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IEEE International Conference on Fuzzy Systems

作者： Chiranjib Saha Debdipta Goswami Sriparna Saha Amit Konar Anna Lekova Atulya K. Nagar Department of of Electronics and Telecommunication Engineering Jadavpur University Kolkata-700050 India Institute of System Engineering and Robotics Bulgarian Academy of Sciences Sofia Bulgaria Department of Mathematics and Computer Science Liverpool Hope University United Kingdom

ISBN: (纸本)9781467374293

The recently developed Kinect sensor has opened a new horizon to Human-computer Interface (HCI) and its native connection with Microsoft's product line of Xbox 360 and Xbox One video game consoles makes completely hands-free control in next generation of gaming. Games that requires a lot of degree of freedoms, especially the driving control of a car in racing games is best suitable to be driven by gestures, as the use of simple buttons does not scale to the increased number of assistive, comfort, and infotainment functions. In this paper, we propose a Mamdani type-I fuzzy inference system based data processing module which effectively takes into account the dependence of actual steering angle with the distance of two palm positions and angle generated with respect to the sagittal plane. The FIS output variable controls the duration of a virtual "key-pressed" event which mocks the users pressing of actual keys assigned to control car direction in the original game. The acceleration and brake(deceleration) of the vehicle is controlled using the relative displacement of left and right feet. The proposed experimental setup, interfacing Kinect and a desktop based racing game, has shown that the virtual driving environment can be easily applied to any games belonging to this particular genre.

关键词： Novel Gesture Driven Fuzzy Interface System Car Racing Game HCI computer human interaction Game theory interface system game player Gestures Automobile driving Hunting Game animals virtual drive Cars relative displacement DETRAINING Car owner acceleration

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Briquetting of EAF Dust for its utilisation in metallurgical processes

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Chemical and Process engineering - Inzynieria Chemiczna i Procesowa 2015年第2期36卷 263-271页

作者： Magdziarz, Aneta Kuźnia, Monika Bembenek, Michal Gara, Pawel Hryniewicz, Marek AGH University of Science and Technology Faculty of Metals Engineering and Industrial Computer Science 30 Mickiewicza Av. Krakow30-059 Poland AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Manufacturing Systems 30 Mickiewicza Av. Krakow30-059 Poland

Dust generated at an electric arc furnace during steel production industry is still not a solved problem. Electric arc furnace dust (EAF) is a hazardous solid waste. Sintering of well-prepared briquetted mixtures in a shaft furnace is one of possible methods of EAFD utilisation. Simultaneously some metal oxides from exhaust gases can be separated. In this way, various metals are obtained, particularly zinc is recovered. As a result, zinc-free briquettes are received with high iron content which can be used in the steelmaking process. The purpose of the research was selecting the appropriate chemical composition of briquettes of the required strength and coke content necessary for the reduction of zinc oxide in a shaft furnace. Based on the results of the research the composition of the briquettes was selected. The best binder hydrated lime and sugar molasses and the range of proper moisture of mixture to receive briquettes of high mechanical strength were also chosen and tested. Additionally, in order to determine the thermal stability for the selected mixtures for briquetting thermal analysis was performed. A technological line of briquetting was developed to apply in a steelworks.

关键词： Zinc oxide

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Highly stretchable optical sensors for pressure, strain, and curvature measurement

Highly stretchable optical sensors for pressure, strain, and...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： C. To T. L. Hellebrekers Yong-Lae Park Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA USA Department of Mechanical Engineering University of Texas Austin TX USA Robotics Institute in the School of Computer Science and also with the Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA USA

Recent advances in soft sensors using microfluidic liquid conductors enabled sensing of large deformation of soft structures. However, the use of liquids as conductive media carries a risk of leakage in many cases. Furthermore, it could be harmful when exposed to the human body in certain applications. To address these issues, a different sensing mechanism was proposed: highly stretchable optical sensors that could detect multiple modes of deformation. The method of operation involves a simple waveguide and its housing which are both made of silicone elastomer. The soft waveguide is coated with a thin gold reflective layer to encapsulate light propagating internally, with an light-emitting diode (LED) and a photodiode embedded at each end. When the sensor is stretched, compressed, or bent, micro-cracks within the reflective layer form and allow part of the light to escape, resulting in optical power losses in the light transmission. In this paper, we describe the design and fabrication of the proposed soft sensors. A prototype was created and characterized for pressure, strain, and curvature up to 350 kPa, 90%, and 0.12 mm~(-1), respectively, showing promising results of reasonable repeatability and linearity in certain ranges.

