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IEEE International Symposium on Robot and Human Interactive Communication

作者： Mahdieh Nejati Brenna D. Argall McCormick School of Engineering Master of Science in Robotics Program Northwestern University Evanston IL USA Department of Electrical Engineering and Computer Science Northwestern University Evanston IL USA

ISBN: (纸本)9781509039302

This work presents an algorithm for automated real-time ramp detection using 3D point cloud data in the context of shared-control powered wheelchairs. Limitations in the interfaces available to those with severe motor impairments can make basic maneuvering tasks with powered wheelchairs difficult. Although a significant amount of work has been done on obstacle detection and avoidance, much less attention has been given to algorithms for the safe and reliable detection of ramps and inclines;even though navigating these structures is an important part of urban life. We provide an algorithmic solution for accurately detecting traversable inclines for applications with powered wheelchairs using the Point Cloud Library (PCL) within the robotics Operating System (ROS) framework. All algorithms are implemented first in simulation and later evaluated on data obtained from indoor and outdoor urban environments. We measure the performance of our algorithm with systematic testing on several different ramp structures, observed from varied viewpoints. Results show that our algorithm is successful in detecting the orientation, slope, and width of traversable ramps with up to 100% accuracy and an average detection accuracy of 88%.

关键词： Wheelchairs Mobile robots Three-dimensional displays Robot sensing systems Navigation Image edge detection three-dimensional displays Manipulator sensing systems Edge detection Wheelchair Mobile robots navigation RAMP Inclined Ramps physical impairment algorithms Town life Obstacle detection Traversable urban environment

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Flocking of Mobile Robots by Bounded Feedback

Flocking of Mobile Robots by Bounded Feedback

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IEEE International Conference on Automation science and engineering

作者： Thanh-Trung Han Hung Manh La Bach Hoang Dinh Faculty of Electrical and Electronics Engineering Ton Duc Thang University Advanced Robotics and Automation (ARA) Lab Department of Computer Science and Engineering University of Nevada

ISBN: (纸本)9781509024100

This paper addresses the problem of flocking of mobile robots by bounded feedback. A control problem is formulated with the multiple goals: velocity consensus, collision avoidance, and cohesion maintenance. The flocking protocol is then obtained by means of control design. Particularly, a Lyapunov-like function is presented, the velocity control is designed to achieve coordination and linear speed consensus, and the steering control is designed for consensus on orientation. The convergence is verified via Barbalat's lemma. Simulation results with a group of mobile robots are presented to show the effectiveness of the proposed flocking control.

关键词： FLOCKING Mobile robots Velocity control steering control Bounded Feedback

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Target-less camera-LiDAR extrinsic calibration using a bagged dependence estimator

Target-less camera-LiDAR extrinsic calibration using a bagge...

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2016 IEEE International Conference on Automation science and engineering, CASE 2016

作者： Irie, Kiyoshi Sugiyama, Masashi Tomono, Masahiro Future Robotics Technology Center Chiba Institute of Technology 2-17-1 Tsudanuma Chiba275-0016 Japan Department of Computer Science Tokyo Institute of Technology 2-12-1 O-okayama Tokyo152-8552 Japan Department of Complexity Science and Engineering University of Tokyo 7-3-1 Hongo Tokyo113-0033 Japan

ISBN: (纸本)9781509024094

The goal of this study is to achieve automatic extrinsic calibration of a camera-LiDAR system that does not require calibration targets. Calibration through maximization of statistical dependence using mutual information (MI) is a promising approach. However, we observed that existing methods perform poorly on outdoor data sets. Because of their susceptibility to noise, objective functions of previous methods tend to be non-smooth, and gradient-based searches fail in local optima. To overcome these issues, we introduce a novel dependence estimator called bagged least-squares mutual information (BLSMI). BLSMI is a combination of methods composed of a kernel-based dependence estimator and noise reduction by bootstrap aggregating (bagging), which can handle richer features and robustly estimate dependence. We compared ours with previous methods using indoor and outdoor data sets, and observed that our method performed best in terms of calibration accuracy. While previous methods showed degraded performance on outdoor data sets because of the local optima problem, our method exhibited high calibration accuracy both on indoor and outdoor data sets. © 2016 IEEE.

关键词： Cameras

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Delta DLP 3D printing with large size

Delta DLP 3D printing with large size

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Chenming Wu Ran Yi Yong-Jin Liu Ying He Charlie C.L. Wang TNList Department of Computer Science and Technology Tsinghua University Beijing China School of Computer Engineering Nanyang Technological University Singapore Department of Design Engineering and TU Delft Robotics Institute Delft University of Technology Netherlands

ISBN: (纸本)9781509037636

We present a delta DLP 3D printer with large size in this paper. Compared with traditional DLP 3D printers that use a low-cost off-the-shelf consumer projector and a single vertical carriage, the platform of our delta DLP 3D printer can also move horizontally in the plane. We show that this structure allows the printer to have a larger printing area than the projection area of a projector. Our system can print 3D models much larger than traditional DLP 3D printers. The major challenge to realize delta 3D printing with large size comes from how to partition an arbitrary planar polygonal shape (possibly with holes or multiple disjoint polygons) into a minimum number of rectangles with fixed size, which is NP-hard. We propose a simple yet efficient approximation algorithm to solve this problem. The time complexity of our algorithm is O(n3 log n), where n is the number of edges in the polygonal shape. A physical prototype system is built and several large 3D models with complex geometric structures have been printed as examples to demonstrate the effectiveness of our approach.

