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IEEE-RAS International Conference on Humanoid Robots

作者： Juan Rojas Richard A. Peters Electrical and Computer Engineering Department Center of Intelligent Systems Vanderbilt University Nashville TN USA

robotics technology is quickly evolving and demanding robots to perform more actions and with greater complexity. Modular construction tasks are well suited for heterogenous robots. In this paper we studied if modularizing a distributed multi-agent architecture with a control modular framework was a viable approach to generate complex robotic behavior with short term autonomy. To this end we tasked a heterogeneous robot team to perform an assembly task using force sensing. We also studied which robots would be better suited for a given task. Our experimental results concluded that the modular control approach was viable to generate short- term autonomous complex robotic behavior and our analysis characterized the advantages of each robot for the assembly task.

关键词： Force Robot kinematics Robot sensing systems Assembly Service robots Joints

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Fault Tolerant Target Localization and Tracking in Wireless Sensor Networks Using Binary Data

Fault Tolerant Target Localization and Tracking in Wireless ...

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2011 IEEE Global Telecommunications Conference - GLOBECOM 2011

作者： M. P. Michaelides C. Laoudias C. G. Panayiotou KIOS Research Center for Intelligent Systems and Networks Department of Electrical and Computer Engineering University of Cyprus Cyprus

This paper investigates the use of a sensor network for localizing and tracking a moving target using only binary data. Due to the simple nature of the sensor nodes, sensing can be tampered (accidentally or maliciously), resulting in a significant number of sensor nodes reporting erroneous observations. Therefore, it is essential that any event tracking algorithm used in Wireless Sensor Networks (WSNs) exhibits fault tolerant behavior in order to tolerate a number of misbehaving nodes. SNAP (Subtract on Negative Add on Positive), is a simple event localization algorithm designed for WSNs applications that exhibits this fault tolerant behavior. The main contribution of this paper is to combine the decentralized implementation of SNAP with Kalman Filter techniques for tracking the movement of a target. This efficient tracking procedure provides fairly accurate results and turns out to be fault tolerant even when a large percentage of the sensor nodes report erroneous observations.

关键词： Peer to peer computing Fault tolerance Fault tolerant systems Target tracking Wireless sensor networks Estimation Noise

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A computational framework for integrating robotic exploration and human demonstration in imitation learning

A computational framework for integrating robotic exploratio...

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IEEE International Conference on systems, Man and Cybernetics

作者： Huan Tan Kazuhiko Kawamura Center of Intelligent Systems Electrical Engineering and Computer Science Department Vanderbilt University Nashville TN USA

This paper proposes a computational framework for humanoid robots to learn complex behaviors through combining robotic self-exploration and demonstrations of humans. A modified Rapidly-growing Random Tree (RRT)-Connect algorithm is used for exploration, a Linear Global Model (LGM) is used for recording demonstrations, a spatial-temporal extension of Isomap algorithm is used for dimension reduction which enables the exploration in a low-dimensional latent space, and the log likelihood function of the distribution of sampled data in the joint space is used to project the data in the latent space back to the joint space. An experiment of imitating a conducting behavior is carried out to demonstrate the effectiveness of this framework.

关键词： Trajectory Joints Humans Heuristic algorithms Humanoid robots Convergence

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Fault detection and mitigation in WLAN RSS fingerprint-based positioning

Fault detection and mitigation in WLAN RSS fingerprint-based...

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International Conference on Indoor Positioning and Indoor Navigation (IPIN)

作者： Christos Laoudias Michalis P. Michaelides Christos G. Panayiotou KIOS Research Center of Intelligent Systems and Networks Department of Electrical and Computer Engineering University of Cyprus Cyprus

The provision of reliable location estimates in case of unpredicted failures or malicious attacks, which inject faults and compromise the performance of the positioning system, is very important. Thus, our main interest is on the fault tolerance of WLAN fingerprint-based methods, rather than the absolute positioning error in the fault-free case. We study the Nearest Neighbor method and as a first step we develop a robust detection scheme to accurately detect faults. We incorporate this into a hybrid positioning method that switches to a modified distance metric, instead of the Euclidean, if faults are present. Experimental results indicate that the proposed approach exhibits higher resilience to faults compared to other positioning methods.

关键词： Fault tolerance Fault tolerant systems Measurement Fault detection Accuracy Wireless LAN Wireless sensor networks

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Solving Traveling Salesman problem by a hybrid combination of PSO and Extremal Optimization

Solving Traveling Salesman problem by a hybrid combination o...

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2011 International Joint Conference on Neural Network, IJCNN 2011

作者： Khakmardan, S. Poostchi, H. Akbarzadeh, M.-R. Department of Artificial Intelligence Mashhad Branch Islamic Azad University Mashhad Iran Ferdowsi University of Mashhad Mashhad Iran Center for Applied Research on Soft Computing and Intelligent Systems Departments of Electrical Engineering and Computer Engineering Ferdowsi University of Mashhad Mashhad Iran

ISBN: (纸本)9781457710865

Particle Swarm Optimization (PSO) has received great attention in recent years as a successful global search algorithm, due to its simple implementation and inexpensive computation overhead. However, PSO still suffers from the problem of early convergence to locally optimal solutions. Extremal Optimization (EO) is a local search algorithm that has been able to solve NP hard optimization problems. The combination of PSO with EO benefits from the exploration ability of PSO and the exploitation ability of EO, and reduces the probability of early trapping in the local optima. In other words, due to the EO's strong local search capability, the PSO focuses on its global search by a new mutation operator that prevents loss of variety among the particles. This is done when the particle's parameters exceed the problem conditions. The resulting hybrid algorithm Mutated PSO-EO (MPSO-EO) is then applied to the Traveling Salesman Problem (TSP) as a NP hard multimodal optimization problem. The performance of the proposed approach is compared with several other metaheuristic methods on 3 well known TSP databases and 10 unimodal and multimodal benchmark functions. © 2011 IEEE.