关键词： Optical waveguides Optical sensors Optical device fabrication Biomedical optical imaging Robot sensing systems Gold

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Wearable soft artificial skin for hand motion detection with embedded microfluidic strain sensing

Wearable soft artificial skin for hand motion detection with...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jean-Baptiste Chossat Yiwei Tao Vincent Duchaine Yong-Lae Park Ecole de Technologie Superieure Montreal Québec Canada Department of Mechanical Engineering Robotics Institute School of Computer Science Carnegie Mellon University Pittsburgh PA USA

ISBN: (纸本)9781479969241

This paper describes the design and manufacturing of soft artificial skin with an array of embedded soft strain sensors for detecting various hand gestures by measuring joint motions of five fingers. The proposed skin was made of a hyperelastic elastomer material with embedded microchannels filled with two different liquid conductors, an ionic liquid and a liquid metal. The ionic liquid microchannels were used to detect the mechanical strain changes of the sensing material, and the liquid metal microchannels were used as flexible and stretchable electrical wires for connecting the sensors to an external control circuit. The two heterogeneous liquid conductors were electrically interfaced through flexible conductive threads to prevent the two liquid from being intermixed. The skin device was connected to a computer through a microcontroller instrumentation circuit for reconstructing the 3-D hand motions graphically. The paper also presents preliminary calibration and experimental results.

关键词： Sensors Skin Liquids Joints Microchannels Strain Metals

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Spatial indexes for simplicial and cellular meshes 17

Spatial indexes for simplicial and cellular meshes

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17th East European Conference on Advances in Databases and Information Systems, ADBIS 2013

作者： Fellegara, Riccardo Department of Computer Science Bioengineering Robotics and System Engineering University of Genova Italy

ISBN: (纸本)9783319018621

We address the problem of performing spatial and topological queries on simplicial and cellular meshes. These arise in several application domains including 3D GIS, scientific visualization and finite element analysis. Firstly, we present a family of spatial indexes for tetrahedral meshes, that we call tetrahedral trees. Then, we present the PRstar octree, that is a combined spatial data structure for performing efficient topological queries on simplicial meshes. Finally, we propose to extend these frameworks to arbitrary dimensions and to larger class of meshes, such as non-simplicial meshes. © Springer International Publishing Switzerland 2014.

关键词： Finite element method

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Virtualization of objects and adaptive interaction in an inclusive web of things

Virtualization of objects and adaptive interaction in an inc...

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International Conferences on Interfaces and Human computer Interaction 2014, Game and Entertainment Technologies 2014 and computer Graphics, Visualization, computer Vision and Image Processing 2014

作者： Torre, Ilaria Department of Computer Science Bioengineering Robotics and Systems Engineering University of Genoa Italy

ISBN: (纸本)9789898533227

In the near future we will be surrounded by plenty of smart interconnected objects and by objects linked to their virtual counterpart on the Web. The availability of a virtual object connected to the physical object can be an extraordinary opportunity to make physical objects accessible and inclusive. However, to exploit this opportunity and to avoid that the Internet of Things increases the technological gap between users, an orchestration of such objects is necessary as well as adaptive mechanisms that automate the tuning and customization of the applications that manage virtual objects, in order to fit the specific user needs. This contribution presents issues relating to virtualization of physical objects and describes the basics of an adaptive management of Web of Things applications. Copyright © 2014 IADIS Press All rights reserved.

关键词： Internet of things

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A dependence maximization approach towards street map-based localization

A dependence maximization approach towards street map-based ...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： K. Irie M. Sugiyama M. Tomono Future Robotics Technology Center Chiba Institute of Technology Narashino-shi Chiba Japan Department of Computer Science Tokyo Institute of Technology Meguro-ku Tokyo Japan Department of Complexity Science and Engineering University of Tokyo Bunkyo-ku Tokyo

In this paper, we present a novel approach to 2D street map-based localization for mobile robots that navigate mainly in urban sidewalk environments. Recently, localization based on the map built by Simultaneous Localization and Mapping (SLAM) has been widely used with great success. However, such methods limit robot navigation to environments whose maps are prebuilt. In other words, robots cannot navigate in environments that they have not previously visited. We aim to relax the restriction by employing existing 2D street maps for localization. Finding an exact match between sensor data and a street map is challenging because, unlike maps built by robots, street maps lack detailed information about the environment (such as height and color). Our approach to coping with this difficulty is to maximize statistical dependence between sensor data and the map, and localization is achieved through maximization of a Mutual Information-based criterion. Our method employs a computationally efficient estimator of Squared-loss Mutual Information through which we achieved near real-time performance. The effectiveness of our method is evaluated through localization experiments using real-world data sets.

