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IEEE International Conference on Embedded and Real-Time Computing systems and Applications (RTCSA)

作者： T. Matsui H. Hirukawa Y. Ishikawa N. Yamasaki S. Kagami F. Kanehiro H. Saito T. Inamura Digital Human Research Center AIST Tokyo Japan Research Institute of Intelligent Systems AIST Tsukuba Japan Department of Computer Science University of Tokyo Tokyo Japan Department of Information and Computer Science Keio University Yokohama Japan

A humanoid robot is a real-time system controlled by a complex computer system that requires huge computing power for perception and planning, high energy efficiency for self-contained control, reduction of physical dimensions, and high reliability. This paper proposes a distributed architecture for the humanoid robot control substituting conventional centralized control architectures. In addition to the parallelism that provides scalable computing power at low clock namely at low energy, the distributed architecture contributes to reliable operations by replacing many fragile analog signal wires with a digital network with redundant routes. In order to accomplish a real-time control over the network, RMTP (responsive multi-threaded processor) for parallel and real-time computation has been newly designed. RMTP can synchronize more than thirty nodes distributed over a robot body in less than 5 micro second with a real time network called the responsive link (RL). Architectures of RMTP, RL and Linux-based real-time system software are presented.

关键词： Humanoid robots computer architecture Real time systems Control systems Physics computing Power system reliability Centralized control computer networks Concurrent computing Power system planning

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Cinematized reality: Cinematographic camera controlling 3D free-viewpoint video

Cinematized reality: Cinematographic camera controlling 3D f...

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Visual Media Production, 2005. CVMP 2005. The 2nd IEE European Conference on

作者： Kitahara Sakamoto Satomi Tanaka Kogure ATR Intelligent Robotics and Communication Laboratories Keihanna Science City Kyoto Japan Department of Ingelligent Intaraction Technologies Graduate School of Systems and Information Engineering University of Tsukuba Tsukuba Ibaraki Japan Department of Knowledge Science Japan Advanced Institute of Science and Technology Nomi Ishikawa Japan

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Generating natural motion in an android by mapping human motion

Generating natural motion in an android by mapping human mot...

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作者： Matsui, Daisuke Minato, Takashi MacDorman, Karl F. Ishiguro, Hiroshi Department of Adaptive Machine Systems Graduate School of Engineering Osaka University 2-1 Yamada-oka Suita Osaka 565-0871 Japan Frontier Research Center Osaka University 2-1 Yamada-oka Suita Osaka 565-0871 Japan Advanced Telecommunications Research Institute International Intelligent Robotics and Communication Laboratories 2-2-2 Hikaridai Keihanna Science City Kyoto 619-0288 Japan

ISBN: (纸本)0780389123

One of the main aims of humanoid robotics is to develop robots that are capable of interacting naturally with people. However, to understand the essence of human interaction, it is crucial to investigate the contribution of behavior and appearance. Our group's research explores these relationships by developing androids that closely resemble human beings in both aspects. If humanlike appearance causes us to evaluate an android's behavior from a human standard, we are more likely to be cognizant of deviations from human norms. Therefore, the android's motions must closely match human performance to avoid looking strange, including such autonomic responses as the shoulder movements involved in breathing. This paper proposes a method to implement motions that look human by mapping their three-dimensional appearance from a human performer to the android and then evaluating the verisimilitude of the visible motions using a motion capture system. This approach has several advantages over current research, which has focused on copying a person's moving joint angles to a robot: (1) in an android robot with many degrees of freedom and kinematics that differs from that of a human being, it is difficult to calculate which joint angles would make the robot's posture appear similar to the human performer;and (2) the motion that we perceive is at the robot's surface, not necessarily at its joints, which are often hidden from view. © 2005 IEEE.

关键词： Mapping

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An ontology-based multiagent approach to outbound intrusion detection

An ontology-based multiagent approach to outbound intrusion ...

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ACS/IEEE International Conference on computer systems and Applications

作者： S. Mandujano A. Galvan J.A. Nolazco Center for Intelligent Systems Institute Technológico y de Estudios Superiores de Monterrey Monterrey Mexico Department of Computer Science Institute Technológico y de Estudios Superiores de Monterrey Monterrey Mexico

Summary form only given. The advantages of using knowledge representation and management techniques in information security have been already identified by some researchers, however, little has been done to enable security technologies with them. We present an ontology-based multiagent architecture that implements outbound intrusion detection, a monitoring approach that aims at guaranteeing that local systems are not used to compromise others. The specific goal is to identify automated attack tools, which constitute a public, unexplored repository of software security information. An attacker-centric ontology supports the architecture. Agents organized into teams execute on trusted sub-environments called cells, which are in turn organized non-hierarchically. Cells perform two independent misuse detection strategies whose output is further correlated to provide a third, more accurate diagnosis. Ontology and signature updates are deployed over the Internet as a way to speed up incident response.

