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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Bertrand Douillard Dieter Fox Fabio Ramos ARC Centre of Excellence for Autonomous Systems Australian Centre for Field Robotics University of Sydney Sydney NSW Australia Department of Computer Science & Engineering University of Washington Seattle WA USA

This paper presents a general framework for multi-sensor object recognition through a discriminative probabilistic approach modelling spatial and temporal correlations. The algorithm is developed in the context of Conditional Random Fields (CRFs) trained with virtual evidence boosting. The resulting system is able to integrate arbitrary sensor information and incorporate features extracted from the data. The spatial relationships captured by are further integrated into a smoothing algorithm to improve recognition over time. We demonstrate the benefits of modelling spatial and temporal relationships for the problem of detecting cars using laser and vision data in outdoor environments.

关键词： Object recognition Robot sensing systems Laser modes Boosting Object detection Intelligent robots USA Councils Australia computer vision Application software

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Autonomous Vision-based Landing and Terrain Mapping Using an MPC-controlled Unmanned Rotorcraft

Autonomous Vision-based Landing and Terrain Mapping Using an...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Todd Templeton David Hyunchul Shim Christopher Geyer S. Shankar Sastry Department of Electrical Engineering and Computer Sciences University of California Berkeley CA USA Department of Aerospace Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea Robotics Institute Carnegie Mellon University Pittsburgh PA USA

In this paper, we present a vision-based terrain mapping and analysis system, and a model predictive control (MPC)-based flight control system, for autonomous landing of a helicopter-based unmanned aerial vehicle (UAV) in unknown terrain. The vision system is centered around Geyer et al.'s recursive multi-frame planar parallax algorithm (2006), which accurately estimates 3D structure using geo-referenced images from a single camera, as well as a modular and efficient mapping and terrain analysis module. The vision system determines the best trajectory to cover large areas of terrain or to perform closer inspection of potential landing sites, and the flight control system guides the vehicle through the requested flight pattern by tracking the reference trajectory as computed by a real-time MPC-based optimization. This trajectory layer, which uses a constrained system model, provides an abstraction between the vision system and the vehicle. Both vision and flight control results are given from flight tests with an electric UAV.

关键词： Terrain mapping Unmanned aerial vehicles Aerospace control Machine vision Trajectory Predictive models Predictive control Recursive estimation Cameras Image analysis

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MODELING AND CONTROL OF ELEVATORS BY STATECHARTS

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Asian Journal of Control 2008年第2期6卷

作者： Yi-Sheng Huang Sheng-Luen Chung Mu-Der Jeng Department of Aeronautical Engineering Chung Cheng Institute of Technology National Defense University Tashi Taoyuan 335 Taiwan R.O.C. Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106 Taiwan R.O.C. Department of Electrical Engineering National Taiwan Ocean University Kellung 202 Taiwan R.O.C. MuDer Jeng received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute Troy NY in 1992. Since August 1992 Dr. Jeng has been with National Taiwan Ocean University Keelung Taiwan where he is currently a full Professor at the Department of Electrical Engineering. His current research interests include Petri nets discrete event systems computer integrated manufacturing semiconductor factory automation embedded systems. Dr. Jeng is the author/co-author of over 120 book chapters journal papers and conference papers. Dr. Jeng received the Franklin V. Taylor Outstanding Paper Award from the IEEE Systems Man and Cybernetics Society in 1993. He was granted the Research Award by the National Science Council of Taiwan annually from 1994 to 2000. He is an Associate Editor for IEEE Transactions on Systems Man and Cybernetics-Part A IEEE Transactions on Robotics and Automation IEEE Transactions on Robotics and serves on the Editorial Board of International Journal of Computer Integrated Manufacturing. He has been a Guest Editor for eight leading journals. Dr. Jeng is the Chair of the Technical Committee on Discrete Event Systems of the IEEE SMC Society and the Founding Chair of the Technical Committee on Semiconductor Factory Automation of the IEEE Robotics and Automation Society. He served as the Exhibitions Chair of 2003 IEEE International Conference on Robotics and Automation and the Special Sessions Chair of 2004 IEEE International Conference on Networking Sensing and Control. He serves as a Program Co-Chair of 2005 IEEE International Conference on Networking Sensing and Control and the Organization Commit

Statechart has been utilized as a visual formalism for the modeling of complex and interactive systems for its illuminating features on describing properties of causality, concurrency, and synchronization. This paper presents the application of satechart to the modeling, design and implementation of an elevator system, whose system behavior involves aggregating complexity of state descriptions, and imposition of underlying control policy. Based on the operational flow of an elevator, we derive the associated statechart model by looking into the inherent hierarchical structure of the elevator. The advantage of the proposed approach is the clear presentation of system behavior in terms of conditions and events that cause the transitions in system dynamics. Implementation of the controlled elevator based on the modeled statechart is also presented.

