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IEEE International Conference on Technologies for Practical Robot Applications (TePRA)

作者： Shyba Zaheer Tauseef Gulrez Department of Electrical Engineering College of Engineering and Applied Sciences Al Ghurair University Dubai Academic City UAE Department of Computer Science Center of Intelligent Machines & Robotics Research COMSATS Institute of Information Technology Lahore Pakistan

This paper addresses the problem of robotics trajectory building for efficient navigation and consequently exploration. A concept of beta-eigenvector has been introduced to find an outlier for the existing non-point based trajectory obtained from raw laser data. We have used our paradigm of “free configuration eigenspaces” method, with specific focus on outlier detection. The key idea proposed in this paper is to replace the Gaussian distribution utilized by the probabilistic principal component analysis (PPCA) with the beta-distribution. It is a well known issue that the conventional PCA is sensitive to anomalous observations because the calculation of sample mean and covariance matrix can be significantly influenced by a small number of outliers. Similarly, PPCA is not robust to outliers since the data are assumed to follow a multivariate Gaussian distribution that is easily affected by deviant observations. An outlier detection is done using Beta-Probabilistic Principal Component Analysis (BPPCA), further more an analysis is proposed to identify which variables contribute the most to the occurrence of outliers. The proposed technique is applied on real-time robotics sensor data as well as on the real-time robotics simulation environment.

关键词： Trajectory Principal component analysis Robot sensing systems Lasers Mobile communication Mobile robots

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Monte Carlo Localization using 3D texture maps

Monte Carlo Localization using 3D texture maps

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2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Yu Fu Stephen Tully George Kantor Howie Choset Electrical Engineering Department National Taiwan University of Science and Technology Taipei Taiwan Electrical and Computer Engineering Department Carnegie Mellon University Pittsburgh PA USA Robotics Institute Carnegie Mellon University Pittsburgh PA USA

This paper uses KLD-based (Kullback-Leibler Divergence) Monte Carlo Localization (MCL) to localize a mobile robot in an indoor environment represented by 3D texture maps. A 3D texture map is a simplified model that includes vertical planes with colored texture information associated with each vertical plane. At each time step, a distance measurement and an observed texture from an omnidirectional camera are compared to the expected distance measurement and the expected texture according to each hypothesis of the robot's pose in an MCL framework. Compared to previous implementations of MCL, our proposed approach converges faster than distance-only MCL and localizes the robot more precisely than SIFT-based MCL. We demonstrate this new MCL algorithm for robot localization with experiments in several hallways.

关键词： Robot sensing systems Three dimensional displays Particle measurements Atmospheric measurements Cameras

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Introduction

Communications and Control Engineering

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Communications and Control engineering 2011年第9780857292551期 1-15页

作者： Sun, Zhendong Ge, Shuzhi Sam College Automation Science & Engineering Center for Control and Optimization South China University of Technology Guangzhou510640 China Department of Electrical and Computer Engineering The National University of Singapore Singapore Singapore Robotics Institue and Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China Chengdu China

Chapter 1 briefly introduces the problem formations and the organization of the book. In particular, given a feasible set of switching signals, the concepts of stability and stabilizability are introduced, and the related problems of stability and stabilization are briefly formulated and discussed. Examples and simulations are provided to exhibit the primary features of the problems with various switching mechanisms. © 2011, Springer-Verlag London Limited.

关键词： Stabilization

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Sensor suites for assistive arm prosthetics

Sensor suites for assistive arm prosthetics

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Annual IEEE Symposium on computer-Based Medical Systems

作者： Martin Buckley Ravi Vaidyanathan Walterio Mayol-Cuevas Bristol Robotics Laboratory University of Bristol UK University of West of England UK Department of Systems Engineering US Naval Postgraduate School Monterrey CA USA Department of Mechanical Engineering Imperial College London London UK Department of Computer Science University of Bristol UK

This paper introduces a sensor suite framework for the partial automation of prosthetic arm control allowing high level control with a reduction of cognitive burden placed upon the user. Automation aims to replicate the hand eye co-ordination through the synergy of a virtual 7DOF arm prosthesis together with the development of a gaze tracking system. The interactions between elements of the suite are detailed and a selection of sensors implemented to control a simple simulation. Use of the novel tongue control system is used to provide discrete input to the system. Initial tests are made of of the system together with a users ability to learn to use the system with promising user feedback on ease of interaction and potential for reduced cognitive burden.

关键词： Cameras Prosthetics Tongue Games Joints Elbow Control systems

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E-wobble: An electronic wobble board for ankle and toe rehabilitation

E-wobble: An electronic wobble board for ankle and toe rehab...

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IEEE International Workshop on Medical Measurement and Applications (MEMEA)

作者： Ali Karime Hussein Al-Osman Wail Gueaieb Jihad Mohamad Alja'am Abdulmotaleb El Saddik Multimedia Communication Research Laboratory (MCRLab) University of Ottawa Ottawa ONT Canada Machine Intelligence Robotics and Mechatronics (MIRaM) University of Ottawa Canada Department of Computer Science and Engineering Qatar University Doha Qatar

Foot-drop is a common symptom among post stroke patients. It is characterized by the inability of a person to raise his/her foot at the ankle and to drag the toes during swing. To overcome such disability, long-term rehabilitation is crucial. However, such treatment might not be accessible to many people, especially those living far from the cities where most of the rehabilitation centers are located. In this paper, we present our interactive rehabilitation system called “E-Wobble” that consists of a modified version of a wobble board mounted with sensors and actuators. The proposed system aims to help patients with foot-drop symptoms so they can train their ankles and toes from home. The E-Wobble tangible interface is associated with a 2D golf game that motivates the patients to spend more time exercising while having fun.