关键词： Ontologies Intrusion detection Information security computer architecture Knowledge representation Information management Knowledge management Technology management Monitoring Software tools

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A data mining based approach for the EEG transient event detection and classification

A data mining based approach for the EEG transient event det...

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Annual IEEE Symposium on computer-Based Medical systems

作者： T.P. Exarchos A.T. Tzallas D.I. Fotiadis S. Konitsiotis S. Giannopoulos Unit of Medical Technology and Intelligent Information Systems Department of Computer Science University of Ioannina (UoI) Ioannina Greece Biomedical Research Institute-FORTH Ioannina Greece Department of Neurological Clinic University Hospital of Ioannina Ioannina Greece

An automated methodology which detects transient events in EEG recordings and classifies those as epileptic spikes, muscle activity, eye blinking activity and sharp alpha activity is presented. It is based on data mining algorithms and includes four stages: (I) EEG preprocessing and transient events detection, (II) clustering of transient events and feature extraction, (III) feature discretization and (IV) association rule mining and classification. The methodology is evaluated using a dataset of 25 EEG recordings and the obtained overall accuracy is 84.35%. The major advantage of our approach is that it is able to provide interpretation for the decisions made since it is based on a set of association rules.

关键词： Data mining Electroencephalography Event detection Epilepsy Feature extraction Association rules Brain Muscles Medical diagnostic imaging intelligent systems

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WACL: supporting telecommunications using - wearable active camera with laser pointer

WACL: supporting telecommunications using - wearable active ...

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International Symposium on Wearable computers

作者： N. Sakata T. Kurata T. Kato M. Kourogi H. Kuzuoka Institute of Engineering Mechanics University of Tsukuba Japan Human Interface Technology Laboratory University of Washington USA Institute of Advanced Industrial Science and Technology AIST Intelligent Systems Institute AIST Japan Department of Computer and Communication Sciences Wakayama University Japan

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ICDAR 2003 robust reading competitions: Entries, results, and future directions

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International Journal on Document Analysis and Recognition 2005年第2-3期7卷 105-122页

作者： Lucas, Simon M. Panaretos, Alex Sosa, Luis Tang, Anthony Wong, Shirley Young, Robert Ashida, Kazuki Nagai, Hiroki Okamoto, Masayuki Yamamoto, Hiroaki Miyao, Hidetoshi Zhu, JunMin Ou, WuWen Wolf, Christian Jolion, Jean-Michel Todoran, Leon Worring, Marcel Lin, Xiaofan Department of Computer Science University of Essex Colchester CO4 3SQ United Kingdom Department of Information Engineering Faculty of Engineering Shinshu University Nagano 380-8553 4-17-1 Wakasato Japan Institute of Automation Chinese Academy of Science Beijing 100080 PO Box 2738 China Lyon Research Center for Images and Intelligent Information Systems INSA de Lyon 69621 Villeurbanne Cedex Bt. J. Verne 20 rue Albert Einstein France Informatics Institute University of Amsterdam 1098 SJ Amsterdam Kruislaan 403 Netherlands Hewlett-Packard Laboratories Palo Alto CA 94304 1501 Page Mill Road United States

This paper describes the robust reading competitions for ICDAR 2003. With the rapid growth in research over the last few years on recognizing text in natural scenes, there is an urgent need to establish some common benchmark datasets and gain a clear understanding of the current state of the art. We use the term 'robust reading' to refer to text images that are beyond the capabilities of current commercial OCR packages. We chose to break down the robust reading problem into three subproblems and run competitions for each stage, and also a competition for the best overall system. The subproblems we chose were text locating, character recognition and word recognition. By breaking down the problem in this way, we hoped to gain a better understanding of the state of the art in each of the subproblems. Furthermore, our methodology involved storing detailed results of applying each algorithm to each image in the datasets, allowing researchers to study in depth the strengths and weaknesses of each algorithm. The text-locating contest was the only one to have any entries. We give a brief description of each entry and present the results of this contest, showing cases where the leading entries succeed and fail. We also describe an algorithm for combining the outputs of the individual text locators and show how the combination scheme improves on any of the individual systems. © Springer-Verlag 2005.

关键词： Camera captured Reading competition Text locating

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A new endoscopic microcapsule robot using beetle inspired microfibrillar adhesives

A new endoscopic microcapsule robot using beetle inspired mi...

