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2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2018

作者： Beraldo, Glori Castaman, Nicola Bortoletto, Roberto Pagello, Enrico Del, Millan Jose R. Tonin, Luca Menegatti, Emanuele Intelligent Autonomous System Lab Department of Information Engineering University of Padova Padua Italy Italy IT+ROBOTICS SRL Contrá Valmerlara 21 Vicenza Italy Defitech Depart in Brain-Machine Interface École Polytechnique Fédérale de Lausanne Chemin des Mines 9 GenevaCH-1202 Switzerland

ISBN: (纸本)9781538659748

This paper aims at providing a preliminary description of ROS-Health, a novel framework for neurorobotics based on the middleware Robot Operating System (ROS). The increased interest in the neurorobotics field and the proliferation of several (neuro)physiological-based applications to control robotics devices made clear the importance to establish a standardized research platform in order to facilitate the distribution of the software, the replication of experimental results and the creation of an unified community to share and manage the code in the years. For this reason, we propose a common platform developed in the ROS ecosystem that takes advantage of its tools and capabilities. Furthermore, we describe the design guidelines that we are following in the preliminary definition of ROS-Health architecture. Finally, we present two illustrative use cases that highlight the advantages and benefits of the adoption of ROS-Health. © 2018 IEEE.

关键词： Robot Operating System

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Remote Mobile Manipulation with the Centauro Robot: Full-body Telepresence and Autonomous Operator Assistance

arXiv

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arXiv 2019年

作者： Klamt, Tobias Schwarz, Max Lenz, Christian Baccelliere, Lorenzo Buongiorno, Domenico Cichon, Torben Guardo, Antonio Di Droeschel, David Gabardi, Massimiliano Kamedula, Malgorzata Kashiri, Navvab Laurenzi, Arturo Leonardis, Daniele Muratore, Luca Pavlichenko, Dmytro Periyasamy, Arul Selvam Rodriguez, Diego Solazzi, Massimiliano Frisoli, Antonio Gustmann, Michael Roßmann, Jürgen Süss, Uwe Tsagarakis, Nikos G. Behnke, Sven Autonomous Intelligent Systems University of Bonn Bonn Germany PERCRO Laboratory TeCIP Institute Scuola Superiore Sant’Anna Pisa Italy Man-Machine Interaction RWTH Aachen University Aachen Germany Department of Advanced Robotics Italian Institute of Technology Genoa Italy Kerntechnische Hilfsdienst GmbH Karlsruhe Germany School of Electrical and Electronic Engineering University of Manchester United Kingdom

Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other planets. Suitable platforms require flexible and robust hardware, a locomotion approach that allows for navigating a wide variety of terrains, dexterous manipulation capabilities, and respective user interfaces. We present the CENTAURO system which has been designed for these requirements and consists of the Centauro robot and a set of advanced operator interfaces with complementary strength enabling the system to solve a wide range of realistic mobile manipulation tasks. The robot possesses a centaur-like body plan and is driven by torque-controlled compliant actuators. Four articulated legs ending in steerable wheels allow for omnidirectional driving as well as for making steps. An anthropomorphic upper body with two arms ending in five-finger hands enables human-like manipulation. The robot perceives its environment through a suite of multimodal sensors. The resulting platform complexity goes beyond the complexity of most known systems which puts the focus on a suitable operator interface. An operator can control the robot through a telepresence suit, which allows for flexibly solving a large variety of mobile manipulation tasks. Locomotion and manipulation functionalities on different levels of autonomy support the operation. The proposed user interfaces enable solving a wide variety of tasks without previous task-specific training. The integrated system is evaluated in numerous teleoperated experiments that are described along with lessons learned. Copyright © 2019, The Authors. All rights reserved.

