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International Conference on Integration of Knowledge Intensive Multi-Agent Systems (KIMAS)

作者： E. Matson S. DeLoach Department of Computer Science and Engineering Wright State University Dayton OH USA Department of Electrical and Computer Engineering and Computer Science University of Cincinnati Cincinnati OH USA Multi-agent and Cooperative Robotics Laboratory Department of Computing and Information Kansas State University Manhattan KS USA

On the field of battle, a continual flow of information is necessary to achieve information superiority. The required information potentially originates from numerous information producers. Unfortunately, due to dynamic and often dangerous conditions, these information producers can be incapacitated or destroyed. To be successful, a battlefield information system must provide a continuous flow of information and thus adaptability and fault tolerance are key features. In this paper, we show how we build adaptive and fault tolerance information systems using an organizational model. We introduce our organizational model and provide details pertaining to its use in the development of a battlefield information system.

关键词： Adaptive systems Information systems computer science Fault tolerant systems USA Councils Robot kinematics Military computing Complex networks Protocols Runtime

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Gesture recognition by attention control method for intelligent humanoid robot

Gesture recognition by attention control method for intellig...

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9th International Conference on Knowledge-Based Intelligent Information and engineering Systems, KES 2005

作者： Oh, Jae Yong Lee, Chil Woo You, Bum Jae Department of Computer Engineering Chonnam National University 300 Yongbong-dong Buk-gu Gwangju 500-757 Korea Republic of Intelligent Robotics Research Center Korea Institute of Science and Technology 39-1 Hawolgok-dong Seongbuk-gu Seoul 136-791 Korea Republic of

ISBN: (纸本)3540288945

this paper, we describe an algorithm which can automatically recognize human gesture for Human-Robot interaction by utilizing attention control method. In early works, many systems for recognizing human gestures work under many restricted conditions. To solve the problem, we propose a novel model called APM(Active Plane Model), which can represent 3D and 2D gesture information simultaneously. Also we present the state transition algorithm for selection of attention. In the algorithm, first we obtain the information about 2D and 3D shape by deforming the APM, and then the feature vectors are extracted from the deformed APM. The next step is constructing a gesture space by analyzing the statistical information of training images with PCA. And then, input images are compared to the model and individually symbolized to one of the pose model in the space. In the last step, the symbolized poses are recognized with HMM as one of model gestures. The experimental results show that the proposed algorithm is very efficient to construct intelligent interface system. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Gesture recognition

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Robust nonlinear controller for underwater vehicle-manipulator systems

Robust nonlinear controller for underwater vehicle-manipulat...

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

作者： Bin Xu S. Abe N. Sakagami S.R. Pandian Department of Electrical Engineering & Computer Science Tulane University New Orleans LA USA Department of Robotics Ritsumeikan University Japan Department of Marine Design and Engineering Tokai University Shizuoka Japan

In this paper, a robust nonlinear controller is proposed for trajectory tracking of underwater vehicle-manipulator systems (UVMS). The controller is non-adaptive and of sliding mode type, and is designed based on the decentralized form of the dynamics of UVMS. It has the advantages of simplicity, robustness, precise performance, and ease of implementation. In order to demonstrate the effectiveness of the controller, several simulations using a five degrees of freedom UVMS are conducted. The results show that the proposed controller provides high performance of trajectory tracking in the presence of uncertainties about the dynamics and hydrodynamic disturbances

关键词： Robust control Nonlinear control systems Control systems Sliding mode control Trajectory Vehicle dynamics Underwater tracking Robustness Uncertainty Hydrodynamics

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Automobile lane detection System-on-Chip integrated with mixed signal mode CMOS image sensor

Automobile lane detection System-on-Chip integrated with mix...

