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1st International Conference on Learning and Collaboration Technologies, LCT 2014 - Held as Part of 16th International Conference on Human-computer Interaction, HCI International 2014

作者： García-Peñalvo, Francisco J. Conde, Miguel Ángel Matellán-Olivera, Vicente Computer Science Department Research Institute for Educational Sciences University of Salamanca Salamanca Spain Department of Mechanical Computer Science and Aerospace Engineering Robotics Research Group University of León León Spain

ISBN: (纸本)9783319074849

The emergence and application of the information and communication technologies have changed the tools that people use in their daily life. However not all the collectives use the technology in the same way. One case to take especially into account is older people. For them technology should be an inclusive factor but it can be also exclusive. The use of mobile devices and mobile apps by older people is an example of this. The devices and the apps are not always adapted for the special abilities or features of older people;moreover they do not always meet their needs. In order to facilitate older people access to mobile apps the present work reviews the usability issues to take into account and poses a repository of apps adapted and classified taking into account usability issues related to older people. © 2014 Springer International Publishing.

关键词： Human computer interaction

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Safety challenges in using *** to collaborate with humans in indoor environments 14

Safety challenges in using *** to collaborate with humans in...

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7th ACM International Conference on Pervasive Technologies Related to Assistive Environments, PETRA 2014

作者： Lioulemes, Alexandros Galatas, Georgios Metsis, Vangelis Mariottini, Gian Luca Makedon, Fillia Heracleia Laboratory Department of Computer Science and Engineering University of Texas at Arlington ArlingtonTX76015 United States ASTRA Robotics Lab. Department of Computer Science and Engineering University of Texas at Arlington ArlingtonTX76015 United States

ISBN: (纸本)9781450327466

This paper presents an Unmanned Aerial Vehicle (UAV), based on the AR. Drone platform, which can perform an autonomous navigation in indoor (e.g. corridor, hallway) and industrial environments (e.g. production line). It also has the ability to avoid pedestrians while they are working or walking in the vicinity of the robot. The only sensor in our system is the front camera. For the navigation part our system rely on the vanishing point algorithm, the Hough transform for the wall detection and avoidance, and the HOG descriptors for pedestrian detection using SVM classifier. Our experiments show that our vision navigation procedures are reliable and enable the aerial vehicle to y without humans intervention and coordinate together in the same workspace. We are able to detect human motion with high confidence of 85% in a corridor and to confirm our algorithm in 80% successful fight experiments. Copyright is held by the owner/author(s).

关键词： Drones

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Bio-syncretic Tweezer: 3D Manipulator Actuated by Microorganisms

Bio-syncretic Tweezer: 3D Manipulator Actuated by Microorgan...

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IEEE International Conference on robotics and Biomimetics

作者： Chuang Zhang Shuangxi Xie Wenxue Wang Ning Xi Yuechao Wang Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China and University of Chinese Academy of Sciences Beijing 100049 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang 10016 China Department of Electrical and Computer Engineering Michigan State University East Lansing Michigan 48824 USA State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

ISBN: (纸本)9781467396769

Advancement in micro/nano-technology has improved the development of bio-syncretic micro-manipulators. But there are still some challenges including the efficiency, precision and flexibility that constrain the application of micro-manipulators. In this work, a bio-tweezer system is proposed that could flexibly manipulate micro objects in three dimensions with opto-induced bio-actuation by high-density microorganisms. Based on the Langevin equation, a mathematical model considering the hydrodynamics and similar Brownian motion principle was proposed to analyze the performance of manipulation, and, was verified by implementing the experiments to move micro particles in the two-dimension plane and to rotate asymmetrical objects around one axis. This work is helpful for quantitative understanding of micro/nano-manipulation actuated by microorganisms.

关键词： constrain application micro-manipulators

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Three-dimensional urban-type scene representation in vision system of unmanned flying vehicles

Three-dimensional urban-type scene representation in vision ...

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13th International Conference on Artificial Intelligence and Soft Computing, ICAISC 2014

作者： Bielecki, Andrzej Buratowski, Tomasz Śmigielski, Piotr AGH University of Science and Technology Faculty of Electrical Engineering Automation Computer Science and Biomedical Engineering Department of Applied Computer Science Al. Mickiewicza 30 30-059 Cracow Poland AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Robotics and Mechatronics Al. Mickiewicza 30 30-059 Cracow Poland Asseco Poland S.A. Podwale 3 31-118 Cracow Poland

ISBN: (纸本)9783319071725

In this paper a vision system for autonomous flying agents is considered in the context of industrial inspection tasks performed by unmanned aerial vehicles. A syntactic algorithm of a three-dimensional scene representation is proposed. The algorithm of creating three-dimensional single object representation has been tested by using artificial data. It has turned out to be effective. © 2014 Springer International Publishing.

