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The USC autonomous flying vehicle: An experiment in real-time behavior-based control

The USC autonomous flying vehicle: An experiment in real-tim...

引用

IeeE International Workshop on intelligent Robots and systems (IROS)

作者： A.H. Fagg M.A. Lewis J.F. Montgomery G.A. Bekey Department of Computer Science Center for Neural Engineering Institute for Robotics Intelligent Systems University of Southern California Los Angeles CA USA

A control system architecture is described for an autonomous flying vehicle. The vehicle, equipped with fourteen sensors, uses a model helicopter as an airframe. The control system utilizes these sensors to: remain aloft and in stable flight; navigate to a target; and manipulate a physical object. The overall approach to the problem is based on a behavioral paradigm. The key contribution of this paper is the demonstration of a situated agent under these severe circumstances; as the craft is airborne, it is in constant risk of crashing. Unlike terrestrial mobile robots, the craft must constantly make sound decisions to maintain its integrity.

关键词： Remotely operated vehicles Mobile robots Service robots Control systems Robot sensing systems intelligent sensors Concurrent computing intelligent robots Sensor systems computer architecture

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Experimental robotics 1

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丛书名： Springer Tracts in Advanced robotics

1000年

作者： Jaydev P. Desai Gregory Dudek Oussama Khatib Vijay Kumar

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Aspects of controlling a multifingered gripper

Aspects of controlling a multifingered gripper

引用

International Conference on Knowledge-Based intelligent Electronic systems (KES)

作者： T. Doersam T. Fischer Department of Computer Science Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

Controlling multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. The nonlinear friction, the impact problem and other plant uncertainties require a special kind of control and tuning of the controller. Some simple linear and nonlinear controllers for the Karlsruhe Dexterous Hand are presented and the results and advantages of the controllers are shown. Also, a new adaptive fuzzy controller is presented to overcome the time consuming process of fine-tuning the membership functions. Finally, a short glance at the hardware platform is taken in order to show the control system architecture.

关键词： Grippers Friction Control systems Force control Fuzzy control Force measurement computer science Real time systems Robot control Programmable control

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Automated Food Intake Monitoring System to Prevent Malnutrition Using the Tiago Robot Camera

Automated Food Intake Monitoring System to Prevent Malnutrit...

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2023 IeeE EMBS Special Topic Conference on Data science and Engineering in Healthcare, Medicine and Biology, IeeECONF 2023

作者： Konstantakopoulos, Fotios S. Plati, Daphni K. Pliakou, Labrina A. Di Luzio, Francesco Scotto Tagliamonte, Nevio Luigi Zollo, Loredana Tsiknakis, Manolis Fotiadis, Dimitrios I. University of Ioannina Unit of Medical Technology and Intelligent Information Systems Materials Science and Engineering Department Greece Forth Biomedical Research Institute IoanninaGR 45110 Greece Campus Bio-Medico University Research Unit of Advanced Robotics and Human-Centred Technologies Rome Italy Forth Institute of Computer Science Crete HeraklionGR 70013 Greece

ISBN: (纸本)9798350383386

The management of a daily diet is a significant concern among individuals in modern culture. The utilization of dietary assessment systems has significantly contributed to the efficient management of malnutrition and dietary habits over a period of time. In order to determine the nutritional value of the food that individuals consume, this study introduces a novel food monitoring system and its architecture. By creating a dataset of food images in a tray and using image processing, machine learning, and computer vision techniques, the nutrients and calories consumed by a patient are calculated. The proposed system achieves a 95.6% Intersection over Union score in the segmentation task, 92.3% top-1 accuracy in the classification task, and 4.6 g mean weight absolute error in the weight estimation *** Relevance: The proposed system has the ability to calculate the nutritional composition, encompassing calories, proteins, fats, and carbs, of food consumed by a patient, making it suitable for nutritional monitoring applications and healthcare systems that aim to monitor malnutrition in hospital patients. © 2023 IeeE.

关键词： Nutrition

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Compensation of friction in mechanical drives for a three fingered robot gripper

Compensation of friction in mechanical drives for a three fi...

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Proceedings of IeeE/RSJ International Conference on intelligent Robots and systems. IROS '96

作者： T. Doersam P. Duerrschmied Department for Computer Science Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

Performing fine manipulations with multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. Mainly nonlinear friction problems and plant uncertainties require intensive fine-tuning of a controller. This paper gives insight into the frictional behaviour of geared finger links. The behaviour has been approximated by a friction model. Considering the estimated system parameters two kinds of controllers are developed: a simple PD controller with switchable I-part and a PD-controller with a fuzzy friction compensation working in parallel. The results of both controllers are presented and compared in this paper.

