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International Conference on robotics and Emerging Allied Technologies in engineering (iCREATE)

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

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.

关键词： Pneumatic systems Kinematics Joints Robot kinematics Robot sensing systems End effectors

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Pose recognition using cross correlation for static images of Urdu sign language

Pose recognition using cross correlation for static images o...

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International Conference on robotics and Emerging Allied Technologies in engineering (iCREATE)

作者： Muhammad Sami Habib Ahmed Ali Wahid Usama Siraj Faizan Ahmed Shahab Shahid Syed Irtiza Ali Shah Department of Robotics and Intelligent Machine Engineering National University of Science and Technology Islamabad Pakistan

Sign language recognition has been an active area of research for around two decades and numerous different sign languages have been extensively studied in order to design reliable sign language recognition systems. Urdu, the national language of Pakistan, and its corresponding sign language, has so far been largely neglected by the academia, which is one of the reasons, it has been chosen for developing an Urdu sign language recognition system. A comprehensive database of static images depicting the signs for different Urdu alphabets is being used as reference and input images are being compared to perform Urdu alphabet recognition. Cross-correlation technique is being used for image registration between input image and images from the database to find the closest match. The tolerance level ensures a trade-off between computational complexity and accuracy of the match between set of images. The algorithm tests on the images have been around 75% successful and attempts are being made for more efficient and robust performance.

关键词： Gesture recognition Assistive technology Image recognition Correlation Thumb Image color analysis

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Decoding of Intentional Actions from Scalp Electroencephalography (EEG) in Freely-behaving Infants

Decoding of Intentional Actions from Scalp Electroencephalog...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Zachery R. Hernandez Jesus Cruz-Garza Teresa Tse Jose L. Contreras-Vidal Non-Invasive Brain-Machine Interface Systems Laboratory at the Department of Electrical and Computer Engineering University of Houston (UH) Center for Robotics and Intelligent Systems Tecnologico de Monterrey

ISBN: (纸本)9781424479276

The mirror neuron system (MNS) in humans is thought to enable an individual's understanding of the meaning of actions performed by others and the potential imitation and learning of those actions. In humans, electroencephalographic (EEG) changes in sensorimotor a-band at central electrodes, which desynchronizes both during execution and observation of goal-directed actions (i.e., μ suppression), have been considered an analog to MNS function. However, methodological and developmental issues, as well as the nature of generalized μ suppression to imagined, observed, and performed actions, have yet to provide a mechanistic relationship between EEG μ-rhythm and MNS function, and the extent to which EEG can be used to infer intent during MNS tasks remains unknown. In this study we present a novel methodology using active EEG and inertial sensors to record brain activity and behavioral actions from freely-behaving infants during exploration, imitation, attentive rest, pointing, reaching and grasping, and interaction with an actor. We used δ-band (1-4Hz) EEG as input to a dimensionality reduction algorithm (locality-preserving Fisher's discriminant analysis, LFDA) followed by a neural classifier (Gaussian mixture models, GMMs) to decode the each MNS task performed by freely-behaving 6-24 month old infants during interaction with an adult actor. Here, we present results from a 20-month male infant to illustrate our approach and show the feasibility of EEG-based classification of freely occurring MNS behaviors displayed by an infant. These results, which provide an alternative to the μ-rhythm theory of MNS function, indicate the informative nature of EEG in relation to intentionality (goal) for MNS tasks which may support action-understanding and thus bear implications for advancing the understanding of MNS function.

关键词： Electroencephalography Scalp Acceleration Training Coherence Electrodes Testing

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State prediction approach for master-slave agents in presence of communication delay

State prediction approach for master-slave agents in presenc...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Sona Ghahremani Majid Nili Ahmadabadi Maryam S. Mirian Babak N. Araabi Member of cognitive robotics Laboratory Department of Electrical and Compo Engineering University of Tehran Iran Control & Intelligent Processing Center of Excellence Department of Electrical and Compo Engineering University of Tehran Iran Robotics and Machine Intelligence Department of Electrical and Compo Engineering University of Tehran Iran

Teleoperation is a mechanism that makes it possible to accomplish a task in an environment where the presence of the master at the slave site is either undesirable or hardly possible The communication delay is a challenge with undesirable effects, jeopardizing the teleoperated systems the most. When the salve agent is performing in a dynamically changing environment, communication delay can be very harmful since the environment is changing continuously even though the agent has stopped operating because of the delay. Many studies have been conducted to overcome time delay effects.

关键词： Robots Predictive models Switches Communications technology Delays

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Recent advances on the energy management of a Hybrid Electric vehicle

Recent advances on the energy management of a Hybrid Electri...

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2012 20th Mediterranean Conference on Control and Automation, MED 2012

作者： Efstathiou, D.S. Petrou, A.K. Spanoudakis, P. Tsourveloudis, N.C. Valavanis, K.P. Intelligent Systems and Robotics Lab Technical University of Crete Chania Greece Machine Tools Laboratory Technical University of Crete Chania Greece Department of Electrical and Computer Engineering University of Denver Denver CO 80208 United States

ISBN: (纸本)9781467325318

This paper presents new innovative subsystems of the ER11 prototype urban vehicle which is powered by hydrogen fuel cells and ultra-capacitors. The subsystems described here are: 1) the energy management system, which is responsible for the optimization of the fuel efficiency and the increased mileage of the vehicle, 2) the driver's monitoring and control panel and 3) the power transmission system, which offers the possibility of continuous change of gear. The powertrain of the test-bed vehicle consists of an electric motor, a fuel (H2) cell system, an ultra-capacitor bank and a DC/DC converter. Testing verified that the proposed energy management system is benefitted by the variable transmission of power leading to less fuel consumption. © 2012 IEEE.