关键词： Antennas

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Modal structure of a cylindrical duct acoustic field-theoretical predictions and experimental verification 7

Modal structure of a cylindrical duct acoustic field-theoret...

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7th Forum Acusticum, FA 2014

作者： Gorazd, Lukasz Kolber, Karolina Raab, Slawomir Smolik, Damian Department of Mechanics and Vibroacoustics Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Cracow Poland Faculty of Physics and Applied Computer Science AGH University of Science and Technology Cracow Poland

ISBN: (纸本)9788361402282

The paper presents consistence of the theoretical predictions with obtained experimental results of the pressure field inside a wave-guide modeled mathematically as an infinite/semi-infinite cylindrical duct. The experiments were carried out in two ducts of radius 77 mm and 150 mm. The distribution of the acoustic pressure was measured by means of 1/4 inch microphone on four different duct cross sections with the step 5 mm along the duct radius and 15° in the azimuthal angle. Based on the measurement data the complex amplitudes (i.e. amplitude module and phase) were calculated solving the inverse problem by means of the least square method The obtained experimental data present, in general, consistence with the theoretical predictions, however the accuracy has been improved with the duct radius. The up to date experimental results confirm the multimodal structure of the sound field inside a cylindrical duct. Moreover, the theoretical values of the cut-on frequencies calculated for a hard duct are in very good agreement with the observed ones. These findings confirm that the assumptions of the hard duct and the lossless environment are well justified.

关键词： Ducts

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Quantitative evaluation of interictal high frequency oscillations in scalp EEGs for epileptogenic region localization

Advances in Intelligent Systems and Computing

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Advances in Intelligent Systems and Computing 2014年 215卷 877-885页

作者： Pan, Yaozhang Guan, Cuntai Eng, How-Lung Ge, Shuzhi Sam Ng, Yen Ling Chan, Derrick Wei Shih 1 Fusionopolis Way #21-01 Connexis Singapore 138632 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore The Robotics Institute and School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 11813 China KK Women's and Children's Hospital 100 Bukit Timah Road Singapore 229899 Singapore

Electroencephalography is a commonly used tool for presurgical evaluation of epilepsy patients. In this paper, we present a quantitative evaluation of interictal high frequency oscillations (HFOs) in scalp Electroencephalographies (EEGs) for epileptogenic region localization. We process multichannel EEGs using time-frequency spectral analysis in order to detect HFOs in each EEG channel. Comparison between the results of time-frequency analysis and visual assessment is performed to verify the reliability of time-frequency analysis. Later, t-test and Pearson correlation analysis are performed to analyze the relationships between ictal HFOs and interictal HFOs. The high correlations between interictal and ictal HFOs imply that interictal HFOs, like ictal HFOs, are valuable in localizing the epileptogenic region. As a result, scalp interictal HFOs are valuable in epileptogenic region localization for presurgical evaluation of epilepsy patients. It holds great potential for reducing the long delay before patients can be referred for surgery. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Spectrum analysis

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Day ahead microgrid optimization: A comparison among different models 1

Day ahead microgrid optimization: A comparison among differe...

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1st International Conference on engineering and Applied sciences Optimization, OPT-i 2014

作者： Bonfiglio, A. Barillari, L. Bendato, I. Bracco, S. Brignone, M. Delfino, F. Pampararo, F. Procopio, R. Robba, M. Rossi, M. Dept of Electrical Naval and ICT Engineering University of Genoa Italy Department of Mechanical Energy Management and Transportation Engineering University of Genoa Italy Department of Computer Science Bioengineering Robotics and Systems Engineering University of Genoa Italy

ISBN: (纸本)9789609999465

The paper deals with a LV grid-connected microgrid located in the Savona Campus of Genoa University and called Smart Polygeneration Microgrid (SPM). Such microgrid is designed to produce electric and thermal energy by means of renewable generation units, cogenerative gas turbines, a storage unit and electric vehicle charging stations. The work focuses its attention on the issue of the microgrid day-ahead power production optimization. Such problem consists in finding the power production profiles for all the dispatchable units in order to optimize a well-defined goal (economical, environmental, etc). This requires to model all the components of the grid in order to define the set of constraints for the optimization procedure. In particular, the way of representing the electric power balance equations plays a crucial role since a trade-off between accuracy and computational efforts is required. Different approaches are presented and tested on the SPM, e.g. complete load flow, modified DC load flow and single bus-bar representation, in order to highlight the peculiarity of the different optimization models obtained and evaluate their impact on computational time, result accuracy and possibility of future experimental validation.

