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2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Christopher Weyers Gilbert Peterson Sensors Directorate Air Force Research Laboratory OH USA Department of Electrical and Computer Engineering Air Force Institute of Technology OH USA

When an autonomous vehicle operates in an unknown environment, it must remember the locations of environmental objects and use those object to maintain an accurate location of itself. This vehicle is faced with Simultaneous Localization and Mapping (SLAM), a circularly defined robotics problem of map building with no prior knowledge. The SLAM problem is a difficult but critical component of autonomous vehicle exploration with applications to search and rescue missions. This paper presents the first SLAM solution combining stereo cameras, inertial measurements, and vehicle odometry into a Multiple Integrated Navigation Sensor (MINS) path. The FastSLAM algorithm, modified to make use of the MINS path, observes and maps the environment with a LIDAR unit. The MINS FastSLAM algorithm closes a 140 meter loop with a path error that remains within 1 meter of surveyed truth. This path reduces the error 79% from an odometry FastSLAM output and uses 30% of the particles.

关键词： Vehicles Simultaneous localization and mapping Laser radar Cameras Navigation Current measurement

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Measuring Object Speed Using Stereo Tracking

Measuring Object Speed Using Stereo Tracking

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Yuan F. Zheng Junda Zhu Robert E. Ewing Department of Electrical and Computer Engineering The Ohio State University 2015 Neil Avenue Columbu Air Force Research Laboratory Wright Patterson AFB Ohio 45433

Stereo vision provides us the ability to perceive objects in 3D. By continuously tracking an object in stereo videos, the information about object motion can be acquired. In this paper, we propose a novel method which unifies the tracking and speed measuring within the Bayesian filtering framework and solves this problem using particle filtering approach. Vehicle speed measuring is studied as a specific example. Environment constraints are integrated into the tracking for reducing the uncertainty to achieve more robust and accurate results. Experiment results on both synthetic and real traffic sequences demonstrate the accuracy and effectiveness of our proposed method.

关键词： Three dimensional displays Particle measurements Atmospheric measurements Videos Vehicles Radar tracking Cameras

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Computational image analysis for determination of the oil palm fruit maturity

Computational image analysis for determination of the oil pa...

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IASTED International Conference on Computational Photography, CPhoto 2011

作者： Razali, Mohammad Hudzari Ismail, Wan Ishak Wan Harun, Mohammad Haniff B. Ramli, Abdul Rahman Sulaiman, Muhammad Nasir Intelligent System and Robotics Laboratory Institute of Advanced Technology 43400 Universiti Putra Malaysia Serdang Selangor Malaysia Department of Biological and Agriculture Engineering Faculty of Engineering 43400 Universiti Putra Malaysia Serdang Selangor Malaysia Department of Computer Science and Information Technology Faculty of Science Computer and Information Technology 43400 Universiti Putra Malaysia Serdang Selangor Malaysia Biological Research Division Malaysian Palm Oil Board No. 6 Persiaran Institusi Bandar Baru Bangi 43000 Kajang Selangor Malaysia Department of Agriculture Universiti Sultan Zainal Abidin Kampus Kota Kuala Terengganu 20400 Terengganu Malaysia

ISBN: (纸本)9780889868748

The experiment was conducted to determine the Hue optical properties of the three categories of Fresh Fruit Bunches (FFB) namely unripe, underripe and ripe. The Nikon Coolpix 4500 digital camera with tele-converter zooming and the Keyence machine vision were used to capture the FFB images with two different settings of natural environment and direct sunlight. The species of oil palm tree used for the experiments were Elaeis Oleifera and Elaeis Guineensis Jacq. The images from the Nikon digital camera were analysed for optical properties of Red, Green, Blue (RGB) and then convert to Hue value using developed graphical user interface (GUI). The Hue values will then be compared to the value obtained from Keyence machine vision. The images of oil palm FFB in plantation were captured with setting cameras parameter namely shutterspeed which set to 0.125 seconds, image sensor's sensitivity (ISO) was set to Normal and white balance were calibrated using the standard white calibration CR-A74. The lighting intensity under oil palm canopy was simultaneously recorded and monitored using Extech Light Meter Datalogger. Using Analysis of Variance (ANOVA), the ratio of test statistic of F with F critical for experiments under natural environment of oil palm plantation indicated the best differences of the hue optical properties among different maturity level of unripe, ripe and overripe FFB. Using the SAS programming for statistical analysis, the Hue and Red color values were found had significant effect to distinguish the maturity level (fm) of FFB with Pr > F are showed less than 0.01. The Green and Blue color values were not significant effect to differentiate the FFB maturity level which indicated the value of Pr > F showed 0.0243 and 0.9938 respectively. The Hue and Blue color values were not interaction with different lighting condition and the maturity level which indicated Pr > F for ml*fm showed 0.0668 and 0.1667 respectively. From the ANOVA analysis, the Hue is the best c

关键词： computer vision

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E-wobble: An electronic wobble board for ankle and toe rehabilitation

E-wobble: An electronic wobble board for ankle and toe rehab...