关键词： Visual communication

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Forecasting intracranial hypertension using multi-scale waveform metrics

arXiv

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arXiv 2019年

作者： Hüser, Matthias Kündig, Adrian Karlen, Walter De Luca, Valeria Jaggi, Martin Biomedical Informatics Group Department of Computer Science ETH Zürich Universitätstrasse 6 Zürich8092 Switzerland Mobile Health Systems Lab Institute of Robotics and Intelligent Systems Department of Health Sciences and Technology ETH Zürich Zürich8008 Switzerland Department of Information Technology and Electrical Engineering ETH Zürich Zürich8092 Switzerland Machine Learning & Optimization Lab EPFL Lausanne1015 Switzerland

Objective: Acute intracranial hypertension is an important risk factor of secondary brain damage after traumatic brain injury. Hypertensive episodes are often diagnosed reactively, leading to late detection and lost time for intervention planning. A pro-active approach that predicts critical events several hours ahead of time could assist in directing attention to patients at risk. Approach: We developed a prediction framework that forecasts onsets of acute intracranial hypertension in the next 8 hours. It jointly uses cerebral auto-regulation indices, spectral energies and morphological pulse metrics to describe the neurological state of the patient. One-minute base windows were compressed by computing signal metrics, and then stored in a multi-scale history, from which physiological features were derived. Main results: Our model predicted events up to 8 hours in advance with alarm recall rates of 90% at a precision of 30.3% in the MIMIC-III waveform database, improving upon two baselines from the literature. We found that features derived from high-frequency waveforms substantially improved the prediction performance over simple statistical summaries of low-frequency time serie1s, and each of the three feature classes contributed to the performance gain. The inclusion of long-term history up to 8 hours was especially important. Significance: Our results highlight the importance of information contained in high-frequency waveforms in the neurological intensive care unit. They could motivate future studies on pre-hypertensive patterns and the design of new alarm algorithms for critical events in the injured brain. Copyright © 2019, The Authors. All rights reserved.

关键词： Morphology

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Auto-LEE: A novel autonomous lower extremity exoskeleton for walking assistance

Auto-LEE: A novel autonomous lower extremity exoskeleton for...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： He, Yong Wang, Chao Li, Nan Fu, Ruiqing Wu, Xinyu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9781538680698

Wearable exoskeletons have been proven to be efficacious in aiding walking for individuals suffering from lower limb mobility disorder. However, the application of most existing devices is limited to inconvenience of usage, e.g., complicated training and unnatural gait. This paper presents a novel autonomous lower extremity exoskeleton, Auto-LEE, for the purpose of improving the practicality of walking assistive devices as well as simplifying their application process. The developed exoskeleton consists of two robotic legs, and each of them has 5 active degrees-of-freedom (DOFs) to independently control the rotations of hip, knee and ankle joints in the sagittal and coronal planes, which enables the device to possess self-balancing ability and flexible gait. The modular design concept is introduced into the structure and hardware development of Auto-LEE, making it more convenient to be assembled and maintained. In order to validate the self-balancing walking ability, virtual prototype simulation and preliminary experiment on flat terrain are implemented. © 2018 IEEE.

关键词： Exoskeleton (robotics)

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Flexible disaster response of tomorrow final presentation and evaluation of the CENTAURO system

arXiv

引用

arXiv 2019年

作者： Klamt, Tobias Rodriguez, Diego Baccelliere, Lorenzo Chen, Xi Chiaradia, Domenico Cichon, Torben Gabardi, Maßimiliano Guria, Paolo Holmquist, Karl Kamedula, Malgorzata Karaoguz, Hakan Kashiri, Navvab Laurenzi, Arturo Lenz, Christian Leonardis, Daniele Hoffman, Enrico Mingo Muratore, Luca Pavlichenko, Dmytro Porcini, Francesco Ren, Zeyu Schilling, Fabian Schwarz, Max Solazzi, Maßimiliano Felsberg, Michael Frisoli, Antonio Gustmann, Michael Jensfelt, Patric Nordberg, Klas Roßmann, Jürgen Süß, Uwe Tsagarakis, Nikos G. Behnke, Sven Autonomous Intelligent Systems University of Bonn Germany Humanoids and Human-Centred Mechatronics Istituto Italiano di Tecnologia Genoa Italy Department of Robotics Perception and Learning KTH Royal Institute of Technology Stockholm Sweden PERCRO Laboratory TeCIP Institute Sant'Anna School of Advanced Studies Pisa Italy Institute for Man-Machine Interaction RWTH Aachen University Germany Computer Vision Laboratory Linköping University Sweden Lausanne Switzerland Kerntechnische Hilfsdienst GmbH Karlsruhe Germany School of Electrical and Electronic Engineering University of Manchester United Kingdom