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9th International Symposium on Consumer Electronics 2005, ISCE 2005

作者： Hsiao, Pei-Yung Cheng, Hsien-Chein Yeh, Chun-Wei Huang, Shih-Shinh Fu, Li-Chen IEEE Department of Electronic Engineering Chang Gung University Tao-Yuan Taiwan Department of Electrical Engineering National Taiwan University Taipei Taiwan Genesyslogic Co. Ltd. Circuit Layout Department Dept. of Electronic Engineering and Information Management Chang Gung University Department of Electrical Engineering Department of Computer Science and Information Engineering National Taiwan University Robotics and Automation Society Automatic Control Society Chinese Automatic Control Society Chinese Institute of Automation Engineers

In this paper, we aim at developing a System-on-Chip, SoC, which can capture image as well as produce vehicle lane map at the same time. We adopt Peak-Finding based lane detection algorithm that can achieve high recognition rate about 96% even under various weather conditions. The features of the proposed SoC are a single low-cost and compact chip which implements the lane detection algorithm with mixed signal mode CMOS image sensor. Therefore, it can be easily used in thousands of consumer electronics for intelligent automobile applications. © IEEE.

关键词： Image sensors

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Development of a fuzzy logic based mobile robot for dynamic obstacle avoidance and goal acquisition in an unstructured environment

Development of a fuzzy logic based mobile robot for dynamic ...

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

作者： R. Malhotra A. Sarkar Department of Mechanical Engineering Dynamics and Robotics laboratory Vellore of Institute of Technology Vellore Tamil Nadu India Department of Computer science and Engineering Vellore of Institute of Technology Vellore Tamil Nadu India

This paper presents the design of a mobile robot for obstacle avoidance in an environment about which no a priori information is available and which consists of static as well as moving obstacles. The paper concerns itself with the design of a fuzzy brain for the mobile robot, its integration into the control system and the sensor system used for the detection of obstacles in its workspace. The obstacle avoidance strategy of the robot is based on the artificial potential field method. A fuzzy logic based system is used to implement this strategy since it reduces the computational effort required in the implementation of the artificial potential field method. An algorithm (intelligent obstacle avoidance algorithm) is proposed to integrate the fuzzy system into the main control system for the mobile robot. The system described above is being tested by simulation and subsequently be tested on an actual mobile robot being developed

关键词： Fuzzy logic Mobile robots Fuzzy systems Control systems System testing Fuzzy control Sensor systems Robot sensing systems Computational and artificial intelligence Intelligent robots

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A new endoscopic microcapsule robot using beetle inspired microfibrillar adhesives

A new endoscopic microcapsule robot using beetle inspired mi...

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Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005

作者： Cheung, Eugene Karagozler, Mustafa Emre Park, Sukho Kim, Byungkyu Sitti, Metin NanoRobotics Lab. Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA 15213 United States NanoRobotics Lab. Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA 15213 United States Intelligent Microsystem Center Korea Institute of Science and Technology Seoul 136-791 Korea Republic of NanoRobotics Lab. Department of Mechanical Engineering Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 United States

The diagnosis of gastrointestinal diseases within the small intestine has been greatly advanced with the introduction of the endoscopic microcapsule in recent years. In an effort to increase its reliability and expand its functionality, a mechanism for stopping and locomoting the capsule within the digestive tract is proposed in this paper. This mechanism, actuated by shape memory alloy wires, utilizes a synthetic microfibrillar adhesive similar to the attachment mechanisms employed by beetles. This fibrillar attachment mechanism is a combination of molecular adhesion caused by van der Waals forces and liquid adhesion caused by capillary forces. The molecular adhesion is enhanced by the presence of microfibers, and the liquid adhesion arises from a secretion from the beetle's footpad. A synthetic version of the beetle's footpad was fabricated from PDMS using a silicon mold. Another version was created from SU-8 using photolithography. Testing revealed decent adhesion with glass and prepared pig intestine in vitro both with a silicone oil to simulate the secretion and without it A prototype robot with simple polymer adhesive pads for stopping successfully attached and detached inside a flexible vinyl tube. An inchworm locomotion mechanism is proposed and is in the preliminary stages of fabrication and testing. ©2005 IEEE.

关键词： Robots

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Annotation-based rescue assistance system for teleoperated unmanned helicopter with wearable augmented reality environment

Annotation-based rescue assistance system for teleoperated u...