关键词： Traveling salesman problem

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On the Optimal Search Neighborhood in Mixed Wireless Sensor Networks

On the Optimal Search Neighborhood in Mixed Wireless Sensor ...

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IEEE Conference on Decision and Control

作者： Theofanis P. Lambrou Christos G. Panayiotou KIOS Research Center for Intelligent Systems and Networks and Department of Electrical and Computer Engineering University of Cyprus Cyprus

ISBN: (纸本)9781612848006

This paper considers the problem of improving the monitoring capability of a sparse stationary sensor network with mobile sensor nodes. The main idea is that the mobile sensors should sample the areas that are least covered (monitored) by the static sensors. Thus, a simple path planning strategy is presented that decides the next point to be visited using only "local" information. For a simplified scenario, the paper derives the optimal path strategy and extrapolates some of the properties of the scenario to a more general instance of the problem. Furthermore, the paper proposes a surrogate metric that can be used in order to determine the optimal searching neighborhood and presents extensive simulation results which indicated that this approach can achieve very good results.

关键词： Simulation results Sensor networks Sensors optimal path Mobile Optimal Path planning

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System design and implementation of social interactive robot Nancy

System design and implementation of social interactive robot...

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4th International Conference on Interaction Sciences: IT, Human and Digital Content, ICIS 2011

作者： Ge, Shuzhi Sam Liew, Chun Fui Li, Yanan Department of Electrical and Computer Engineering Interactive Digital Media Institute National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu 610054 China Social Robotics Lab NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9788988678442

This paper presents a social interactive robot Nancy that has been developed in Social robotics Laboratory, National University of Singapore. Fundamentally different from factory robots, Nancy's design focuses on social interaction and social intelligent system. The design objectives and consideration are examined in the beginning, followed by the description of hardware and software architectures. Contrast to current existing social robots, Nancy has a graphical user interface (GUI), which acts as an additional channel for human-robot interaction. This GUI helps users to have a better understanding of Nancy's internal states and hence make users feel more comfortable during the interaction with Nancy. Visitors' interaction experience with Nancy is discussed together with Nancy's social skills. © 2011 AICIT.

关键词： Graphical user interfaces

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A distributed fault detection filtering approach for a class of interconnected continuous-time nonlinear systems

A distributed fault detection filtering approach for a class...

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IEEE Conference on Decision and Control

作者： Christodoulos Keliris Marios M. Polycarpou KIOS Research Center for Intelligent Systems and Networks Department of Electrical and Computer Engineering University of Cyprus Nicosia Cyprus

ISBN: (纸本)9781612848006;9781612848013

This paper develops a filtering approach for distributed fault detection of a class of interconnected continuous-time nonlinear systems with modeling and measurement uncertainties. A distributed fault detection scheme and corresponding thresholds are designed based on filtering certain signals so that the effect of high frequency measurement uncertainty is diminished. The analysis of the proposed distributed fault detection scheme shows that the derived thresholds guarantee that there are no false alarms and characterizes quantitatively the class of detectable faults.

关键词： Fault detection Measurement uncertainty Equations Uncertainty Mathematical model Noise Monitoring

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intelligent NOC hotspot prediction

Lecture Notes in Electrical Engineering

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Lecture Notes in electrical engineering 2011年 105 LNEE卷 3-16页

作者： Kakoulli, Elena Soteriou, Vassos Theocharides, Theocharis Department of Electrical Engineering and Information Technology Cyprus University of Technology Lemesos Cyprus Department of Electrical and Computer Engineering KIOS Research Center for Intelligent Systems and Networks University of Cyprus Nicosia Cyprus

ISBN: (纸本)9789400714878

Hotspots are Network on-Chip (NoC) routers or modules which occasionally receive packetized traffic at a higher rate that they can process. This phenomenon reduces the performance of an NoC, especially in the case wormhole flow-control. Such situations may also lead to deadlocks, raising the need of a hotspot prevention mechanism. Such mechanism can potentially enable the system to adjust its behavior and prevent hotspot formation, subsequently sustaining performance and efficiency. This Chapter presents an Artificial Neural Network-based (ANN) hotspot prediction mechanism, potentially triggering a hotspot avoidance mechanism before the hotspot is formed. The ANN monitors buffer utilization and reactively predicts the location of an about to-be-formed hotspot, allowing enough time for the system to react to these potential hotspots. The neural network is trained using synthetic traffic models, and evaluated using both synthetic and real application traces. Results indicate that a relatively small neural network can predict hotspot formation with accuracy ranges between 76 and 92%. © 2011 Springer Science+Business Media B.V.

关键词： Network-on-chip

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Highly-accurate light-penetration based silkworm pupa sex identification system

Highly-accurate light-penetration based silkworm pupa sex id...

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2011 International Quantum Electronics Conference, IQEC 2011 and Conference on Lasers and Electro-Optics, CLEO Pacific Rim 2011

作者： Sumriddetchkajorn, Sarun Kamtongdee, Chakkrit Intelligent Devices and Systems Research Unit National Electronics and Computer Technology Center 112 Thailand Science Park Phahoyothin Rd Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical Engineering Faculty of Engineering Khon Kaen University Khon Kaen 40002 Thailand

This paper proposes and experimentally shows how we combine light penetration concept and simple image processing operations in order to identify gender of a silkworm pupa. Key features include low cost, fast, and hig... 详细信息

ISBN: (纸本)9780977565771

关键词： Animals

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