitors of the ARS Electronica festival in September 2009 in Linz, Austria, who interacted with the android robot Geminoid HI-1, while it was tele-operated by the first author. Only 37.5% of the interviewed visitors reported an uncanny feeling with 29% even enjoying the conversation. In five cases the interviewees' feelings even changed during the interaction with Geminoid HI-1. A number of possible improvements regarding Geminoid's bodily movements, facial expressivity, and ability to direct its gaze became apparent, which inform our future research with and development of android robots.

关键词： Human robot interaction

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Heterogeneous artificial agents for triage nurse assistance

Heterogeneous artificial agents for triage nurse assistance

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2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010

作者： Wilkes, D.M. Franklin, Stan Erdemir, Erdem Gordon, Stephen Strain, Steve Miller, Karen Kawamura, Kazuhiko Center for Intelligent Systems United States Department of Electrical and Computer Engineeinrg Vanderbilt University United States Cognitive Computing Research Group Institute for Intelligent Systems University of Memphis Memphis TN 38152 United States Department of Electrical Engineering and Computer Science Vanderbilt University United States Vanderbilt University United States Cognitive Computing Research Group Institute for Intelligent Systems University of Memphis United States Clinical Research Operations for Emergency Medicine Vanderbilt University United States Department of Electrical and Computer Engineering Vanderbilt. University Nashville TN 37235-0131 United States

ISBN: (纸本)9781424486885

A dream of humanoid robot researchers is to develop a complete "human-like" (whatever that means) artificial agent both in terms of body and brain. We now have seen an increasing number of humanoid robots (such as Honda's ASIMO, Aldebaran's Nao and many others). These, however, display only a limited number of cognitive skills in terms of perception, learning and decision-making. On the other hand, brain research has begun to produce computational models such as LIDA. In this paper, we propose an intermediate approach for body-brain integration in a form of a scenario-based distributed system. Busy hospital Emergency departments (ED) are concerned with shortening the waiting times of patients, with relieving overburdened triage team physicians, nurses and medics, and with reducing the number of mistakes. Here we propose a system of cognitive robots and a supervisor, dubbed the TriageBot System that would gather both logistical and medical information, as well as take diagnostic measurements, from an incoming patient for later use by the triage team. TriageBot would also give tentative, possible diagnoses to the triage nurse, along with recommendations for non-physician care Some of the robots in the TriageBot System would be humanoid in form, but it is not necessary that all of them take this form. Advances in humanoid robotic design, in sensor technology, and in cognitive control architectures make such a system feasible, at least in principle. ©2010 IEEE.

关键词： Anthropomorphic robots

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EWLS: A new local search for Minimum Vertex Cover

EWLS: A new local search for Minimum Vertex Cover

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作者： Cai, Shaowei Su, Kaile Chen, Qingliang Ministry of Education Beijing China School of Electronics Engineering and Computer Science Peking University Beijing 100871 China Institute for Integrated and Intelligent Systems Griffith University Brisbane Australia Department of Computer Science Jinan University Guangzhou 510632 China

ISBN: (纸本)9781577354642

A number of algorithms have been proposed for the Minimum Vertex Cover problem. However, they are far from satisfactory, specially on hard instances. In this paper, we introduce Edge Weighting Local Search (EWLS), a new local search algorithm for the Minimum Vertex Cover problem. EWLS is based on the idea of extending a partial vertex cover into a vertex cover. A key point of EWLS is to find a vertex set that provides a tight upper bound on the size of the minimum vertex cover. To this purpose, EWLS employs an iterated local search procedure, using an edge weighting scheme which updates edge weights when stuck in local optima. Moreover, some sophisticated search strategies have been taken to improve the quality of local optima. Experimental results on the broadly used D1MACS benchmark show that EWLS is competitive with the current best heuristic algorithms, and outperforms them on hard instances. Furthermore, on a suite of difficult benchmarks, EWLS delivers the best results and sets a new record on the largest instance. Copyright © 2010, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Heuristic algorithms

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A reliability assessment paradigm for automated video tracking systems

A reliability assessment paradigm for automated video tracki...

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2010 20th International Conference on Pattern Recognition, ICPR 2010

作者： Chen, Chung-Hao Yao, Yi Koschan, Andreas Abidi, Mongi Department of Math and Computer Science North Carolina Central University NC 27713 United States Global Research Center General Electric NY 12309 United States Imaging Robotics and Intelligent Systems Lab. University of Tennessee Knoxville TN 37996 United States

ISBN: (纸本)9780769541099

Most existing performance evaluation methods concentrate on defining separate metrics over a wide range of conditions and generating standard benchmarking video sequences for examining the effectiveness of video tracking systems. In other words, these methods attempt to design a robustness margin or factor for the system. These methods are deterministic in which a robustness factor, for example, 2 or 3 times the expected number of subjects to track or the strength of illumination would be required in the design. This often results in overdesign, thus increasing costs, or underdesign causing failure by unanticipated factors. In order to overcome these limitations, we propose in this paper an alternative framework to analyze the physics of the failure process and, through the concept of reliability, determine the time to failure in automated video tracking systems. The benefit of our proposed framework is that we can provide a unified and statistical index to evaluate the performance of automated video tracking system for a task to be performed. At the same time, the uncertainty problem about a failure process, which may be caused by the system's complexity, imprecise measurements of the relevant physical constants and variables, or the indeterminate nature of future events, can be addressed accordingly based on our proposed framework. © 2010 IEEE.

