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International Conference on Modelling, Simulation and intelligent Computing, MoSICom 2020

作者： Pande, Aditya Rout, B.K. Das, Sangram K. Department of Mechanical Engineering Center for Robotics and Intelligent Systems Birla Institute of Technology and Science Pilani Campus PilaniRajasthan India

ISBN: (纸本)9789811547744

The problem of features, objects, gestures, and face detection has been tackled using a numerous vision-based algorithms available in literature. Each of these algorithms requires a set of hyper-parameters, which need to be set on the basis of trial and error such that the results provide best performance to a situation. Mostly, researchers use trial and error approach to satisfactory result and solve the above problems. In this work, an approach has been suggested to determine an optimum set of hyper-parameters, which will provide a starting point for anyone using Viola Jones algorithm for hand gesture recognition or similar endeavors. This will reduce the time spent in searching for the best combination of hyper-parameters. © Springer Nature Singapore Pte Ltd 2020.

关键词： computer vision

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Wireless electrical power to sub-millimeter robots

Wireless electrical power to sub-millimeter robots

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5th International Conference on intelligent robotics and Applications, ICIRA 2012

作者： Nawrocki, Robert A. Frutiger, Dominic R. Voyles, Richard M. Nelson, Bradley J. Department of Computer Engineering University of Denver Denver CO United States Institute of Robotics and Intelligent Systems ETH Zürich Switzerland

ISBN: (纸本)9783642335143

A sub-millimeter scale coil is investigated as an alternative means to power electronics for small-scale robots. The AC voltage is induced by time-varying magnetic field. FEM analysis of employing magnetic field concentrators to increase the field density is carried out, concluding with their ineffectiveness to offset the occupied space. The choice of conductive versus non-conductive photoresist is investigated. The coil fabrication process is based upon three-dimensional, two-photon-absorption photolithography. Additional steps include metal sputtering, microlaser patterning and wire-bonding. The steps detailing the entire design process are described. With the coil occupying a volume of 0.45 pico m3, the maximum AC voltage of approximately 84 nV, with power density of about 1.96 mW per meter cube were measured. The study concludes with proposing ways to increase the induced voltage to a useable voltage of 2 V. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Photoresists

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Multi-agent strategic modeling in a robotic soccer domain 06

Multi-agent strategic modeling in a robotic soccer domain

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Fifth International Joint Conference on Autonomous Agents and Multiagent systems, AAMAS

作者： Bezek, Andraz Gams, Matjaz Bratko, Ivan Department of Intelligent Systems Jožef Stefan Institute Faculty of Computer and Information Science University of Ljubljana

ISBN: (纸本)1595933034

This paper presents an algorithm for multi-agent strategic modeling (MASM) applied in a robotic soccer domain. It transforms a multi-agent action sequence into a set of strategic action descriptions in a graphical and symbolic form. By using hierarchically ordered domain knowledge, the algorithm is able to generate graphic and symbolic strategic action descriptions together with corresponding rules at different levels of abstraction. The method was evaluated on the RoboCup Soccer Server Internet League data. Copyright 2006 ACM.

关键词： robotics

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Recovering LSHGCs and SHGCs from stereo

Recovering LSHGCs and SHGCs from stereo

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1992 IeeE computer Society Conference on computer Vision and Pattern Recognition, CVPR 1992

作者： Chung, R.C.-K. Nevatia, R. Institute for Robotics and Intelligent Systems Departments of Computer Science and Electrical Engineering University of Southern California Los AngelesCA90089-0273 United States

ISBN: (纸本)0818628553

The problem of computing volumetric shape from stereo is examined. It is argued that intermediate two-and-one-half-dimensional dense or wire-frame descriptions may not be always possible from stereo, especially when there are curved surfaces in the scene, and that 3D volumetric descriptions of objects may have to be derived directly from stereo correspondences. Methods are then presented for recovering volumetric shape with linear straight homogeneous generalized cones (LSHGCs) and straight homogeneous generalized cones (SHGCs) as the shape models, using some invariant properties in their monocular and stereo projections. Experimental results on images of objects with curved surfaces are given. © 1992 IeeE.