关键词： Friction Control systems Robots High performance computing Uncertainty Fingers Parameter estimation PD control Fuzzy control Fuzzy systems

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Geometry-based part grouping for assembly planning

Geometry-based part grouping for assembly planning

引用

IeeE International Symposium on Assembly and Manufacturing (ISAM)

作者： H. Moradi K. Goldberg S. Lee Department of Computer Science-EE Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Department of Industrial Engineering and Operation Research University of California Berkeley USA Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA

One way to find an optimal plan is to enumerate all plans and evaluate a quality metric for each plan. However it is well known that N parts can have up to O(2/sup N/) assembly plans. Reducing N by grouping parts has been proposed earlier but to our knowledge has not been formally defined. In this paper we define two types of groups in terms of part geometry using the nondirectional blocking graph and binary adjacency matrices defined by Wilson and Latombe (1994). We give a polynomial time algorithm for identifying serial and parallel groups. We tested the algorithm on two planar assemblies where it reduced plan time by a factor of 4.

关键词： Robotic assembly Fasteners intelligent robots Transmission line matrix methods Testing Design automation Product design Design engineering Process planning Terminology

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The Smart Hospital: Data and AI Challenges

The Smart Hospital: Data and AI Challenges

引用

2023 IeeE EMBS Special Topic Conference on Data science and Engineering in Healthcare, Medicine and Biology, IeeECONF 2023

作者： Plati, Daphni K. Konstantakopoulos, Fotios S. Kalatzis, Theofanis Manousos, Dimitrios Kassiotis, Thomas Di Luzio, Francesco Scotto Tagliamonte, Nevio Luigi Zollo, Loredana Tsiknakis, Manolis Fotiadis, Dimitrios I. University of Ioannina Unit of Medical Technology and Intelligent Information Systems Materials Science and Engineering Department Greece Forth Biomedical Research Institute IoanninaGR 45110 Greece Forth Institute of Computer Science Crete HeraklionGR 70013 Greece Campus Bio-Medico University Research Unit of Advanced Robotics and Human-Centred Technologies Rome Italy

ISBN: (纸本)9798350383386

Healthcare systems generally constitute a combination of healthcare facilities and providers that collaborate in order to offer a complete range of healthcare services. As the primary providers of healthcare, hospitals hold an essential place in the healthcare system. This study introduces three novel automated Artificial Intelligence (AI) systems by using the robotic platform of the TIAGo robot: (i) an image-based system that monitors the food consumption of the patients and provides information regarding their energy intake to prevent malnutrition;(ii) a rehabilitation system that monitors patients as they perform prescribed exercises to prevent loss of mobility, and (iii) a monitoring system for the correctness of the oxygen therapy in terms of the proper positioning of the oxygen mask to prevent hypoxia complications. A well-designed observational clinical study is planned to evaluate and validate the utility and effectiveness of the proposed AI systems in improving patient stay in the hospital. For the abovementioned systems, three novel datasets were *** Relevance: Through the implementation of AI systems, the proposed research intends to provide specialists with an extra tool to aid in the monitoring of hospitalized patients, thus helping to prepare the way for the Smart Hospital. © 2023 IeeE.

关键词： Hospitals

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Extrinsic calibration of a camera with dual 2D laser range sensors for a mobile robot

Extrinsic calibration of a camera with dual 2D laser range s...

引用

IeeE International Symposium on intelligent Control (ISIC)

作者： Lixia Meng Fuchun Sun Shuzhi Sam Ge Department of Computer Science and Technology Tsinghua University China Institute of Intelligent Systems and Information Technology ISIT Robotics Institute University of Electronic Science and Technology of China China

ISBN: (纸本)9781424453603

A simple and effective algorithm is Proposed for calibrating the extrinsic parameters among a camera and dual laser range sensors whose traces are invisible by using a specially designed checkerboard. On the basis of an analysis of reference coordinates, range data can be transformed into world coordinate, and then a linear solution can be obtained for the problem. The simulation results confirmed that the proposed algorithm can yield good results as compared with a typical calibration method.

关键词： Cameras Calibration Robot vision systems Pixel Measurement by laser beam Lasers

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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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computer Vision for Assistive Healthcare

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丛书名： computer Vision and Pattern Recognition

2018年

作者： Marco Leo Giovanni Maria Farinella

ISBN: (数字)9780128134467

ISBN: (纸本)9780128134450

computer Vision for Assistive Healthcare describes how advanced computer vision techniques provide tools to support common human needs, such as mental functioning, personal mobility, sensory functions, daily living activities, image processing, pattern recognition, machine learning and how language processing and computer graphics cooperate with robotics to provide such tools. Users will learn about the emerging computer vision techniques for supporting mental functioning, algorithms for analyzing human behavior, and how smart interfaces and virtual reality tools lead to the development of advanced rehabilitation systems able to perform human action and activity recognition. In addition, the book covers the technology behind intelligent wheelchairs, how computer vision technologies have the potential to assist blind people, and about the computer vision-based solutions recently employed for safety and health monitoring.

关键词： computer vision. Medical care.

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