关键词： Electric load flow

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Towards experimental analysis of challenge scenarios in robotics 12

Towards experimental analysis of challenge scenarios in robo...

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12th International Symposium on Experimental robotics, ISER 2010

作者： Hollinger, Geoffrey A. Singh, Sanjiv Computer Science Department Viterbi School of Engineering University of Southern California Los AngelesCA90089 United States Robotics Institute School of Computer Science Carnegie Mellon University PittsburghPA15213 United States

ISBN: (纸本)9783642285714

We explore the idea of simulated experimental analysis for challenge scenarios in robotics using the search and secure problem from the Multi Autonomous Ground-robotic International Challenge (MAGIC). The MAGIC problem requires a team of heterogeneous robots to locate, classify, and secure a number of targets in an urban environment with indoor and outdoor areas. We introduce a framework for solving the coordination aspects of the challenge by providing guaranteed clearing strategies (i.e., strategies that ensure coming into contact with any adversarial target). The proposed method allows for repair of the clearing schedule after robot failure, as well as a fall-back strategy if clearing is no longer possible. We analyze scenarios taken directly from the competition, and we utilize repeated simulated trials to validate the hypothesis that strategies designed for locating worst-case targets tend to be more robust to failure than strategies designed for locating average-case targets. Thus, more conservative worst-case methods would tend to perform better if the competition were run many times. However, riskier average-case strategies may win in a single competition. These results demonstrate how insight can be gained from repeated simulated analysis of challenge scenarios in robotics. © Springer-Verlag Berlin Heidelberg 2014.

关键词： robotics

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Control Strategies for a Humanoid Robot to Drive and then Egress a Utility Vehicle for Remote Approach

Control Strategies for a Humanoid Robot to Drive and then Eg...

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IEEE-RAS International Conference on Humanoid Robots

作者： Hyobin Jeong Jaesung Oh Mingeuk Kim Kyungdon Joo In So Kweon Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory School of Mechanical Aerospace & Systems Engineering Department of Electrical Engineering Korea Advanced Institute of Science and Technology Department of Electrical Engineering KAIST

ISBN: (纸本)9781479968862

This paper proposes strategies for the driving and egress of a vehicle with a humanoid robot. To drive the vehicle, the RANSAC method was used to detect obstacles, and the Wagon model was used to control the steering and velocity of the vehicle with only a limited number of sensors which were installed on the humanoid robot. Additionally, a manual teleoperating method was used with the lane projection technique. For the egress motion, gain override and the Cartesian position/force control technique were used to interact with the vehicle structure. To overcome the disadvantages of a highly geared manipulator, a special technique was used that included modelled friction compensation and a non-complementary switching mode. DRC-HUBO+ used the proposed method to perform a vehicle driving and egress task in the DRC finals 2015.

关键词： Humanoid robots EGRESS vehicle Vehicle driving Automobile driving UTILITY VEHICLES control strategy friction compensation DRIVES Steering

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Erratum to: Surgical robotics beyond enhanced dexterity instrumentation: a survey of machine learning techniques and their role in intelligent and autonomous surgical actions

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International journal of computer assisted radiology and surgery 2016年第5期11卷 847页

作者： Yohannes Kassahun Bingbin Yu Abraham Temesgen Tibebu Danail Stoyanov Stamatia Giannarou Jan Hendrik Metzen Emmanuel Vander Poorten Robotics Innovation Center German Research Center for Artificial Intelligence Robert-Hooke-Str. 1 28359 Bremen Germany. yohannes.kassahun@dfki.de. Faculty 3 - Mathematics and Computer Science University of Bremen Robert-Hooke-Str. 1 28359 Bremen Germany. Centre for Medical Image Computing Department of Computer Science University College London London UK. Hamlyn Centre for Robotic Surgery Imperial College London London UK. Department of Mechanical Engineering University of Leuven Celestijnenlaan 300B 3001 Heverlee Belgium.

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