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IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： E. Cheung M.E. Karagozler Sukho Park Byungkyu Kim M. Sitti The NanoRobotics Lab and the Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA USA The NanoRobotics Lab and the Department of Electrical & Computer Engineering Carnegie Mellon University Pittsburgh PA USA Senior Research Scientists at the Intelligent Microsystem Center Korea Institute of Science and Technology Information Seoul South Korea The director of the NanoRobotics Lab and an AssistantProfessor with the Department of Mechanical Engineering and Robotics Institute Carnegie Mellon University Pittsburgh PA USA

The diagnosis of gastrointestinal diseases within the small intestine has been greatly advanced with the introduction of the endoscopic microcapsule in recent years. In an effort to increase its reliability and expand its functionality, a mechanism for stopping and locomoting the capsule within the digestive tract is proposed in this paper. This mechanism, actuated by shape memory alloy wires, utilizes a synthetic microfibrillar adhesive similar to the attachment mechanisms employed by beetles. This fibrillar attachment mechanism is a combination of molecular adhesion caused by van der Waals forces and liquid adhesion caused by capillary forces. The molecular adhesion is enhanced by the presence of microfibers, and the liquid adhesion arises from a secretion from the beetle's footpad. A synthetic version of the beetle's footpad was fabricated from PDMS using a silicon mold. Another version was created from SU-8 using photolithography. Testing revealed decent adhesion with glass and prepared pig intestine in vitro both with a silicone oil to simulate the secretion and without it. A prototype robot with simple polymer adhesive pads for stopping successfully attached and detached inside a flexible vinyl tube. An inch worm locomotion mechanism is proposed and is in the preliminary stages of fabrication and testing

关键词： Robots Adhesives Intestines Fluids and secretions Testing Gastrointestinal tract Diseases Digestive system Shape memory alloys Wires

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Lyapunov-based control of macro-micro manipulator considering bending and torsional vibrations

Lyapunov-based control of macro-micro manipulator considerin...

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International Workshop on Robot Motion and Control (RoMoCo)

作者： Y. Morita M. Kimata H. Ukai H. Kando F. Matsuno Nagoya Kogyo Daigaku Nagoya Aichi JP Dept. of Comput. Sci. & Eng. Nagoya Inst. of Technol. Japan Department of Computer Science & Engineering Nagoya Institute of Technology Nagoya Aichi Japan Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications Chofu Tokyo Japan

This paper presents a Lyapunov-based positioning controller for a macro-micro manipulator suppressing the bending and torsional vibrations of the macro arm. On the basis of the distributed parameter model, the output feedback controller is constructed using the Lyapunov method. The asymptotic stability in the neighborhood of the desired states of the closed-loop system is proven. The proposed controller consists of the PD feedback of the motor angles and a feedback of the torsional strain at the tip of the macro arm. Some simulations are performed to show the effectiveness of the proposed controller.

关键词： Vibration control Lyapunov method Manipulator dynamics Control systems Orbital robotics Output feedback Asymptotic stability Strain control Capacitive sensors Safety

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Introduction

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Robotica 2005年第4期23卷 399-399页

作者： Bradley J. Nelson Hyung Suck Cho Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology (ETH) Zurich (Switzerland). Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Taejeon (South Korea).

This special issue on Micro/Nano Robotic Perception, Control and Manipulation describes several complementary research efforts from Asia, the United States, and Europe. The topic is timely and the work published in this special issue shows how traditional robotics research is contributing to the emerging micro and nano technologies that are already beginning to demonstrate a strong impact on our society. At milli to microscales, three research efforts in inspection and microassembly are presented. From the University of Minnesota, a force controlled microgripper for photonics microassembly applications is presented. Another important aspect of microassembly is the tracking and alignment of microparts using vision feedback. Work by Dr. Yesin at the Swiss Federal institute of Technology-Zurich (ETHZ) is directed towards using CAD model-based full 3DOF tracking for closed-loop control of automated microassembly. Moving towards submicron and nano scales, work from the University of Oldenburg in Germany in developing a novel platform for nanohandling using mobile microrobots has given rise to interesting concepts in how systems that perform future nanomanipulation tasks may be configured. A paper co-authored by researchers at the University of California-Berkeley and Carnegie Mellon University considers the use of optical tweezers integrated with chemical linkages for manufacturing 2D and 3D structures at micro and nanoscales. A microbial separation system at the University of Nagoya uses a novel touch sensor and a micropipette, and demonstrates the interesting research problems that exist in the rapidly emerging field of BioMicrorobotics. It is clear that micro/nano robotics research efforts, like those presented in this special issue, represent a key component of robotics studies, and illustrate one direction where robotics must head in order to ensure that the field of robotics remains relevant to science, engineering and society as a whole.

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