关键词： Hybrid vehicles

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Recent advances on the energy management of a Hybrid Electric Vehicle

Recent advances on the energy management of a Hybrid Electri...

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Mediterranean Conference on Control & Automation

作者： D. S. Efstathiou A. K. Petrou P. Spanoudakis N. C. Tsourveloudis K. P. Valavanis Intelligent Systems and Robotics Lab Technical University of Crete Chania Greece Machine Tools Laboratory Technical University of Crete Chania Greece Department of Electrical and Computer Engineering University of Denver Denver CO 80208 USA

ISBN: (纸本)9781467325301

This paper presents new innovative subsystems of the ER11 prototype urban vehicle which is powered by hydrogen fuel cells and ultra-capacitors. The subsystems described here are: 1) the energy management system, which is responsible for the optimization of the fuel efficiency and the increased mileage of the vehicle, 2) the driver's monitoring and control panel and 3) the power transmission system, which offers the possibility of continuous change of gear. The powertrain of the test-bed vehicle consists of an electric motor, a fuel (Η2) cell system, an ultra-capacitor bank and a DC/DC converter. Testing verified that the proposed energy management system is benefitted by the variable transmission of power leading to less fuel consumption.

关键词： Recent advances energy management Hybrid Electric Vehicle

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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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Impression conveyance with responsive robot gaze in a conversational situtation

Impression conveyance with responsive robot gaze in a conver...

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RO-MAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication

作者： Yoshikawa, Yuichiro Shinozawa, Kazuhiro Ishiguro, Hiroshi Hagita, Norihiro Miyamoto, Takanori Intelligent Robotics and Communication Laboratories Advanced Telecommunication Research Institute International 2-2-2 Hikaridai Keihanna Science City Kyoto 619-0288 Japan Department of Adaptive Machine Systems Graduate School of Engineering Osaka University 2-1 Yamadaoka Suita Osaka 565-0871 Japan

ISBN: (纸本)1424405653

In face-to-face communication, eyes play a central role, for example, in directing attention and regulating turntaking. For this reason, the eyes have been a central topic in several fields of interaction study. Although many psychological findings have encouraged previous work in both humancomputer and human-robot interaction studies, so far there have been few explorations on how to move the agent's eye, including when to move it, for communication. Therefore, we investigate this topic in this study. The impression a person forms from an interaction is strongly influenced by the degree to which their partner's gaze direction correlates with their own. In this paper, we evaluate two primitive ways of controlling a robot's gaze responsively to its partner's gaze by comparison with two additional ways of non-responsive gaze control in an experiment set in a conversational situation. Consequently, we confirm that robots with different types of responsive gaze control can give subjects different impressions of its characteristics. ©2006 IEEE.

关键词： Human robot interaction

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The effects of responsive eye movement and blinking behavior in a communication robot

The effects of responsive eye movement and blinking behavior...

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2006 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Yuichiro Yoshikawa Kazuhiko Shinozawa Hiroshi Ishiguro Norihiro Hagita Takanori Miyamoto Intelligent Robotics and Communication Laboratries Advanced Telecommunications Research Institute International Kyoto Japan Department of Adaptive Machine Systems Graduate School of Engineering Osaka University Suita Osaka Japan

In face-to-face communication, eyes play a central role, for example in directing attention and regulating turn-taking. For this reason, it has been a central topic in several fields of interaction study. Although many psychology findings have encouraged previous work in both human-computer and human-robot interaction studies, so far there have been few explorations on how to move the agent's eye, including when to move it, for communication. Therefore, it is this topic we address in this study. The impression a person forms from an interaction is strongly influenced by the degree to which their partner's gaze direction correlates with their own. In this paper, we propose methods of controlling a robot's gaze responsively to its partner's gaze and confirm the effect of this on the feeling of being looked at, which is considered to be the basis of conveying impressions using gaze in face-to-face interaction experiments. Furthermore, an additional preliminary experiment with an on-screen agent shows the possibility of using blinking behaviour as another modality for responding to a partner

关键词： Communication system control intelligent robots Eyes Psychology Robot control Humans machine intelligence Cities and towns Adaptive systems Delay

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Imitation faculty based on a simple visuo-motor mapping towards interaction rule learning with a human partner

Imitation faculty based on a simple visuo-motor mapping towa...

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IEEE International Conference on Development and Learning, ICDL

作者： M. Ogino H. Toichi M. Asada Y. Yoshikawa Department of Adaptive Machine Systems HANDAI Frontier Research Center Graduate School of Engineering Osaka University Suita Osaka Japan Intelligent Robotics and Communication Laboratories Advanced Telecommunications Research Institute International Seika Kyoto Japan

Imitation has been regarded as one of the key technologies indispensable for communication since the mirror neuron made a sensation not only in physiology but also in other disciplines such as cognitive science, and even robotics. This paper is aimed at building a human-robot communication system and proposes an observation-to-motion mapping system as the first step towards the final goal of learning natural communication. This system enables a humanoid platform to imitate the observed human motion, that is, a mapping from observed human motion data to its own motor commands. To validate the effectiveness of the proposed system, we examine whether the robot can acquire the interaction rule in an environment in which a human motion occurs under an artificial interaction rule

关键词： Human robot interaction intelligent robots machine learning Robot sensing systems Cognitive robotics Mirrors Robot motion Adaptive systems Learning systems Laboratories

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