关键词： Games Sensors Robots Accelerometers Foot Actuators Training

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Fusion of CSP-derived features and Time-Domain Parameters for mind robotics control

Fusion of CSP-derived features and Time-Domain Parameters fo...

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Asian Control Conference

作者： Shuzhi Sam Ge Xinyang Li Yaozhang Pan Social Robotics Laboratory Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore Social Robotics Laboratory Interactive Digital Media Institute and NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore Institute for Infocomm Research Agency for Science Technology and Research Singapore

In this paper, fusion of Common Spatial Pattern (CSP) analysis derived features and Time-Domain Parameters (TDP) is investigated for two-class motion imagery classification: left hand movement and right hand movement imagery. This fusion method is aiming at improving the performance of Brain-computer Interface (BCI) systems in translating human thoughts into command to control certain robots, e.g. rehabilitation robots. In the BCI system applied in this paper, a Human-Friendly Interactive Bear Robot is implemented, whose bear-like appearance and interactive actions can alleviate the frustration and anxiety on the part of the user in the experiment. Moreover, off-line experiments are conducted to demonstrate the efficiency of the fusion method using both well-known open-source data and data obtained by the BCI system mentioned before.

关键词： Robots Electroencephalography Accuracy Feature extraction Brain modeling Covariance matrix Algorithm design and analysis

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From optimal planning to visual servoing with limited FOV

From optimal planning to visual servoing with limited FOV

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2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Paolo Salaris Lucia Pallottino Seth Hutchinson Antonio Bicchi Interdepartmental Research Center Enrico Piaggio University of Pisa Italy Department of Electrical and Computer Engineering Beckman Institute of Advanced Science and Technology University of Illinois USA Department of Advanced Robotics Istituto Italiano di Tecnologia Genova Italy

This paper presents an optimal feedback control scheme to drive a vehicle equipped with a limited Field-Of-View (FOV) camera towards a desired position following the shortest path and keeping a given landmark in sight. Based on the shortest path synthesis available from previous works, feedback control laws are defined for any point on the motion plane exploiting geometric properties of the synthesis itself. Moreover, by using a slightly generalized stability analysis setting, which is that of stability on a manifold, a proof of stability is given. Reported simulations demonstrate the effectiveness of the proposed technique.

关键词： Vehicles Feedback control Spirals Visual servoing Stability analysis Robot kinematics

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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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International Conference on Information sciences and Interaction sciences (ICIS)

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

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.

关键词： Robots Graphical user interfaces Servomotors Speech Universal Serial Bus Face Hardware

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Persistent Ocean Monitoring with Underwater Gliders: Towards Accurate Reconstruction of Dynamic Ocean Processes

Persistent Ocean Monitoring with Underwater Gliders: Towards...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Ryan N. Smith Mac Schwager Daniela Rus Stephen L. Smith Gaurav S. Sukhatme School of Engineering Systems at the Queensland University of Technology BrisbaneQLD4000 Australia GRASP Lab University of PennsylvaniaPhiladelphiaPA 19104USA Distributed Robotics Lab Computer Science and Artificial Intelligence LaboratoryMassachusetts Insti Robotic Embedded Systems Laboratory Department of Computer ScienceUniversity of Southern California

This paper proposes a path planning algorithm and a velocity control algorithm for underwater gliders to persistently monitor a patch of ocean. The algorithms address a pressing need among ocean scientists to collect high-value data for studying ocean events of scientific and environmental interest, such as the occurrence of harmful algal blooms. The path planner optimizes a cost function that blends two competing factors: it maximizes the information value of the path, while minimizing the deviation from the path due to ocean currents. The speed control algorithm then optimizes the speed along the planned path so that higher resolution samples are collected in areas of higher information value. The resulting paths are closed circuits that can be repeatedly traversed to collect long term ocean data in dynamic environments. The algorithms were tested during sea trials on an underwater glider operating off the coast of southern California over the course of several weeks. The results show significant improvements in data resolution and path reliability compared to a sampling path that is typically used in the region.

关键词： Oceans Heuristic algorithms Vehicles Monitoring Sea measurements Vehicle dynamics Read only memory

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Crane control via parallel distributed fuzzy LQR controller using genetic fuzzy rule selection

Crane control via parallel distributed fuzzy LQR controller ...

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International Conference on Control, Instrumentation, and Automation

作者： M. Adeli H. Zarabadipour M. Aliyari Shoorehdeli Department of robotics and mechatronics School of Science and Technology Nazarbayev University Astana Kazakhstan Department of Electrical Engineering Shahid Rajaee University Tehran Iran DORA S.p.A. STMicroelectronics group Aosta — Italy Agrate Brianza MI Italy Department of mechanical engineering School of Engineering Nazarbayev University Astana Kazakhstan Department of Electrical and Computer Engineering University of Stavanger Stavanger Norway

Overhead crane is an industrial structure that is widely used in many harbors and factories. It is usually operated manually or by some conventional control methods. In this paper, we propose a hybrid controller includes both position regulation and anti-swing control. According to Takagi-Sugeno fuzzy model of an overhead crane and genetic algorithm, a fuzzy controller is designed with parallel distributed compensation and Linear Quadratic Regulation. Using genetic algorithm, important fuzzy rules are selected and so the number of rules decreased and design procedure need less computation and its computation needs less time. Further, the stability of the overhead crane with the parallel distributed fuzzy LQR controller is discussed. The stability analysis and control design problems is reduced to linear matrix inequality (LMI) problems. Simulation results illustrated the validity of the proposed parallel distributed fuzzy LQR control method and it was compared with a similar method parallel distributed fuzzy controller with same fuzzy rule set.

关键词： Cranes Mathematical model Genetic algorithms Nonlinear systems Stability analysis Control design Linear matrix inequalities

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