关键词： Statechart interactive systems elevator

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A Study On Iterative Learning Control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of Control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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Ubiquitous Robot: A New Paradigm for Integrated Services

Ubiquitous Robot: A New Paradigm for Integrated Services

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jong-Hwan Kim Kang-Hee Lee Yong-Duk Kim Naveen Suresh Kuppuswamy Jun Jo Robot Intelligence Technology Lab Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea Application Technology Lab Telecommunication Research & Development Center Telecommunication Network business Samsung Electronics Company Limited Robotics and Computer Games Laboratory Griffith University Australia

This paper presents the components and overall architecture of the ubiquitous robot (Ubibot) system developed to demonstrate ubiquitous robotics, a new paradigm for integrated services. The system has been developed on the basis of the definition of the ubiquitous robot as that of encompassing the software robot Sobot, embedded robot Embot and the mobile robot Mobot. This tripartite partition, which independently manifests intelligence, perception and action, enables the abstraction of intelligence through the standardization of sensory data and motor or action commands. The Ubibot system itself is introduced along with its component subsystems of Embots, the position Embot, vision Embot and sound Embot, the Mobots of Mybot and HSR, the Sobot, Rity, a virtual pet modeled as an artificial creature, and finally the middleware which seamlessly enables interconnection between other components. Three kinds of experiments are devised to demonstrate the fundamental features, of calm sensing, context awareness and seamless service transcending the spatial limitations in the abilities of earlier generation personal robots. The experiments demonstrate the proof of concept of this powerful new paradigm which shows great promise.

关键词： Intserv networks Mobile robots Robot sensing systems Intelligent robots Intelligent sensors computer architecture Embedded software Artificial intelligence Standardization Positron emission tomography

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Kai Welke Erhan Oztop Gordon Cheng Rudiger Dillmann IAIM Institute of Computer Science and Engineering (CSE) Karlsruhe Germany JST Computational Brain Project ICORP Kawaguchi Saitama Japan Department of Humanoid Robotics and Computational Neuroscience ATR Computational Neuroscience Laboratories Soraku-gun Kyoto Japan

A cognitive robot system has to acquire and efficiently store vast knowledge about the world it operates in. To cope with every day tasks, a robot needs to learn, classify and recognize a manifold of different objects. Our work focuses on an object representation scheme that allows storing perceived objects in a compact way. This will enable the system to store extensive information about the world and will ease complex recognition tasks. The human visual system deploys several mechanisms to reduce the amount of information. Our goal is to develop an artificial system that mimics these mechanisms to create representations that can be used in cognitive tasks. In particular, in this paper we will present an approach that exploits similarities among different views of objects. The proposed representation scheme allows for reduction of storage required for the representation of objects and preserves the information about the similarity among objects. This is achieved by selecting 'important views' of objects, depending on their stability. Furthermore, by extending the same approach to multiple objects, we are able to exploit similarities between objects to find a common representation and to further reduce the storage requirements.

关键词： Cognitive robotics Humanoid robots Intelligent robots Humans Robot sensing systems Object recognition USA Councils computer science Visual system

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Using the Waseda Bioinstrumentation System WB-1R to analyze Surgeon’s performance during laparoscopy - towards the development of a global performance index -

Using the Waseda Bioinstrumentation System WB-1R to analyze ...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Massimiliano Zecca Filippo Cavallo Minoru Saito Nobutsuna Endo Yu Mizoguchi Stefano Sinigaglia Kazuko Itoh Hideaki Takanobu Giuseppe Megali Oliver Tonet Paolo Dario Andrea Pietrabissa Atsuo Takanishi Institute for Biomedical Engineering ASMeW Waseda University Shinjuku Tokyo Japan Scuola Superiore Sant'Anna CRIM Pisa Italy Graduate School of Science and Engineering Waseda University Tokyo Japan Department of Modern Mechanical Engineering Waseda University Tokyo Japan Humanoid Robotics Institute (HRI) Waseda University Tokyo Japan Department of Mechanical Systems Engineering Kogakuin University Tokyo Japan Center for Computer Assisted Surgery EndoCAS Pisa Italy Department of Modern Mechanical Engineering Humanoid Robotics Institute (HRI) Advanced Research Institute for Science and Engineering Waseda University Shinjuku Tokyo Japan

