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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Nasser Sadati Meysam Torabi Reza Vaziri Reza Dehestani-Ardekani Electrical and Computer Engineering Department University of British Columbia Vancouver BC Canada Robotics and Machine Vision Laboratory Biomedical Engineering Division of the School of Electrical Engineering Sharif University of Technology Tehran Iran

In this paper, we exploit a fuzzy controller on a flexible bevel-tip needle to manipulate the needle's base in order to steer its tip in a preset obstacle-free and target-tracking path. Although the needle tends to follow a curvature path, spinning the needle with an extremely high rotational velocity makes it symmetric with respect to the tissue to follow a straight path. The fuzzy controller determines an appropriate spinning to generate the planned trajectory and, the closed-loop system tries to match the needle body with that trajectory. The swine's brain tissue model, extracted from an in-vitro experimental setup, is a non-homogenous, uncertain and fast-updatable network to model real tissues, needle and their interactions providing the essential visual feedback for the control system. The simulation results illustrate a precise path tracking of the bevel-tip needle based on the fuzzy controller's commands with two degrees of freedom.

关键词： Needles Fuzzy control Minimally invasive surgery Brain modeling Spinning Surges Manipulator dynamics Force feedback Intelligent robots Biomedical engineering

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Motivation and Competitive Learning in a Social Robot

Motivation and Competitive Learning in a Social Robot

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Dominguez, Salvador Zalama, Eduardo Garcia-Bermejo, Jaime G. Pulido, Jaime CARTIF Foundation Robotics Computer Vision and Real Time Division Boecillo Valladolid Spain University of Valladolid (Spain) Dep. of Systems Engineering and Automatic Control Industrial Engineering School Spain

ISBN: (纸本)9781424420575

This paper describes the motivation and learning subsystems of Arisco which is a mechatronic head with interactive capacity which includes high expressivity through gesturing, voice recognition, text to speech generation, visual tracking, and internet information retrieval. The general architecture is first described in the paper. Then, the learning capacity of Arisen is addressed. It learns and performs associations between different stimulus responses through several dynamic neural networks, guided by motivational drives. A number of experiments are discussed, covering stimulus competition, habituation, classical and operant conditioning.

关键词： Social robot learning interaction computer vision motivation

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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Motivation and Competitive Learning in a Social Robot

Motivation and Competitive Learning in a Social Robot

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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pages 3661-4172

作者： Salvador Dominguez Eduardo Zalama Jaime G. Garcia-Bermejo Jaime Pulido Robotics Computer Vision and Real Time Division CARTIF Foundation Boecillo Valladolid Spain DepDepartment of Systems Engineering and Automatic Control Industrial Engineering School University of Valladolid Spain University of Valladolid (Spain) Dep. of Systems Engineering and Automatic Control Industrial Engineering School Comput. Vision & Real Time Div. CARTIF Found. Valladolid

ISBN: (纸本)9781424420575

This paper describes the motivation and learning subsystems of Arisco which is a mechatronic head with interactive capacity which includes high expressivity through gesturing, voice recognition, text to speech generation, visual tracking, and internet information retrieval. The general architecture is first described in the paper. Then, the learning capacity of Arisco is addressed. It learns and performs associations between different stimulus responses through several dynamic neural networks, guided by motivational drives. A number of experiments are discussed, covering stimulus competition, habituation, classical and operant conditioning.

关键词： Social robot learning interaction computer vision motivation

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Suborbital flight test of a prototype terrain-relative navigation system

Suborbital flight test of a prototype terrain-relative navig...

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2007 AIAA InfoTech at Aerospace Conference

作者： Seybold, Calina Chen, George Bellutta, Paolo Johnson, Andrew Matthies, Larry Thurman, Sam Jet Propulsion Laboratory California Institute of Technology Pasadena CA 91109 United States System Engineering Section M/S 233-201 4800 Oak Grove Drive United States AIAA United States EDL Systems and Advanced Technologies Group System Engineering Section M/S 301-490 Mobility and Robotic Systems Section M/S 198-235 United States Computer Vision Group Mobility and Robotics Systems Section M/S 198-235 United States Autonomous Systems Division M/S 198-105

ISBN: (纸本)1563478935

In April 2006, a terrain-relative navigation experiment successfully flew on a sounding rocket mission at White Sands Missile Range. The mission was designated by NASA/Wallops Flight Facility as 41.068 NT/Seybold ("41.068") and was flown as part of the New Millennium Program ST9 Terrain-Relative Guidance System (TRGS) Project's competitive Phase A effort. The TRN experiment had two objectives: 1) To demonstrate the viability of a navigation filter for precision landing that uses on-board IMU and descent image data to achieve position knowledge errors of less than 100m, validated with GPS data recorded during flight;and 2) To establish that commercial off-the-shelf cameras can be packaged sufficiently well to survive the sounding rocket launch environment. Both objectives were met. The 13 min flight provided a data set that was processed post-flight through the prototype algorithms to bring the ST9 TRGS Project to a technology readiness level of 4 in TRN. This paper describes the flight system development and operations of the TRN experiment on 41.068.