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Parallel Driving in CPSS:A Unified Approach for Transport Automation and Vehicle Intelligence

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IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 577-587页

作者： Fei-Yue Wang Nan-Ning Zheng Dongpu Cao Clara Marina Martinez Li Li Teng Liu IEEE State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Advanced Vehicle Engineering Center Cranfield University Department of Automation Tsinghua University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Qingdao Huituo Intelligent Machine Company

The emerging development of connected and automated vehicles imposes a significant challenge on current vehicle control and transportation systems. This paper proposes a novel unified approach, Parallel Driving, a cloud-based cyberphysical-social systems(CPSS) framework aiming at synergizing connected automated driving. This study first introduces the CPSS and ACP-based intelligent machine systems. Then the parallel driving is proposed in the cyber-physical-social space,considering interactions among vehicles, human drivers, and information. Within the framework, parallel testing, parallel learning and parallel reinforcement learning are developed and concisely reviewed. Development on intelligent horizon(iHorizon)and its applications are also presented towards parallel *** proposed parallel driving offers an ample solution for achieving a smooth, safe and efficient cooperation among connected automated vehicles with different levels of automation in future road transportation systems.

关键词： ACP theory connected automated driving cyber-physical-social systems(CPSS) iHorizon parallel driving parallel horizon parallel learning parallel reinforcement learning parallel testing

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Acoustic and Kinematic Examination of Dysarthria in Cantonese Patients of Parkinson’s Disease

Acoustic and Kinematic Examination of Dysarthria in Cantones...

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International Symposium on Chinese Spoken Language Processing

作者： Yue Sun Manwa L. Ng Chongyuan Lian Lan Wang Feng Yang Nan Yan College of Big Data and Information Engineering Guizhou University Guiyang China Speech Science Laboratory University of Hong Kong Hong Kong China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Department of Speech Therapy Shenzhen Children’s Hospital Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Instimtes of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (纸本)9781538656280;9781538656273

Hypokinetic dysarthria is one of the core symptoms of Parkinson's disease, characterized by reduced loudness, slurred speech and distorted consonant productions. Dopaminergic medication for Parkinson's disease (PD) has been proven to be effective in treating limb and gross motor movement problems. However, the literature sees contradictory findings regarding dopaminergic effects on speech problems associated with PD. Previous perceptual and acoustic studies of PD hypokinetic dysarthria mostly involved heterogeneous population and variations of speech tasks which complicated data interpretation. Also, the lack of kinematic data limited our understanding of the details of articulation errors associated with PD, as well as the medication effects. Electromagnetic articulography (EMA) enabled the examination of PD articulatory patterns with high degree of accuracy and safety. The aim of the present study was to address these inconsistencies by providing an integrative description of basic kinematic and acoustic parameters of speech production about the dopaminergic effect on early PD speech by using EMA. The results revealed a significant improvement of articulatory function on dopaminergic effects for PD speech, evidenced by increased vowel space, the velocity and accelerated velocity initiation and coordination of articulation during bilabial or alveolar productions.