关键词： Benchmarking

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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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MULTI-CAMERA POSITIONING FOR AUTOMATED TRACKING systems IN DYNAMIC ENVIRONMENTS

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International Journal of Information Acquisition 2010年第3期7卷 225-242页

作者： YI YAO CHUNG-HAO CHEN BESMA ABIDI DAVID PAGE ANDREAS KOSCHAN MONGI ABIDI Visualization and Computer Vision Lab GE Global Research USA Department of Mathematics and Computer Science North Carolina Central University USA Imaging Robotics and Intelligent Systems Lab University of Tennessee Knoxville USA

Most existing camera placement algorithms focus on coverage and/or visibility analysis, which ensures that the object of interest is visible in the camera's field of view (FOV). According to recent literature, handoff safety margin is introduced to sensor planning so that sufficient overlapped FOVs among adjacent cameras are reserved for successful and smooth target transition. In this paper, we investigate the sensor planning problem when considering the dynamic interactions between moving targets and observing cameras. The probability of camera overload is explored to model the aforementioned interactions. The introduction of the probability of camera overload also considers the limitation that a given camera can simultaneously monitor or track a fixed number of targets and incorporates the target's dynamics into sensor planning. The resulting camera placement not only achieves the optimal balance between coverage and handoff success rate but also maintains the optimal balance in environments with various target densities. The proposed camera placement method is compared with a reference algorithm by Erdem and Sclaroff. Consistently improved handoff success rate is illustrated via experiments using typical office floor plans with various target densities.

关键词： Sensor planning visual surveillance multiple camera systems camera handoff

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Operating articulated objects based on experience

Operating articulated objects based on experience

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2010 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Jürgen Sturm Advait Jain Cyrill Stachniss Charles C. Kemp Wolfram Burgard Autonomous Intelligent Systems Laboratory Institute of Computer Science University of Freiburg Germany Healthcare Robotics Laboratory Georgia Tech Research Institute Georgia Institute of Technology USA

Many tasks that would be of benefit to users in domestic environments require that robots manipulate articulated objects such as doors and drawers. In this paper, we present a novel approach that simultaneously estimates the kinematic model of an articulated object based on the trajectory described by the robot's end effector, and uses this model to predict the future trajectory of the end effector. One advantage of our approach is that the robot can directly use these predictions to generate an equilibrium point control path for operating the mechanism. Additionally, our approach can improve these predictions based on previously learned articulation models. We have implemented and tested our approach on a real mobile manipulator. Through 40 trials, we show that the robot can reliably open various household objects, including cabinet doors, sliding doors, office drawers, and a dishwasher. Furthermore, we demonstrate that using the information from previous interactions as a prior significantly improves the prediction accuracy.

关键词： Trajectory Data models Kinematics Predictive models Computational modeling End effectors

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Bézier curve based dynamic obstacle avoidance and trajectory learning for autonomous mobile robots

Bézier curve based dynamic obstacle avoidance and trajector...

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2010 10th International Conference on intelligent systems Design and Applications, ISDA'10

作者： Chaudhry, Tayyab Gulrez, Tauseef Zia, Ali Zaheer, Shyba Intelligent Machines and Robotics Research Group Department of Computer Science COMSATS Institute of Information Technology Lahore M.A. Jinnah Campus Defence Road Lahore Pakistan Department of Electrical Engineering College of Engineering and Applied Sciences Al Ghurair University Dubai United Arab Emirates

ISBN: (纸本)9781424481354

This paper addresses the problem of avoiding dynamic obstacles while following the learned trajectory through non-point based maps directly through laser data. The geometric representation of free configuration area changes while a moving obstacle enters into the safety region of autonomous mobile robot. We have applied the Bézier curve properties to the free configuration eigenspaces to satisfy the dynamic obstacle avoidance path constraints. The algorithm is designed to accurately represent the mobile robot's characteristics while avoiding obstacle such as minimum turning radius. Moreover, we also discuss the obstacle avoided path feasibility as a vectorial combination of free configuration eigen-vectors at discrete time scan-frames to manifest a trajectory, which once followed and mapped onto the two control signals of mobile robot will enable it to build an efficient and accurate online environment map. Preliminary results in Matlab have been shown to validate the idea, while the same has been implemented in Player/stage (robotics real-time software) to analyze the performance of the proposed system. © 2010 IEEE.

关键词： Trajectories

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