关键词： computer vision

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The segmented bus: A dynamically segmentable interprocessor communication network for intelligent mobile robot systems

The segmented bus: A dynamically segmentable interprocessor ...

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1992 IeeE/RSJ International Conference on intelligent Robots and systems, IROS 1992

作者： Aras, C.M. Luo, Ren C. Reeves, D.S. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering United States Department of Computer Science North Carolina State University RaleighNC27695 United States

ISBN: (纸本)0780307372

We propose a new interprocessor communication network, named the Segmented Bus, for multiprocessor message passing computer architectures executing groups of processes with localized communication patterns and time varying computational demands. The control of autonomous robots includes such process sets, making this architecture suitable for the intelligent robot control problem and other control systems with localized and changing message communication patterns. The Segmented Bus also allows dynamic segmentation of the interprocessor communication network for dynamic reconfiguration based on task communication locality. Virtual cut-Through and preemptive circuit switched data transfers are used for inter-segment data transfers on the Segmented Bus. Hardware and protocols for implementing these two techniques are discussed. The performance of the Segmented Bus using the two data transfer techniques is evaluated with simulation and the results are compared to the single bus and the multiple bus in terms of the performance, expandability and the complexity of hardware. © 1992 institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： Data transfer

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Refinement of noisy correspondence using feedback from 3D motion

Refinement of noisy correspondence using feedback from 3D mo...

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1992 IeeE computer Society Conference on computer Vision and Pattern Recognition, CVPR 1992

作者： Kim, Y.C. Price, K. Institute for Robotics and Intelligent Systems Departments of Computer Science and Electrical Engineering University of Southern California Los AngelesCA90089-0273 United States

ISBN: (纸本)0818628553

In automated feature-based motion analysis of multiple frames, correspondence data are usually noisy and fragmented. A technique that gradually refines the initial noisy correspondence data and links fragments of a single trajectory using feedback from 3D motion estimation is presented. First, 3D motion parameters are estimated using the initial correspondence data. Then, each noisy trajectory is partitioned into subsets of points, each of which conforms to the estimated motion. The best set is used as the input to the next motion estimation. This process is repeated, and the gaps in the refined correspondence data are filled by guidance from the predicted motion. Test results for a standard real image sequence are presented. © 1992 IeeE.

关键词： Motion estimation

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Control of a Quadruped Robot with Bionic Springy Legs in Trotting Gait

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Journal of Bionic Engineering 2014年第2期11卷 188-198页

作者： Mantian Li Zhenyu Jiang Pengfei Wang Lining Sun Shuzhi Sam Ge State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China Institute of Intelligent Systems and Information Technology University of Electronic Seience and Technology of China Chengdu 610000 P.R. China Department of Electrical and Computer Engineering the National University of Singapore Singapore 117576 Singapore

Legged robots have better performance on discontinuous terrain than that of wheeled robots. However, the dynamic trotting and balance control of a quadruped robot is still a challenging problem, especially when the robot has multi-joint legs. This paper presents a three-dimensional model of a quadruped robot which has 6 Degrees of Freedom （DOF） on torso and 5 DOF on each leg. On the basis of the Spring-Loaded Inverted Pendulum （SLIP） model, body control algorithm is discussed in the first place to figure out how legs work in 3D trotting. Then, motivated by the principle of joint function separation and introducing certain biological characteristics, two joint coordination approaches are developed to produce the trot and provide balance. The robot reaches the highest speed of 2.0 m.s-1, and keeps balance under 250 Kg.m.s-1 lateral disturbance in the simulations. The effectiveness of these approaches is also verified on a prototype robot which runs to 0.83 m.s-1 on the treadmill, The simulations and experiments show that legged robots have good biological properties, such as the ground reaction force, and spring-like leg behavior.