关键词： Kinematics Acoustics Auditory system Sun Parameter extraction Schedules Lips

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Collaborative optimal reciprocal collision avoidance for mobile robots

International Journal of Control and Automation

引用

International Journal of Control and Automation 2015年第8期8卷 203-212页

作者： Khan, Shehryar Ali Ayaz, Yasar Jamil, Mohsin Gillani, Syed Omer Navee, Muhammad Qureshi, Ahmed Hussain Iqbal, Khawaja Fahad Department of Robotics and Intelligent Machine Engineering School of Mechanical and Manufacturing Engineering National University of Science and Technology Islamabad Pakistan

Avoiding collision is one of the major research fields in mobile robotics. Various researchers around the globe are working on static and dynamic collision avoidance algorithms. One such algorithm is the Optimal Reciprocal Collision Avoidance that deals with multiple robots moving in a joint space without causing collision, that also without communicating and without centralized processing. This algorithm is very effective in handling collision avoidance. However, the problem of deadlock often appears when the robots have to navigate through densely crowded environments in joint space. The aim is to move robots in a small joint space and achieve collision avoidance without facing deadlocks. For this purpose we have extended this protocol into Collaborative Optimal Reciprocal Collision Avoidance to solve the problem of deadlocks. The protocol is inspired from the traffic rules and solves the problem of deadlocks effectively. The protocol was tested upon Player-Stage based simulation where deadlocks were avoided successfully. © 2015 SERSC.

关键词： Collision avoidance

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Performance of adaptive PI based on fuzzy logic for Indirect Vector Control Induction Motor drive

Performance of adaptive PI based on fuzzy logic for Indirect...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Kamran Zeb Komal Saleem C. A. Mehmood Waqar Uddin Muhammad Zia ur Rehman Aun Haider M. A. Javed Department of Electrical Engineering University of Management and Technology Sialkot Pakistan Department of Electrical Engineering COMSATS Institute of Information Technology Abbottabad Pakistan Department of Robotics and Intelligent Machine Engineering National University of Sciences and Technology (NUST) Islamabad Pakistan

ISBN: (纸本)9781509040605

A Novel Adaptive PI based on Fuzzy Logic Reasoning (FLR) is presented in this paper for Indirect Vector Control (IVC) three phase Induction Motor (IM). The main objective is to achieve fast dynamic response and robustness for speed variation, parameter uncertainties, load disturbances, electrical faults perturbations, and to acquire maximum torque and efficiency. The d-q modeling of the IM in synchronously rotating reference frame and Space Vector Pulse Width Modulation (SVPWM) employed in power inverter are carried out in Matlab/Simulink. Both PI and Adaptive PI based on FLR are analyzed, designed, and simulated for IVC IM drive system. Furthermore, the critical and analytical assessment of the aforesaid designed control methodology provides robust and faster response with low overshoot, rise, and settling time for the load disturbances, parameter uncertainties, speed variation, and electrical faults perturbation of IVC IM drive system, compared to prior works.

关键词： Integrated circuits

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Analysis of End-Effector position and orientation for 2P-3R Planer Pneumatic Robotic Arm

Analysis of End-Effector position and orientation for 2P-3R ...

引用

2014 International Conference on robotics and Emerging Allied Technologies in engineering, iCREATE 2014

作者： Mehmood, Noaman Ijaz, Faheem Murtaza, Zain Ali Shah, Syed Irtiza Department of Robotics and Intelligent Machine Engineering National University of Sciences and Technology Pakistan

ISBN: (纸本)9781479951321

In order to control a Robotic arm it involves study of kinematics and dynamics. In this paper we study forward kinematics of Planer Pneumatic Robotic Arm with two prismatic and three revolute (2P-3R) joints. Forward kinematics involves computing End Effector orientation and position provided with a set of joint angles. In this paper we used Denavit Hartenberg D-H to model links and joints of the Robotic arm. Because of simplicity of design and control, reliability and safety Pneumatic robotic arm is very commonly used in industries for part handling and pick and place purpose and it is also used in laboratory for training purposes. © 2014 IEEE.

关键词： Robotic arms

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