Minimally invasive surgery (MIS) has become very common in recent years, thanks to the many advantages it provides for patients. Since it is difficult for surgeons to learn and master this technique, several training methods and metrics have been proposed, both to improve the surgeon's abilities and also to assess his/her skills. This paper presents the use of the WB-1R (Waseda bioinstrumentation system no.1 refined), which was developed at Waseda University, Tokyo, to investigate and analyze a surgeon's movements and performance. Specifically, the system can measure the movements of the head, the arms, and the hands, as well as several physiological parameters. In this paper we present our experiment to evaluate a surgeon's ability to handle surgical instruments and his/her depth perception using a laparoscopic view. Our preliminary analysis of a subset of the acquired data (i.e. comfort of the subjects; the amount of time it took o complete each exercise; and respiration) clearly shows that the expert surgeon and the group of medical students perform very differently. Therefore, WB-1R (or, better, a newer version tailored specifically for use in the operating room) could provide important additional information to help assess the experience and performance of surgeons, thus leading to the development of a global performance index for surgeons during MIS. These analyses and modeling, moreover, are an important step towards the automatization and the robotic assistance of the surgical gesture.

关键词： Performance analysis Surges Laparoscopes robotics and automation Humanoid robots Management training Minimally invasive surgery Intelligent robots USA Councils

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External vibration compensation via loop shaping and H∞ feedforward control design for hard disk drives in mobile applications

External vibration compensation via loop shaping and H∞ fee...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： Chunling Du Shuzhi Sam Ge F. L. Lewis Jingliang Zhang Data Storage Institute Agency for Science Technology and Research (ASTAR) Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore Automation and Robotics Research Institute University of Technology Arlington TX USA Data Storage Institute Agency for Science Technology and Research Singapore

This paper focuses on compensation for external vibration effect on the positioning accuracy of hard disk drives. A feedforward controller is designed to attenuate the effect with the aid of a sensor to detect external vibrations. Loop shaping in frequency domain and H ∞ method in state space are used to design the feedforward controller. The application results in a 1.8-inch disk drive with an accelerometer to measure acceleration signal show that 70% and 97% reduction of the position error signal can be achieved with the feedforward control designed by the loop shaping and H ∞ method respectively. The robustness of the two methods is also evaluated and compared for external vibrations with amplitude variations.

关键词： Shape control Accelerometers Hard disks Vibration control Frequency domain analysis State-space methods Disk drives Position measurement Acceleration Error correction

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Synthesizing goal-directed actions from a library of example movements

Synthesizing goal-directed actions from a library of example...

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IEEE-RAS International Conference on Humanoid Robots

作者： Ales Ude Marcia Riley Bojan Nemec Andrej Kos Tamim Asfour Gordon Cheng Jožýef Stefan Institute Department of Automatics Biocybernetics and Robotics Ljubljana Slovenia Department of Humanoid Robotics and Computational Neuroscience ATR Computational Neuroscience Laboratories Kyoto Japan College of Computing Georgia Institute of Technology Atlanta GA USA Institute of Computer Science and Engineering c/o Technologiefabrik University of Karlsruhe Karlsruhe Germany Japan Science and Technology Agency ICORP Computational Brain Project Kawaguchi Saitama Japan

We present a new learning framework for synthesizing goal-directed actions from example movements. The approach is based on the memorization of training data and locally weighted regression to compute suitable movements for a large range of situations. The proposed method avoids making specific assumptions about an adequate representation of the task. Instead, we use a general representation based on fifth order splines. The data used for learning comes either from the observation of events in the Cartesian space or from the actual movement execution on the robot. Thus it informs us about the appropriate motion in the example situations. We show that by applying locally weighted regression to such data, we can generate actions having proper dynamics to solve the given task. To test the validity of the approach, we present simulation results under various conditions as well as experiments on a real robot.

关键词： Libraries Humanoid robots Physics computing Hidden Markov models Orbital robotics robotics and automation Cybernetics Laboratories computer science Data engineering

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A novel modular climbing caterpillar using low-frequency vibrating passive suckers

A novel modular climbing caterpillar using low-frequency vib...

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

作者： H. X. Zhang J. Gonzalez-Gomez S.Y. Chen W. Wang R. Liu D. Li J. W. Zhang Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany School of Engineering Universidad Autonoma de Madrid Spain Department of Informatics University of Hamburg Germany College of Information Engineering Zhejiang University of Technology Hangzhou China Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China

This paper presents a novel modular climbing caterpillar named ZC-I. After a related survey on the topic, a systematical summarizing on basic functions provided by this system is given. ZC-I features fast-building mechanical structure and low-frequency vibrating passive attachment principle. Active joints actuated by RC servos endow the connecting modules with the ability of changing shapes in two dimensions. After that the discussion focuses on the various locomotion capabilities. Linear movement, turning movement, lateral movement, rotating and rolling movement are achieved based on an inspired control model to produce rhythmic motion. In the end a conclusion and future work are given.

关键词： Climbing robots Prototypes Kinematics Servomechanisms Joining processes Shape Adhesives Electromagnetic forces Electromagnets Mobile robots

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