关键词： Printers Solid modeling Shape Approximation algorithms Liquids

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SRAC: Self-Reflective Risk-Aware Artificial Cognitive Models for Robot Response to Human Activities

SRAC: Self-Reflective Risk-Aware Artificial Cognitive Models...

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IEEE International Conference on robotics and Automation

作者： Hao Zhang Christopher Reardon Fei Han Lynne E. Parker the Human-Centered Robotics Lab in the Department of Computer Science and Electrical Engineering Colorado School of Mines Golden CO 80401 USA the Distributed Intelligence Lab in the Department of Computer Science and Electrical Engineering University of Tennessee Knoxville TN 37996 USA.

ISBN: (纸本)9781467380270

In human-robot teaming, interpretation of human actions, recognition of new situations, and appropriate decision making are crucial abilities for cooperative robots ("co-robots") to interact intelligently with humans. Given an observation, it is important that human activities are interpreted the same way by co-robots as human peers so that robot actions can be appropriate to the activity at hand. A novel interpretability indicator is introduced to address this issue. When a robot encounters a new scenario, the pretrained activity recognition model, no matter how accurate in a known situation, may not produce the correct information necessary to act appropriately and safely in new situations. To effectively and safely interact with people, we introduce a new generalizability indicator that allows a co-robot to self-reflect and reason about when an observation falls outside the co-robot's learned model. Based on topic modeling and the two novel indicators, we propose a new Self-reflective Risk-aware Artificial Cognitive (SRAC) model, which allows a robot to make better decisions by incorporating robot action risks and identifying new situations. Experiments both using real-world datasets and on physical robots suggest that our SRAC model significantly outperforms the traditional methodology and enables better decision making in response to human behaviors.

关键词： Models Robot Response

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A new robotic ultrasound system for tracking a catheter with an active piezoelectric element

A new robotic ultrasound system for tracking a catheter with...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Qianli Ma Joshua D. Davis Alexis Cheng Younsu Kim Gregory S. Chirikjian Emad M. Boctor Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA Department of Computer Science and Radiology and Laboratory for Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA

ISBN: (纸本)9781509037636

Robotic-assisted catheter insertion is becoming increasingly popular due to its potential applications including cardiac catheterization. Typically, catheters are tracked during insertion procedures to verify the location of the tip relative to anatomy or features of interest. To this end, many catheter tracking systems have been proposed in the literature. Current approaches such as visual servoing are computationally intensive and sometimes require harmful ionizing radiation (X-rays) for tip localization. Conversely, other approaches use 3D ultrasound probes which can be prohibitively expensive. In contrast, we propose an ultrasound-enabled robotic catheter tracking system that uses a 2D ultrasound probe and an active piezoelectric element to track the tip of a catheter. This approach has the potential to guide catheters from initial insertion, in a vein of the groin, to final placement at a target area inside of the heart. During the tracking process, no information from the ultrasound image is necessary;however, this information can be used to help clinicians guide the catheter or to perform diagnostic procedures. In this paper, we outline this procedure by first discussing the individual components of the system and then by describing our methodology for tracking the catheter tip. Next, we simulate the system in ROS to test its effectiveness, and finally we experimentally verify that a robotic arm equipped with a 2D ultrasound probe can track a catheter in a multi-vein phantom. Furthermore, the data collected during tracking can be used to virtually reconstruct the 3D structure of veins while tracking.

关键词： Catheters Phantoms Probes Ultrasonic imaging Veins Manipulators

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An empirical estimation of power output of a miniaturized wind turbine cluster

An empirical estimation of power output of a miniaturized wi...

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Irish Signals and Systems Conference (ISSC)

作者： Srbinovski Bruno Leahy Paul Pakrashi Vikram Dunne Shane Stack Eoin Taccetta Marco Popovici Emanuel MaREI University College Cork Ireland Electrical and Electronic Engineering University College Cork Ireland Department of Computer Science and Technology Bioengineering Robotics and Systems Engineering Italy

ISBN: (纸本)9781509034109

A miniaturized wind turbine cluster intended for educational purposes is used to build a 4×4 model wind turbine farm. This deployment is part of an exercise to model and optimize the output energy associated with the farm. An empirical approach is used to estimate the power and the power coefficient curves from data acquired in the field. An extrapolated power and power factor model is developed for further estimation of the power output of the wind turbines and the efficiency of the turbines at different wind speeds. The proposed approach is simple and requires minimal cost as opposed to other approaches based on wind tunnel measurements. Field experiments are carried out in this regard and the downwind distance and pitch angle are changed in field testing in terms of an experimental parameter study. The work emphasizes the potential of using small-scale models to understand and investigate interaction of wind turbines in a cluster.