关键词： Robot sensing systems Roads Yttrium Feature extraction Buildings Navigation

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Motion-oriented attention for a social gaze robot behavior 6

Motion-oriented attention for a social gaze robot behavior

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6th International Conference on Social robotics, ICSR 2014

作者： Sorostinean, Mihaela Ferland, François Dang, Thi-Hai-Ha Tapus, Adriana Computer Vision and Robotics Lab Computer Science and System Engineering Department ENSTA-ParisTech Palaiseau France

ISBN: (纸本)9783319119724

Various studies have shown that human visual attention is generally attracted by motion in the field of view. In order to embody this kind of social behavior in a robot, its gaze should focus on key points in its environment, such as objects or humans moving. In this paper, we have developed a social natural attention system and we explore the perception of people while interacting with a robot in three different situations: one where the robot has a totally random gaze behavior, one where its gaze is fixed on the person in the interaction, and one where its gaze behavior adapts to the motion-based environmental context. We conducted an online survey and an on-site experiment with the Meka robot so as to evaluate people’s perception towards these three types of gaze. Our results show that motion-oriented gaze can help to make the robot more engaging and more natural to people. © Springer International Publishing Switzerland 2014.

关键词： Robots

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4th International Workshop on Realizing AI Synergies in Software engineering (RAISE 2015)

4th International Workshop on Realizing AI Synergies in Soft...

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International Conference on Software engineering (ICSE)

作者： Burak Turhan Ayse Bener Rachel Harrison Andriy Miransky Cetin Mericli Leandro Minku Department of Information Processing Science University of Oulu Finland Department of Mechanical and Industrial Engineering Ryerson University Canada Department of Computing and Communication Technologies Oxford Brookes University United Kingdom National Robotics Engineering Center Carnegie Mellon University USA School of Computer Science University of Birmingham United Kingdom

This workshop is the fourth in the series and continued to build upon the work carried out at the previous iterations of the International Workshop on Realizing Artificial Intelligence Synergies in Software engineering, which were held at ICSE in 2012, 2013 and 2014. RAISE 2015 brought together researchers and practitioners from the artificial intelligence (AI) and software engineering (SE) disciplines to build on the interdis- ciplinary synergies that exist and to stimulate further interaction across these disciplines. Mutually beneficial characteristics have appeared in the past few decades and are still evolving due to new challenges and technological advances. Hence, the question that motivates and drives the RAISE Workshop series is: "Are SE and AI researchers ignoring important insights from AI and SE?". To pursue this question, RAISE'15 explored not only the application of AI techniques to SE problems but also the application of SE techniques to AI problems. RAISE not only strengthens the AI- and-SE community but also continues to develop a roadmap of strategic research directions for AI and SE.

关键词： Artificial intelligence Conferences Software engineering Electronic mail Software computer science Robots

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Multi-robot long-term persistent coverage with fuel constrained robots

Multi-robot long-term persistent coverage with fuel constrai...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Derek Mitchell Micah Corah Nilanjan Chakraborty Katia Sycara Nathan Michael Robotics Institute Carnegie Mellon University Pittsburgh PA USA Department of Computer Science Rensselaer Polytechnical Institute Troy NY USA Department of Mechanical Engineering Stony Brook University Stony Brook NY USA

ISBN: (纸本)9781479969241

In this paper, we present an algorithm to solve the Multi-Robot Persistent Coverage Problem (MRPCP). Here, we seek to compute a schedule that will allow a fleet of agents to visit all targets of a given set while maximizing the frequency of visitation and maintaining a sufficient fuel capacity by refueling at depots. We also present a heuristic method to allow us to compute bounded suboptimal results in real time. The results produced by our algorithm will allow a team of robots to efficiently cover a given set of targets or tasks persistently over long periods of time, even when the cost to transition between tasks is dynamic.

关键词： Robots Fuels Vehicles Heuristic algorithms Routing Upper bound Vehicle dynamics

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