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检索条件"机构=Department of Robotics Engineering and Computer Science"

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Multiple-Valued Logic Circuits Design Using Negative Differential Resistance Devices

Multiple-Valued Logic Circuits Design Using Negative Differe...

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International Symposium on Multiple-Valued Logic

作者： Krzysztof S. Berezowski Sarma B.K. Vrudhula The Institute of Computer Engineering Control and Robotics (CECR) Wroclaw University of Technology Wroclaw Poland Computer Science and Engineering Department Arizona State University Tempe AZ USA

In this paper, we present a novel multiple-valued logic circuit design style based on negative differential resistance (NDR) devices and the mono stable-to-multistable transition logic (MML) operating principle. We introduce an innovative topology that considerably enhances the design space of MML circuits thus providing more functionality achievable within an atomic multiple-valued circuit. The functional correctness of the design is proved by simulations.

关键词： Logic circuits Logic devices CMOS logic circuits Logic design Design engineering Circuit topology Circuit simulation CMOS technology Control engineering computing Robot control

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Vision-based control for rigid body stabilization

Vision-based control for rigid body stabilization

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 2759-3219

作者： Rita Cunha Carlos Silvestre Joao Hespanha A. Pedro Aguiar Department of Electrical Engineering and Computer Science and Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

ISBN: (纸本)9781424414970;1424414970

This paper addresses the problem of stabilizing to a desired equilibrium point an eye-in-hand system, which consists of a single camera mounted on a rigid body free to move in SE(3). It is assumed that there is a collection of landmarks fixed in the environment and that the image coordinates of those landmarks are provided to the system by an on-board CCD camera. The proposed method addresses not only the problem of stabilization but also that of maintaining feature visibility along the system's trajectory. The resulting solution consists of a feedback control law based on the image coordinates and reconstructed depth information that guarantees i) almost global asymptotic stability of the desired equilibrium point;ii) positive invariance of a conveniently defined subset of SE(3), to enforce feature visibility;and iii) exponential stability of an error vector directly defined in the image plane.

关键词： landmarks image plane Error vector equilibrium point Rigid Global Asymptotic Stability Imagery (Psychotherapy) images control law Coordinates Visual servoing Body Statement Public Speaking visibility

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Next generation human-robot telematic teams

Next generation human-robot telematic teams

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2007 AAAI Spring Symposium

作者： Preucil, Libor Pavlicek, Jiri Mazl, Roman Driewer, Frauke Schilling, Klaus Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Technicka 2 CZ 16627 Prague 6 Czech Republic Computer Science VII: Robotics and Telematics Julius-Maximilians University Würzburg Am Hubland D-97074 Würzburg Germany

ISBN: (纸本)9781577353164

The contribution investigates new methods and tools for design of next-generation telematic systems based on hybrid teams of cooperating robots and humans. The contribution presents selected issues of building the feature of presence in such systems, deals with human-robot integration and cooperation issues together with drawbacks and benefits of the technology in question. The presented approach is focused onto investigation of a search and rescue type of tasks and provides evaluation of results obtained in proof-of-concept experiments. Compilation copyright © 2006, American Association for Artificial Intelligence (***). All rights reserved.

关键词： Human computer interaction

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Discriminative Cluster Refinement: Improving Object Category Recognition Given Limited Training Data

Discriminative Cluster Refinement: Improving Object Category...

引用

Conference on computer Vision and Pattern Recognition (CVPR)

作者： Liu Yang Rong Jin Caroline Pantofaru Rahul Sukthankar Department of Computer Science and Engineering Michigan State University USA The Robotics Institute Carnegie Mellon University USA Intel Research Pittsburgh USA

A popular approach to problems in image classification is to represent the image as a bag of visual words and then employ a classifier to categorize the image. Unfortunately, a significant shortcoming of this approach is that the clustering and classification are disconnected. Since the clustering into visual words is unsupervised, the representation does not necessarily capture the aspects of the data that are most useful for classification. More seriously, the semantic relationship between clusters is lost, causing the overall classification performance to suffer. We introduce "discriminative cluster refinement" (DCR), a method that explicitly models the pairwise relationships between different visual words by exploiting their co-occurrence information. The assigned class labels are used to identify the co-occurrence patterns that are most informative for object classification. DCR employs a maximum-margin approach to generate an optimal kernel matrix for classification. One important benefit of DCR is that it integrates smoothly into existing bag-of-words information retrieval systems by employing the set of visual words generated by any clustering method. While DCR could improve a broad class of information retrieval systems, this paper focuses on object category recognition. We present a direct comparison with a state-of-the art method on the PASCAL 2006 database and show that cluster refinement results in a significant improvement in classification accuracy given a small number of training examples.

