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ASME/IEEE Joint Conference on Rail

作者： R. Edwards C.P.L. Barkan J.M. Hart S. Todorovic N. Ahuja Department of Civil and Environmental Engineering Newmark Civil Engineering Laboratory University of Illinois Urbana-Champaign Urbana IL USA Computer Vision and Robotics Laboratory Beckman Institute for Advanced Science and Technology Urbana IL USA Department of Electrical and Computer Engineering Computer Vision and Robotics Laboratory Beckman Institute for Advanced Science and Technology Urbana IL USA

Before a train departs a yard, many aspects of the freight cars and locomotives undergo inspection, including their safety appliances. Safety appliances are handholds, ladders and other objects that serve as the interface between humans and railcars during transportation. Federal safety rules govern the design and condition of safety appliances. The current car inspection process is primarily visual making it laborious, redundant, and generally lacking of memory. There exists a potential to increase both the effectiveness and efficiency of safety appliance inspections by utilizing machine vision technology to enhance the railcar inspection process. Machine vision consists of capturing digital video and using algorithms capable of detecting and analyzing the particular objects or patterns of interest. computer algorithms can objectively inspect railcars without tiring or becoming distracted and can also focus on certain parts of the railcar not easily seen by an inspector on the ground. Thus far, algorithms have been developed that can detect deformed ladders, handholds, and brake wheels on open-top gondolas and hoppers. Next, visual learning will be employed to teach the algorithm the differences between Federal Railroad Administration (FRA) safety appliance defects and other types of deformation not requiring a car to be bad ordered. The final product will be a wayside inspection system capable of detecting safety appliance defects on passing railcars.

关键词： Railway safety Home appliances Inspection Machine vision Vehicle safety US department of Transportation Humans Rail transportation Object detection Pattern analysis

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A New Adaptive Transport Protocol for Web

A New Adaptive Transport Protocol for Web

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Canadian Conference on Electrical and computer engineering (CCECE)

作者： Kiarash Mizanian Mehdi Salmani Jelodar Amir Aavani Morteza Analoui Computer Engineering Department Iran University of Science and Technology Tehran Iran Sepanta Robotics AI Research Foundation Tehran Iran

Today, Web interactions are frequently short, with an increasing number of responses carrying only control information and no data. On the other hand, with significant improvements in network hardware, many problems such as collision and packet loss are not as important as before. The most popular application layer protocol for the Web is the Hyper Text Transfer Protocol (HTTP), with client initiated Transmission Control Protocol (TCP) as the transport protocol. In spite of TCP's good services to HTTP, it is poorly suited for small packets. The overhead of setting up and tearing down TCP state amortizes poorly for these small connections. In this paper, we have designed and analyzed an adaptive-hybrid scheme to address these issues. The proposed scheme uses either TCP, or the User Datagram Protocol (UDP) as the underlying transport protocol. UDP is used for short transfers (including HTTP redirection) and for lossless states, while TCP is used just in lossy and full of collision states. In this manner, we avoid the extra TCP overhead for short connections, but still benefit from the reliable delivery and congestion control that TCP provides. We ran simulations to quantify the effects of various network parameters (i.e., packet loss rates) on the performance of the hybrid scheme. We observed performance gains exceeding 25% with HTTP/1.1-style persistent connections, and over 55% without persistent connections

关键词： Transport protocols Telecommunication traffic Packaging machines Access protocols Programmable control Adaptive control Data engineering Robots Artificial intelligence Hardware

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Automated Vehicles' Work Planning in Flexible Manufacturing Systems

Automated Vehicles' Work Planning in Flexible Manufacturing ...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Wojciech Muszynski Zbigniew Banaszak Izabela Tomczuk-Pirog Institute of Computer Science Automation and Robotics Wroclaw University of Technology Wroclaw Poland Department of Computer Science and Management Technical University Koszalin Koszalin Poland Department of Management and Production Engineering Technical University of Opole Opole Poland

The problem of rules setting in coordination of automated vehicles access to shared system resources (sections of their transportation paths) which assure a deadlock free and starvation free flow of the executed processes belongs to NP-hard problems. Assuming that there are local (controlling access to shared resources) rules of priority dispatching, the problem deals with setting conditions sufficient for a pair (initial state, set of priority dispatching rules). The assumed knowledge base way of specifying a transportation subsystem leads to solving a logic-algebraic method decision problem. In this regard, the working knowledge representation synthesis method constitutes a significant contribution to the development of programming methods aimed at distributed control procedures design.