关键词： legged robots locomotion control quadruped robot trotting gait

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Robust Counting in Overcrowded Scenes Using Batch-Free Normalized Deep ConvNet

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computer systems science & Engineering 2023年第9期46卷 2741-2754页

作者： Sana Zahir Rafi Ullah Khan Mohib Ullah Muhammad Ishaq Naqqash Dilshad Amin Ullah Mi Young Lee Institute of Computer Sciences and Information Technology(ICS/IT) The University of AgriculturePeshawar25130Khyber PakhtunkhwaPakistan Department of Convergence Engineering for Intelligent Drone Sejong UniversitySeoul05006Korea Collaborative Robotics and Intelligent Systems(CoRIS)Institute Oregon State UniversityORUSA Department of Software Sejong UniversitySeoul05006Korea

The analysis of overcrowded areas is essential for flow monitoring,assembly control,and *** counting’s primary goal is to calculate the population in a given region,which requires real-time analysis of congested scenes for prompt reactionary *** crowd is always unexpected,and the benchmarked available datasets have a lot of variation,which limits the trained models’performance on unseen test *** this paper,we proposed an end-to-end deep neural network that takes an input image and generates a density map of a crowd *** proposed model consists of encoder and decoder networks comprising batch-free normalization layers known as evolving normalization(EvoNorm).This allows our network to be generalized for unseen data because EvoNorm is not using statistics from the training *** decoder network uses dilated 2D convolutional layers to provide large receptive fields and fewer parameters,which enables real-time processing and solves the density drift problem due to its large receptive *** benchmark datasets are used in this study to assess the proposed model,resulting in the conclusion that it outperforms conventional models.

关键词： Artificial intelligence deep learning crowd counting scene understanding

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A Tendon-Driven Robotic Dexterous Hand Design for Grasping 4th

A Tendon-Driven Robotic Dexterous Hand Design for Grasping

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4th International Conference on Cognitive systems and Information Processing, ICCSIP 2018

作者： Xia, Ziwei Yuan, Jiahui Fang, Bin Sun, Fuchun Zhu, Chang Yang, Yiyong Min, Huasong State Key Laboratory of Intelligent Technology and Systems Tsinghua National Laboratory for Information Science and Technology Department of Computer Science and Technology Tsinghua University Haidian District Beijing100083 China Beijing100083 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan430081 China Beijing China

ISBN: (纸本)9789811379826

This paper focuses on the research of humanoid dexterous hand with tendon-driven. The structure of the dexterous hand is designed and its kinematics, dynamics and the relationship between the finger joints and the fingertip force are deduced. Then, based on the characteristics of the dexterous hand, a hierarchical control system is proposed and fuzzy adaptive PID is used as the motor control algorithm. The grasping experiments are implemented and the results indicate the hand has well performance. © 2019, Springer Nature Singapore Pte Ltd.

关键词： Kinematics

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Learning multiple collaborative tasks with a mixture of Interaction Primitives

Learning multiple collaborative tasks with a mixture of Inte...

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2015 IeeE International Conference on robotics and Automation, ICRA 2015

作者： Ewerton, Marco Neumann, Gerhard Lioutikov, Rudolf Amor, Heni Ben Peters, Jan Maeda, Guilherme Intelligent Autonomous Systems Lab Department of Computer Science Technische Universität Darmstadt Hochschulstr. 10 Darmstadt64289 Germany Institute of Robotics and Intelligent Machines Georgia Institute of Technology 801 Atlantic Drive AtlantaGA30332-0280 United States Max Planck Institute for Intelligent Systems Spemannstr. 38 Tuebingen72076 Germany

ISBN: (纸本)9781479969234

Robots that interact with humans must learn to not only adapt to different human partners but also to new interactions. Such a form of learning can be achieved by demonstrations and imitation. A recently introduced method to learn interactions from demonstrations is the framework of Interaction Primitives. While this framework is limited to represent and generalize a single interaction pattern, in practice, interactions between a human and a robot can consist of many different patterns. To overcome this limitation this paper proposes a Mixture of Interaction Primitives to learn multiple interaction patterns from unlabeled demonstrations. Specifically the proposed method uses Gaussian Mixture Models of Interaction Primitives to model nonlinear correlations between the movements of the different agents. We validate our algorithm with two experiments involving interactive tasks between a human and a lightweight robotic arm. In the first, we compare our proposed method with conventional Interaction Primitives in a toy problem scenario where the robot and the human are not linearly correlated. In the second, we present a proof-of-concept experiment where the robot assists a human in assembling a box. © 2015 IeeE.

关键词： Demonstrations

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