关键词： Training data Information retrieval computer vision Application software Image recognition Image retrieval Content based retrieval Histograms computer science Data engineering

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A two-phased object orientation controller on soft finger operations

A two-phased object orientation controller on soft finger op...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Takahiro Inoue Shinichi Hirai Faculty of Computer of Systems Engineering for Sports Computer Science and Systems Engineering Okayama Prefectural University Soja Okayama Japan Laboratory for Integrated Machine Intelligence and Faculty of Department of Robotics Ritsumeikan University Japan

The greatest characteristic of soft-fingered manipulation is its softness and flexibility during manipulating operations. In previous works, this intrinsic property had been quantitatively explained from the viewpoint of physical and mechanical perspective that the deformation energy induced by large elastic distortion automatically has a minimum equilibrium point. Hence this report first derive equations of motion of two-fingered soft finger robotic hand on the basis of energy- based analysis, and explain that an equilibrium point on a combined energy function exists even in the case of manipulating motions by the hand. In this paper, the equilibrium point is called LMEEwC that is unfolded as local minimum of elastic energy with constraints. Next, we show that the posture control of a rigid object grasped by the minimal degrees-of-freedom hand can easily be achieved by applying a two-phased controller associated with each joint angle of the hand, which is newly proposed in this report. This control scheme is constructed by two parts: a PD controller with respect to the finger angle and an integral controller with respect to the orientation of the grasped object. The characteristics of the control method of the latter part is that the desired joint angle of the hand is produced dynamically by the integral controller with respect to the object orientation. Finally, we clarify the effectiveness of the proposed control method in the case of the soft-fingered manipulation.

关键词： Fingers Equations Force control Motion analysis Grasping Systems engineering and theory Linear feedback control systems Force feedback Robot kinematics Intelligent robots

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Stable manipulation mechanisms on soft fingers

Stable manipulation mechanisms on soft fingers

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Takahiro Inoue Shinichi Hirai Department of Systems Engineering for Sports Computer Science and Systems Engineering Okayama Prefectural University Soja Okayama Japan Laboratory for Integrated Machine Intelligence and Faculty of Department of Robotics Ritsumeikan University Japan

This paper verifies the physical mechanisms of stable grasping and robust manipulation by means of soft-fingered robotic hand. First, we extend our previous one-dimensional fingertip model to a two-dimensional one, adding lateral deformation of the virtual spring placed within the soft fingertip. We mention the physical meaning of LMEE(local minimum of elastic potential energy) and LMEEwC (LMEE with Constraints) on the two-fingered hand. Second, we simulate the behavior of a grasped object by numerically solving static equilibrium relation. Finally, we show that the concept of LMEEwC is critical to the robust manipulation and for reducing the degrees-of-freedom of the robotic hand in the manipulation.

关键词： Fingers

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Probabilistic Strategies for Pursuit in Cluttered Environments with Multiple Robots

Probabilistic Strategies for Pursuit in Cluttered Environmen...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Geoffrey Hollinger Athanasios Kehagias Sanjiv Singh The Robotics Institute School of Computer Science Carnegie Mellon University Pittsburgh PA USA Division of Mathematics Department of Math. Phys. and Computer Science s Faculty of Engineering Aristotle University of Thessaloniki Thessaloniki Greece

In this paper, we describe a method for coordinating multiple robots in a pursuit-evasion domain. We examine the problem of multiple robotic pursuers attempting to locate a non-adversarial mobile evader in an indoor environment. Unlike many other approaches to this problem, our method seeks to minimize expected time of capture rather than guaranteeing capture. This allows us to examine the performance of our algorithm in complex and cluttered environments where guaranteed capture is difficult or impossible with limited pursuers. We present a probabilistic formulation of the problem, discretize the environment, and define cost heuristics for use in planning. We then propose a scalable algorithm using an entropy cost heuristic that searches possible movement paths to determine coordination strategies for the robotic pursuers. We present simulated results describing the performance of our algorithm against state of the art alternatives in a complex office environment. Our algorithm successfully reduces capture time with limited pursuers in an environment beyond the scope of many other approaches.