关键词： Vehicles Flexible manufacturing systems Transportation Knowledge representation Dispatching Logic computer science robotics and automation System recovery Control system synthesis

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Wide Dynamic Range Vision for Robot Eyes based on Double Capturing Scheme

Wide Dynamic Range Vision for Robot Eyes based on Double Cap...

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IEEE SENSORS

作者： Sung-Kee Park Jin Heon Kim Intelligent Robotics Research Center Korea Institute of Science and Technology Seoul South Korea Department of Computer Engineering Seokyeong University Seoul South Korea

A new method of combining double captured images to extend dynamic range is proposed in this paper. Two images taken with long and short exposure times respectively are combined by proposed DSPA (difference & slant based pixel adjustment) algorithm, dynamically varying weighted averaging scheme to present a scene of wide dynamic range. Compared with the previous works using multiple capturing, our approach captures only twice to facilitate practical implementation. It is characterized by simple arithmetic operations which can be easily implemented by a small H/W. Compared with the previous double capturing scheme, it shows enhanced contrast which contains more edge information, easy control of resultant effects while still retaining simple architectural merit. The test results for the several scenes show it has logarithmic convergence characteristics and more edge quantity compared to the previous works.

关键词： Dynamic range Robot vision systems Eyes Layout Intelligent robots Cameras Intelligent sensors Robot sensing systems Pixel Charge coupled devices

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Virtual modelling of solid objects with constraint-based manipulations

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International Journal of Modelling and Simulation 2006年第3期26卷 212-218页

作者： Zhong, Y. Yuan, X. Ma, W. Shirinzadeh, B. Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Clayton Vic. 3800 Australia School of Computer Science University of Windsor Canada Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong Hong Kong

This paper presents an intuitive approach to precise solid modelling in virtual reality environments. A hierarchically structured model is established to handle the tasks of object definition, object creation, and object rendering with an integrated data structure. Constraints are organized at different levels on different objects and are embedded in the data structure. A constraint reasoning engine is developed to automatically determine allowable motions for precise manipulation of virtual objects with online assistance from constraints. Examples are presented to demonstrate the advantage of precise solid modelling through constraint-based manipulations in virtual environments.

关键词： Virtual reality

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Introducing Grammatical Evolution in Fetal Heart Rate Analysis and Classification

Introducing Grammatical Evolution in Fetal Heart Rate Analys...

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International IEEE Conference on Intelligent Systems, IS

作者： Ioannis Tsoulos George Georgoulas Dimitris Gavrilis Chrysostomos Stylios Joao Bemardes Peter Groumpos Computer Science Department University of Ioannina Ioannina Greece Laboratory for Automation and Robotics University of Patras Patras Greece Department of Electrical and Computer Engineering University of Patras Patras Greece Laboratory for Automation and Robotics Informatics and Management Artas Greece Department of Gynecology and Obstetrics Porto Portugal Department of Gynecology and Obstetrics Porto Faculty of Medicine Porto Portugal Laboratory for Automation & Robotics University of Patras Patras Greece

Electronic fetal monitoring is an essential tool for fetal surveillance during labor. It is mainly based on the monitoring and evaluation of the fetal heart rate (FHR) signal, which has to be interpreted online. Evaluation and interpretation of FHR gives an indication of the fetal condition. A lot of research efforts have been done towards the development of automatic and reliable methods for processing and evaluating FHR. This research work introduces an integrated methodology for processing and classifying FHR based on the novel approach of grammatical evolution for feature construction and selection. The proposed methodology is presented, and it is applied to a data set. Experimental results are promising paving the way for further research in that direction

关键词： Fetal heart rate robotics and automation Signal processing Heart rate measurement computerized monitoring Neural networks Cardiology Laboratories Telephony Medical robotics

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The TactaPack: A Wireless Sensor/Actuator Package for Physical Therapy Applications

The TactaPack: A Wireless Sensor/Actuator Package for Physic...

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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS)

作者： R.W. Lindeman Y. Yanagida K. Hosaka S. Abe Department of Computer Science Worcester Polytechnic Institute USA Department of Information Engineering Faculty of Science and Technology Meijo University Japan Media Information Science Laboratories ATR International Japan Intelligent Robotics and Communication Laboratories ATR International Japan

In this paper, we present preliminary work we have done on designing the TactaPack, a wearable sensor/actuator device that uses a Bluetooth wireless connection to return sensor data to a host, and to receive commands to initiate expressive vibrotactile stimuli. We present our work in the context of a physical therapy application designed to provide more autonomy for patients when performing rehabilitative exercises. This assistive technology has the potential to reduce injuries during therapy due to improper patient joint movement, and decrease the workload of physical therapists, thereby reducing healthcare costs. Though still in the early stages of design, we believe the TactaPack can be used to produce systems that are less cumbersome than current, wired solutions, and simplify the creation of high-level applications by offloading from the CPU to the device the process of sensing, testing against threshold values, and actuation.