关键词： Wind turbines Wind speed Sensor arrays Power measurement Voltage measurement Battery charge measurement

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Effects of geometry and material on the insertion oi very small neural electrode 38

Effects of geometry and material on the insertion oi very sm...

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38th Annual International Conference of the IEEE engineering in Medicine and Biology Society, EMBC 2016

作者： Marshall, Shaun P. Lin, Wei-Chen Patel, Paras R. Shih, Albert J. Chestek, Cynthia A. Department of Mechanical and Biomedical Engineering University of Michigan Ann ArborMI48109 United States Department of Mechanical Engineering University of Michigan Ann ArborMI48109 United States Advanced Institute of Manufacturing with High-Tech Innovations Chiayi62102 Taiwan Department of Biomedical Engineering University of Michigan Ann ArborMI48109 United States Department of Mechanical Engineering and Biomedical Enineering University of Michigan Ann ArborMI48109 United States Department of Biomedical Engineering Electrical Engineering and Computer Science Neuroscience and Robotics University of Michigan Ann ArborMI48109 United States

ISBN: (纸本)9781457702204

For neural probes to be used chronically for years in the human body, they must provoke minimal scarring. Recently, a number of groups have reported substantially reduced scar tissue using cellular scale electrodes below 15 μm in size. This size scale is accessible to manufacturing techniques, but can be very difficult to insert in the brain for most common electrode materials. In this study, we explore the design space available to cellular scale electrodes that will self-insert into the brain. First a mathematical model is developed using beam buckling equations for different materials and geometries. Buckling mode was found to be one fixed and one hinged end resulting in a mode conditional constant of, n, 2.045. Model predicts insertion success between 90-100% for a 6.8 μm diameter electrode and was used to approximate applied force as 750 μΝ which is close to reference data of 780 μΝ [1]. Second, we developed a PVC phantom that mimics the brain's elastic modulus. This phantom was matched to insertion success data obtained from carbon fiber arrays [1]. Overall, these results enable studies to be conducted on other proposed cellular scale electrodes prior to animal testing or large scale fabrication. © 2016 IEEE.

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Generalized Norm Optimal Iterative Learning Control with Intermediate Point and Sub-interval Tracking

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International Journal of Automation and computing 2015年第3期12卷 243-253页

作者： David H.Owens Chris T.Freeman Bing Chu Department of Automatic Control and Systems Engineering University of Sheffield School of Electronics and Computer Science University of Southampton Advanced Robotics Division Italian Institute of Technology

Norm optimal iterative learning control(NOILC) has recently been applied to iterative learning control(ILC) problems in which tracking is only required at a subset of isolated time points along the trial duration. This problem addresses the practical needs of many applications, including industrial automation, crane control, satellite positioning and motion control within a medical stroke rehabilitation context. This paper provides a substantial generalization of this framework by providing a solution to the problem of convergence at intermediate points with simultaneous tracking of subsets of outputs to reference trajectories on subintervals. This formulation enables the NOILC paradigm to tackle tasks which mix "point to point" movements with linear tracking requirements and hence substantially broadens the application domain to include automation tasks which include welding or cutting movements, or human motion control where the movement is restricted by the task to straight line and/or planar segments. A solution to the problem is presented in the framework of NOILC and inherits NOILC s well-defined convergence properties. Design guidelines and supporting experimental results are included.

关键词： Iterative learning control learning control optimization linear systems robotics.

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Detection and retargeting of emphasized text for content summarization

Detection and retargeting of emphasized text for content sum...

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International Conference on Advances in Computing, Communications and Informatics (ICACCI)

作者： Md. Ajij Sanjoy Pratihar Kanishka Ganguly Computer Science and Engineering Department National Institute of Technology Meghalaya Shillong India Maryland Robotics Center University of Maryland College Park MD USA

ISBN: (纸本)9781509020300

In this paper, we propose a simple and robust algorithm for detection and retargeting of emphasized words, written as italics, in a scanned document page. The detection of italics is done using an appropriate use of Principal Component Analysis (PCA), applied on a selected subset of pixels coming from the input character image boundary. The proposed method is font and style invariant. The localization of the emphasized words helps us in information retrieval by means of retargeted words. It is seen that, a good number of publication houses use emphasized (italic) words for specifying the keywords, author's affiliations etc., in the front page of the articles. Our method extracts and retargets the emphasized words to summarize the content of the papers. Experimental result shows the robustness and degree of precision.

关键词： Image edge detection Principal component analysis Information retrieval Informatics Robustness Indexes Image segmentation

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