关键词： Robot kinematics robotics and automation Costs Robot sensing systems Mobile robots Indoor environments Entropy Humans Game theory Environmental economics

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Design of VY: A Mini Visual IDE for the Development of GUI in Embedded Devices

Design of VY: A Mini Visual IDE for the Development of GUI i...

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International Conference on Software engineering Research, Management and Applications (SERA)

作者： Le Yang Yongsun Choi Changjun Seo Tongfeng Yang MinSung Kim Department of Systems Management & Engineering Inje University South Korea Department of Electronics and Intelligent Robotics Engineering Inje University South Korea Department of Computer Science and Technology Shandong University China Department of Information & Communications Engineering Tongmyong University South Korea

Graphical user interface (GUI) for applications of embedded devices (ED) has been increasingly in demand. Rapid GUI development tools are being required more than ever. However, traditional way of GUI development for ED applications has some limitation in support of visual environment and blocks rapid development. In this paper, we introduce a new mini visual IDE, called VY, which supports rapid development utilizing control library, and simulation of GUI. VY can realize the development of GUI in ED efficiently by means of "what you see is what you get"(WYSIWYG). It consists of five modules: simulator, control library, script complier, script virtual machine (SVM) and visual window. By utilizing the hardware-independent control library of graphical interfaces, an attractive GUI can be produced with much less script effort on the visual window. Then, the script file is compiled into script data (including instructions) which will be executed by the SVM with visiting system calls in ED, and the Simulator will display the resulting GUI. After all these steps, the final GUI can be downloaded into the ED system. In this way, VY supports rapid development of hardware-independent GUI for ED applications on a visual metaphor.

关键词： Graphical user interfaces Libraries Application software Design engineering Virtual machining Support vector machines Conference management Research and development management Software development management Technology management

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ML DESIGNERTM as simulation tool in robotics

ML DESIGNERTM as simulation tool in robotics

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International Conference on Telecommunications in Modern Satellite, Cable and Broadcasting Service (TELSIKS)

作者： Mario Schulz Ivan Velickovic Sasa Andelkovic Volker Zerbe Goran S. Dordevic Computer Science and Automation Faculty System and Control Theory Department Technical University Ilmenau Ilmenau Germany Faculty of Electronics engineering Robotics Lab University of Nis Nis Serbia

Robots are complex systems that require multidisciplinary approach to development. Hence, both research and production of a robotic system require a tool that would provide means for coordination between teams with different areas of expertise as well as the ability to integrate, simulate and debug the system in a comprehensive way. Also, with the growing popularity of service robotics, research and modeling of human-machine interaction gains the attention. From a simulation tool, it is expected to support the means for describing this interaction. For that purpose we are investigating the ML Designer TM , not just as a possible simulation tool, but also as a modeling and design paradigm. For verification purposes we will compare it against MATLAB Simulink TM . A pneumatic system will be modeled with both tools and a comparison will be performed.

关键词： Mathematical model Robot kinematics Cleaning System testing Power system modeling MATLAB Pneumatic systems Control systems Level control Costs

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Optimized Lane Assignment Using Inter-Vehicle Communication

Optimized Lane Assignment Using Inter-Vehicle Communication

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IEEE Symposium on Intelligent Vehicle

作者： Thanh-Son Dao Christopher Michael Clark Jan Paul Huissoon Lab for Autonomous and Intelligent Robotics Department of Mechanical Engineering University of Waterloo ONT Canada Computer Science Department California Polytechnic State University San Louis Obispo CA USA Department of Mechanical Engineering University of Waterloo ONT Canada

This paper presents an approach to lane assignment for highway vehicles that increases traffic throughput while ensuring they exit successfully at their destinations. Most of current traffic management systems do not consider lane organization of vehicles and only regulate traffic flows by controlling traffic signals or ramp meters. However, traffic throughput and efficient use of highways can be increased by coordinating driver behaviors intelligently. The goal of this research is to form a distributed control strategy for cars themselves to select lanes using inter-vehicle communication. Initial results are promising and demonstrate that intelligent lane selection can decrease vehicle traffic time.

关键词： Road transportation Communication system traffic control Throughput Distributed control Intelligent vehicles Road vehicles Control systems Intelligent transportation systems Intelligent robots Mechanical engineering

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