关键词： Wireless sensor networks Actuators Packaging Medical treatment Wearable sensors Bluetooth Injuries Medical services Costs System testing

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Electroactive polymer actuation at the nanoscale

Electroactive polymer actuation at the nanoscale

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2006 6th IEEE Conference on Nanotechnology, IEEE-NANO 2006

作者： Lee, Alexander S. Ly, James V. Peteu, Serban F. Thompson, Mark E. Zhou, Chongwu Requicha, Aristides A. G. Laboratory for Molecular Robotics University of Southern California Los Angeles CA 90089-0781 United States Mork Family Department of Chemical Engineering and Materials Science University of Southern California Los Angeles CA 90089-0781 United States Department of Chemistry University of Southern California Los Angeles CA 90089-0781 United States Department of Electrical Engineering University of Southern California Los Angeles CA 90089-0781 United States Department of Computer Science University of Southern California Los Angeles CA 90089-0781 United States

ISBN: (纸本)1424400783

Nanoscale actuators are required for the development of nanorobots and other nanoelectromechanical systems (NEMS) of the future. Actuators based on electrochemically-induced volumetric changes in electroactive polymers (EAPs) have been demonstrated at the macro and microscales, and have been used for artificial muscles and other applications. Here we experimentally and quantitatively demonstrate for the first time that the fundamental phenomena underlying EAP actuation are still active at spatial scales below 100 nm. This opens new directions in nanorobot and NEMS research. Individual polypyrrole structures are investigated in this paper by using atomic force microscopy (AFM) with electrochemistry capabilities. Polypyrrole-based nanowires (∼ 50 nm diameter, ∼ 6 μm in length) and single-walled carbon nanotubes coated with a polypyrrole film ∼125 nm thick both show actuation behavior. The nanowire dimensions change from ∼ 2% to as much as ∼ 35%. The single-walled nanotube-polypyrrole structures show a considerably lower percentage of dimensional change. © 2006 IEEE.

关键词： Nanorobotics

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Modeling and Control of Interaction Forces in Dynamically-Coupled Robotic Systems

Modeling and Control of Interaction Forces in Dynamically-Co...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Goo Bong Chung Byung-ju Yi Whee-kuk Kim The Robotics Institute Carnegie Mellon University Pittsburgh USA School of Electrical Engineering and Computer Science Hanyang University Ansan Republic of Korea Department of Control and Instrumentation Engineering Korea University Chochiwon Republic of Korea

In this paper, we propose a new closed-form dynamic model of interaction forces between two interacting robotic modules and a methodology to control the interaction forces by using inherent kinematic redundancy of robotic systems. To show the usefulness of controlling interaction forces, two exemplary cases are introduced. The first example investigates the interaction force between a mobile platform and a serial robot mounted on the platform. The interaction force between the two modules is controlled so that the motion of the mobile platform can be controlled in a desired way. The second example deals with interaction between a serial robot and a human operator. An interaction force is controlled so that the human operator does not feel uncomfortable when the operator performs a designed trajectory motion in cooperation with the robot

关键词： Force control Mobile robots Manipulator dynamics Kinematics Motion control Orbital robotics Intelligent robots Parallel robots Human robot interaction Force measurement

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Experiencing New Capabilities of Humans in Hybrid Telematic Teams

Experiencing New Capabilities of Humans in Hybrid Telematic ...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： J. Pavlicek R. Mazl L. Preucil F. Driewer K. Schilling Department of Cybernetics Faculty of Electrical Engineering Czech Technical University Prague Czech Republic Computer Science VII: Robotics and Telematics Julius-Maximilians University Würzburg Wurzburg Germany

The paper investigates new methods and tools in design of the next generation telematic systems-building hybrid teams of cooperating robots and humans. The following presents some core aspects of such systems design, taking into account the issues of building presence in telematic systems, diverse systems integration and cooperation. The presented approach is focused onto a rescue and search task and accompanied by evaluation of achieved results in practical experiments

关键词： Humans Telematics Robot kinematics Robot sensing systems Cognitive robotics Navigation Humanoid robots Orbital robotics Cybernetics computer science

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