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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： M. Koeda Y. Matsumoto T. Ogasawara Collage of Information Science and Engineering Department of Human and Computer Intelligence Ritsumeikan University Kusatsu Shiga Japan Graduate School of Information Science Robotics Laboratory Nara Institute of Science and Technology Ikoma Nara Japan

We introduce an annotation-based rescue assistance system for a teleoperated unmanned helicopter with an wearable augmented reality (AR) environment. In this system, an operator controls the helicopter remotely while watching an annotated view from the helicopter through a head mounted display (HMD) with a laptop PC in a backpack. Virtual buildings and textual annotations assist the rescue operation indicating the position to search rapidly and intensively. The position and the attitude of the helicopter is measured by a GPS and a gyroscope, and sent to the operator's PC via a wireless LAN. Using this system, we conducted experiments to find persons and verified the feasibility.

关键词： Helicopters Augmented reality Control systems Gyroscopes Wireless LAN Global Positioning System Cameras Information science Intelligent robots Robot kinematics

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Recognizing interaction from a robot's perspective

Recognizing interaction from a robot's perspective

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： T. Salter F. Michaud K. Dautenhahn D. Letourneau S. Caron LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical Engineering and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada Adaptive Systems Research Group School of Computer Science University of Herfordshire Hatfield UK

For meaningful interaction between a robot and a human, an autonomous robot must recognize whether the experienced situation is created by people or by the environment. Using only proprioceptive data from a mobile robotic platform, we discover that it is possible to distinguish sensory data patterns involving interaction. These patterns are obtained whilst navigating varying environments, both human populated and unpopulated. The paper reports the initial set of trials using Roball, a spherical mobile robot. Also described is the experimental methodology currently followed to validate the hypothesis that child interaction can be perceived directly from navigation sensors onboard a robotic platform.

关键词： Robot sensing systems Mobile robots Human robot interaction Navigation Intelligent robots Sensor phenomena and characterization Infrared sensors Educational institutions Plastics Mobile computing

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Automatic code generation for actuator interfacing from a declarative specification

Automatic code generation for actuator interfacing from a de...

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2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： E. Jung C. Kapoor D. Batory Robotics Research Group Department of Mechanical Engineering University of Texas Austin Austin TX USA Product Line Architecture Research Group Department of Computer Science University of Texas Austin Austin TX USA

Common software design practices use object-oriented (OO) frameworks that structure software in terms of objects, classes, and packages; designers then create programs by inheritance and composition of classes and objects. Operational software components for advanced robotics (OSCAR) is one such framework for robot control software with abstractions for generalized kinematics, dynamics, performance criteria, decision making, and hardware interfacing. Even with OSCAR, writing new programs still requires a significant amount of manual labor. Feature-oriented programming (FOP) is method for software design that models and specifies programs in terms of features, where a feature encapsulates the common design decisions that occur in a domain. A set of features then forms a domain model for a product line architecture. Product variants in this product line can then be generated from a declarative specification. FOP and related technologies are emerging software engineering techniques for automatically generating programs. Our research applies FOP to robot controller software. As an example, the domain of hardware interfacing is analyzed and 41 features identified. A GUI for specifying and generating programs is presented as well. Analysis of features shows 200 possible different programs could be generated.

关键词： Actuators Software design Software performance robotics and automation Robot control Hardware Object oriented modeling Software packages Packaging Kinematics

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Communication and Data Sharing in Human-Robot Heterogenous Teams

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IFAC Proceedings Volumes 2005年第1期38卷 53-58页

作者： Jiri Pavlicek Libor Preucil Herbert Baier Frauke Driewer Czech Technical University in Prague Department of Cybernetics Faculty of Electrical Engineering Technická 2 166 27 Prague 6 Czech Republic Julius-Maxmilians University Würzburg Department of Computer Science VII: Robotics and Telematics Am Hubland D-9∅74 Würzburg Germany

Nowadays, there exists a great interest in development of mobile and teleoperated or even autonomous robots, which could replace humans in dangerous tasks. Information management and system architecture in these can stand for a difficult issue even with a single teleoperated robot. Considering a system of multiple human and robot entities working together in teams at different locations, complexity of information management rapidly grows. This paper sketches an information exchange and handling design in heterogenous human-robot teams, employing teleoperation of semi-autonomous robots and humans in rescue test-cases. The paper addresses analysis of the system design as well as particular tasks specifics connected with this issue.

关键词： human-robot interaction communication data sharing system architecture telerobotics

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