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IEEE International Workshop on Medical Measurement and Applications (MEMEA)

作者： Ali Karime Hussein Al-Osman Wail Gueaieb Jihad Mohamad Alja'am Abdulmotaleb El Saddik Multimedia Communication Research Laboratory (MCRLab) University of Ottawa Ottawa ONT Canada Machine Intelligence Robotics and Mechatronics (MIRaM) University of Ottawa Canada Department of Computer Science and Engineering Qatar University Doha Qatar

Foot-drop is a common symptom among post stroke patients. It is characterized by the inability of a person to raise his/her foot at the ankle and to drag the toes during swing. To overcome such disability, long-term rehabilitation is crucial. However, such treatment might not be accessible to many people, especially those living far from the cities where most of the rehabilitation centers are located. In this paper, we present our interactive rehabilitation system called “E-Wobble” that consists of a modified version of a wobble board mounted with sensors and actuators. The proposed system aims to help patients with foot-drop symptoms so they can train their ankles and toes from home. The E-Wobble tangible interface is associated with a 2D golf game that motivates the patients to spend more time exercising while having fun.

关键词： Games Sensors Robots Accelerometers Foot Actuators Training

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Imaging and measuring the protein distribution of lymphoma cells using atomic force microscopy

Imaging and measuring the protein distribution of lymphoma c...

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IEEE International Conference on Nano/Micro Engineered and Molecular Systems (NEMS)

作者： Mi Li Lianqing Liu Ning Xi Yuechao Wang Zaili Dong Guangyong Li Osamu Tabata Xiubin Xiao Weijing Zhang State Key Laboratory of Drug Research Shanghai Institute of Materia Medica Chinese Academy of Sciences Shanghai China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Chinese Academy and Sciences Beijing China Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh PA USA Department of Micro Engineering Kyoto University Kyoto Japan Department of Lymphoma Affiliated Hospital of Military Medical Academy of Sciences Beijing China

Atomic force microscopy (AFM) has proven to be a powerful tool for imaging the topographic properties of biological samples and measuring the molecular specific binding forces at cellular and molecular levels. However, there are still great difficulties in using AFM to acquire images of mammalian suspension live cells due to the suspension growth manner and the softness of the cell membrane. In this paper, lymphoma live cells were trapped in microfabricated patterned pillars and then imaged by AFM in phosphate buffered saline (PBS) solution. In addition, the CD20 distribution on the lymphoma cell surface was visualized three-dimensionally by tethering rituximabs (anti-CD20 monoclonal antibody) onto the AFM tips. The experimental results indicate that immobilization with microfabricated patterned pillars provides a novel way for anchoring suspension mammalian cells, opening the way for further investigation of the molecular mechanisms of rituximab's anti-cancer effect.

关键词： Force Surface topography Atomic force microscopy Surface morphology Suspensions

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WORKSHOP: The role of expectations in intuitive human-robot interaction

WORKSHOP: The role of expectations in intuitive human-robot ...

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Verena Hafner Manja Lohse Joachim Meyer Yukie Nagai Britta Wrede Department of Computer Science Cognitive Robotics Berlin Germany CoR-Laboratory and Applied Informatics Technical Faculty Bielefeld University Germany Department of Industrial Engineering and Management University of Negev Israel Department of Adaptive Machine Systems Graduate School of Engineering Osaka University Japan Head of CoR-Laboratory research group Hybrid Society Technical Faculty Bielefeld University Germany

Human interaction is highly intuitive: we infer reactions of our opponents mainly from what we have learned in years of experience and often assume that other people have the same knowledge about certain situations, abilities, and expectations as we do. In human-robot interaction (HRI) we cannot take for granted that this is equally true since HRI is asymmetrical. In other words, robots have different abilities, knowledge, and expectations than humans. They need to react appropriately to human expectations and behaviour. With this respect, scientific advances have been made to date for applications in entertainment and service robotics that largely depend on intuitive interaction. However, HRI today is often still unnatural, slow, and unsatisfactory for the human interlocutor. Both the sensorimotor interaction with environment and interlocutor, and the social aspects of the interaction still need to be researched and improved. Therefore, this full-day workshop aims to bring together researchers from different scientific fields to discuss these crosscutting issues and to exchange views on what are the preconditions and principles of intuitive interaction.