关键词： Flight control systems

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ArTbitrating JaVox: Evolution Applied to Visual and Sound Composition

ArTbitrating JaVox: Evolution Applied to Visual and Sound Co...

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2006 Ibero-American Symposium in computer Graphics, SIACG 2006

作者： Moroni, A.S. Manzolli, J. von Zuben, F. Robotics and Computer Vision Division CenPRA Brazil Interdisciplinary Nucleus for Sound Studies Unicamp Brazil School of Electrical and Computer Engineering Unicamp Brazil

ISBN: (纸本)3905673606

ArTbitrariness is presented here as an initiative of upgrading the esthetical judgment through interactive evolutionary computation techniques and other population based techniques. Computational creativity will be approached, moreover evolutionary algorithms will be described and applied to simulate creativity. ArTbitrating JaVox, an evolutionary interactive environment for artistic production in visual and sound domains will be presented. Besides, the features of the evolutionary systems, that were incorporated in ArTbitrating JaVox, VOX POPULI, in sound domain, Art Lab and Shape, in visual domain, will be described. © The Eurographics Association 2006.

关键词： Animation

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Scalable temporal interest points for abstraction and classification of video events

Scalable temporal interest points for abstraction and classi...

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IEEE International Conference on Multimedia and Expo (ICME)

作者： Seung-Hoon Han ln-So Kweon Digital Media R&D Center Samsung Electronics Company Limited South Korea Robotics and Computer Vision Laboratory Division of Electrical Engineering Department of EECS Korea Advanced Institute of Science and Technology South Korea

The image sequence of a static scene includes similar or redundant information over time. Hence, motion-discontinuous instants can efficiently characterize a video shot or event. However, such instants (key frames) are differently identified according to the change of velocity and acceleration of motion, and such scales of change might be different on each sequence of the same event. In this paper, we present a scalable video abstraction in which the key frames are obtained by the maximum curvature of camera motion at each temporal scale. The scalability means dealing with the velocity and acceleration change of motion. In the temporal neighborhood determined by the scale, the scene features (motion, color, and edge) can be used to index and classify the video events. Therefore, those key frames provide temporal interest points (TIPs) for the abstraction and classification of video events.

关键词： Layout Acceleration Cameras Humans Research and development Robot vision systems computer vision Laboratories Image sequences Scalability

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Reference image computation from cartesian specifications for model-free visual servoing

Reference image computation from cartesian specifications fo...

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IFAC/EURON Symposium on Intelligent Autonomous Vehicles

作者： Silveira, Geraldo Rives, Patrick CenPRA - Renato Archer Research Center DRVC - Robotics and Computer Vision Division CP 6162 Campinas/SP13083-970 Brazil INRIA Sophia Antipolis 2004 Route des Lucioles BP 93 Sophia Antipolis Cedex06902 France

It is proposed a new method to compute, from the current unstructured view, a reference (desired) image for visual servoing. The approach, which is based on Cartesian specifications, is made without moving the robot to the target location as in the teach-by-showing paradigm. In addition, although it is assumed a piecewise planar target, no metric information between the object features is required. Several results demonstrate its validity and usefulness, for example in reconnaissance and surveillance tasks. © 2004 IFAC

关键词： Visual servoing

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Reference image computation from cartesian specifications for model-free visual servoing

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IFAC Proceedings Volumes 2004年第8期37卷 496-501页

作者： Geraldo Silveira Patrick Rives Cen PRA - Renato Archer Research Center DRVC - Robotics and Computer Vision Division CP 6162 13083-970 Campinas/SP Brazil INRIA Sophia Antipolis 2004 Route des Lucioles BP 93 06902 Sophia Antipolis Cedex France

关键词： Visual servoing vision based navigation computer vision epipolar geometry Euclidean homography

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The mapping of texture on VR polygonal models 2

The mapping of texture on VR polygonal models

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2nd International Conference on 3-D Digital Imaging and Modeling, 3DIM 1999

作者： Laurendeau, Denis Bertrand, Nathalie Houde, Régis Computer Vision and Systems Laboratory Department of Electrical Engineering and Computer Engineering Laval University QuebecQCG1K 7P4 Canada Robotics Division Hydro Quebec Research Institute VarennesQCJ3X 1S1 Canada

ISBN: (纸本)0769500625

The paper addresses the problem of choosing automatically, and without user intervention, the best possible 2D image that should be used to map as a texture on polygons of a geometric model of complex scenes made of several objects. The geometric models and the texture data are obtained separately: the models are built from range data while the texture information is obtained from 2D color images of the scene. The system does not make any assumption on the way the texture data has been acquired. Texture selection results are presented for an indoor scene. © 1999 IEEE.

关键词： Image texture

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