关键词： Educational institutions computer science Robot sensing systems Electronic mail Humans Industrial engineering

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Detecting CD20-Rituximab specific interactions on lymphoma cells using atomic force microscopy

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Science China(Life Sciences) 2010年第10期53卷 1189-1195页

作者： LI Mi LIU LianQing XI Ning WANG YueChao DONG ZaiLi LI GuangYong XIAO XiuBin ZHANG WeiJing State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Department of Electrical and Computer Engineering Michigan State UniversityEast Lansing 48824USA Department of Electrical and Computer Engineering University of PittsburghPittsburgh 15261USA Department of Lymphoma Affiliated Hospital of Military Medical Academy of Sciences Beijing 100071China Graduate University of Chinese Academy of Sciences Beijing 100049China State Key Laboratory of Drug Research Shanghai Institute of Materia MedicaChinese Academy of SciencesShanghai 201203China

Elucidating the underlying mechanisms of cell physiology is currently an important research topic in life sciences. Atomic force microscopy methods can be used to investigate these molecular mechanisms. In this study, single-molecule force spectroscopy was used to explore the specific recognition between the CD20 antigen and anti-CD20 antibody Rituximab on B lymphoma cells under near-physiological conditions. The CD20-Rituximab specific binding force was measured through tip functionalization. Distribution of CD20 on the B lymphoma cells was visualized three-dimensionally. In addition, the relationship between the intramolecular force and the molecular extension of the CD20-Rituximab complex was analyzed under an external force. These results facilitate further investigation of the mechanism of Rituximab’s anti-cancer effect.

关键词： atomic force microscopy single-molecule force spectroscopy CD20 antigen Rituximab

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research on the reconstruction of fast and accurate AFM probe model

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Chinese Science Bulletin 2010年第24期55卷 2750-2754页

作者： YUAN Shuai DONG ZaiLi MIAO Lei XI Ning WANG YueChao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate University of Chinese Academy of Sciences Beijing 100049 China Department of Electrical and Computer Engineering Michigan State University USA

The AFM image will be distorted due to the tip-broadening effect. It may be mathematically represented as the effect of the tip's convolution on the real image. As a result, the true geometry of the sample surface can not be obtained. If the tip shape could be known accurately, such distortion can be eliminated with the adoption of disconvolution operation. It is of practical significance in the accurate reconstruction of the AFM image. Among the current tip modeling algorithms, the blind tip estimation algorithm based on mathematical morphology is widely applied. However, it takes much time and has difficulties in defining the optimal noise threshold. In view of the above problems, this paper proposes a new blind tip evaluation method to accelerate the speed of blind tip modeling calculation and realize the accurate reconstruction of the AFM image. The simulation and the experimental results demonstrate the feasibility and effectiveness of the above research method.

关键词： AFM探针原子力显微镜数学形态学图像效果模型几何形状精确重建建模算法

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Performance evaluation of three schemes applied to bilateral control of a hydraulic actuator interacting with deformable environments

Performance evaluation of three schemes applied to bilateral...

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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Esfandiari, M. Zarei-nia, K. Fung, W.K. Sepehri, N. Fluid Power Research Laboratory University of Manitoba Winnipeg MB Canada Department of Electrical and Computer Engineering University of Manitoba Winnipeg MB Canada

ISBN: (纸本)9781424493173

In this paper, the effect of deformable environment to the performance of three bilateral teleoperation control schemes for hydraulic actuators are investigated through dynamic simulation. The considered schemes are Force Reflection, Position Error and Lyapunov feedback controllers. Two type of environments are considered, first is spring model and the second one is environment which is described by the Hertz contact model. Using a teleoperation platform, the master device is a PHANToM haptic device and the slave manipulator is a simulated hydraulic actuator. The master and slave are connected by the on-campus Intranet network setting with small and fairly constant communication delay. The stability and transparency of the overall system are evaluated according to the following criteria: (i) position tracking error of the slave manipulator;(ii) force tracking error of the master haptic device;and (iii) perceived stiffness of the environment at the master site. © 2010 IEEE.

关键词： Hydraulic actuators

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An experimental study on imaging Burkitt's lymphoma cells by atomic force microscope

An experimental study on imaging Burkitt's lymphoma cells by...

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IEEE International Conference on Nano/Micro Engineered and Molecular Systems

作者： Li, Mi Liu, Lianqing Xi, Ning Wang, Yuechao Dong, Zaili Li, Guangyong Xiao, Xiubin Yuan, Shunzong Zhang, Weijing State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh PA 15261 United States Department of Lyphoma Military Medical Academy of Sciences Beijing 100071 China Graduate University of Chinese Academy of Sciences Beijing 100001 China

ISBN: (纸本)9781424465439

Burkitt's lymphoma (BL) is a highly aggressive malignant tumor with high morbidity rate in children. Patients have different responses to the same therapy due to the molecular heterogeneity. Detailed observation of the surface structure of BL cells to locate the specific receptors (CD20) on the cell surface and measure the binding force between the CD20s and their cognate ligands (Rituximab) may give people a further understanding to BL cell's intrinsic properties and provide complementary approaches for the next generation of drug research and development. In this paper, we give an experimental study on how to obtain the morphology images of the BL cells both in air and liquid with atomic force microscope (AFM).The detailed procedures such as sample preparation of BL cells, parameter setting of AFM and so on, are presented, and the experimental results illustrate that the morphology image of the BL cell can be obtained in air or liquid respectively by using AFM. ©2010 IEEE.

关键词： Morphology

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