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International IEEE Conference on Intelligent Systems, IS

作者： Ioannis Tsoulos George Georgoulas Dimitris Gavrilis Chrysostomos Stylios Joao Bemardes Peter Groumpos Computer Science Department University of Ioannina Ioannina Greece Laboratory for Automation and Robotics University of Patras Patras Greece Department of Electrical and Computer Engineering University of Patras Patras Greece Laboratory for Automation and Robotics Informatics and Management Artas Greece Department of Gynecology and Obstetrics Porto Portugal Department of Gynecology and Obstetrics Porto Faculty of Medicine Porto Portugal Laboratory for Automation & Robotics University of Patras Patras Greece

Electronic fetal monitoring is an essential tool for fetal surveillance during labor. It is mainly based on the monitoring and evaluation of the fetal heart rate (FHR) signal, which has to be interpreted online. Evaluation and interpretation of FHR gives an indication of the fetal condition. A lot of research efforts have been done towards the development of automatic and reliable methods for processing and evaluating FHR. This research work introduces an integrated methodology for processing and classifying FHR based on the novel approach of grammatical evolution for feature construction and selection. The proposed methodology is presented, and it is applied to a data set. Experimental results are promising paving the way for further research in that direction

关键词： Fetal heart rate robotics and automation Signal processing Heart rate measurement computerized monitoring Neural networks Cardiology Laboratories Telephony Medical robotics

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Virtual modelling of solid objects with constraint-based manipulations

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International Journal of Modelling and Simulation 2006年第3期26卷 212-218页

作者： Zhong, Y. Yuan, X. Ma, W. Shirinzadeh, B. Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Clayton Vic. 3800 Australia School of Computer Science University of Windsor Canada Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong Hong Kong

This paper presents an intuitive approach to precise solid modelling in virtual reality environments. A hierarchically structured model is established to handle the tasks of object definition, object creation, and object rendering with an integrated data structure. Constraints are organized at different levels on different objects and are embedded in the data structure. A constraint reasoning engine is developed to automatically determine allowable motions for precise manipulation of virtual objects with online assistance from constraints. Examples are presented to demonstrate the advantage of precise solid modelling through constraint-based manipulations in virtual environments.

关键词： Virtual reality

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Singular Perturbation Control for Vibration Rejection in HDDs with a PZT Active Suspension

Singular Perturbation Control for Vibration Rejection in HDD...

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IEEE Conference on Decision and Control

作者： Chee Khiang Pang Frank L. Lewis Sam Shuzhi Ge Guoxiao Guo Ben M. Chen Tong Heng Lee Research Laboratory Research & Development Group Hitachi and Limited Odawara Kanagawa Japan Department of Electrical and Computer Engineering National University of Singapore Singapore Data Storage Institute Singapore Advanced Controls and Sensors Group Automation and Robotics Research Institute University of Texas Arlington USA

ISBN: (纸本)1424401704

In this paper, the SPT (singular perturbation theory) is applied to decompose the VCM's (voice coil motor) and induced PZT active suspension's dynamics into fast and slow subsystems, respectively. The control system is decomposed into fast and slow time scale for controller designs, and control effectiveness is increased to tackle more DOFs (degrees-of-freedom) via inner loop vibration suppression with measured high frequency VCM's and PZT active suspension's dynamics from the piezoelectric elements in the suspension. Experimental results on a commercial HDD with LDV (laser Doppler vibrometer) show effective suppression of the VCM and PZT active suspension's flexible resonant modes as well as an improvement of 39.9% in 3sigma PES (position error signal) during track following when compared to conventional notch-based servos

关键词： Vibration control Control systems Vibration measurement Coils Frequency measurement Time measurement Laser modes Vibrometers Resonance Servomechanisms

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Computational Nanomechatronics: A Pathway for Control and Manufacturing Nanorobots

Computational Nanomechatronics: A Pathway for Control and Ma...

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International Conference on Computational Intelligence for Modelling, Control and Automation, and International Conference on Intelligent Agents, Web Technologies and Internet Commerce

作者： Adriano Cavalcanti Warren W. Wood Luiz C. Kretly Bijan Shirinzadeh Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Melbourne VIC Australia Department of Integrative Studies Michigan State University East Lansing MI USA Microwave and Optics Department Electrical and Computer Engineering School State University of Campinas-UNICAMP Sao Paulo Brazil

This paper describes an innovative work for nanorobot design and manufacturing, using a computer simulation and system on chip prototyping approach. The use of CMOS as integrated circuits, with the miniaturization from micro towards nanoelectronics, and the respective advances of nanowires are considered into the proposed model design and discussed as a practical pathway to enable embedded sensors for manufacturing nanorobots. The proposed nanorobot model is applied to hydrology monitoring. It can be useful for agriculture or environmental monitoring and management.

关键词： computer aided manufacturing Virtual manufacturing Integrated circuit modeling Semiconductor device modeling Monitoring Pulp manufacturing computer simulation System-on-a-chip Virtual prototyping CMOS integrated circuits

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Body Localization in Still Images Using Hierarchical Models and Hybrid Search

Body Localization in Still Images Using Hierarchical Models ...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Jiayong Zhang Jiebo Luo R. Collins Yanxi Liu The Robotics Institute Carnegie Mellon University PA USA Kodak Research Laboratory Eastman Kodak (Japan) Limited NY USA Department of Computer Science and Engineering Pennsylvania State University PA USA

We present a 3-level hierarchical model for localizing human bodies in still images from arbitrary viewpoints. We first fit a simple tree-structured model defined on a small landmark set along the body contours by Dynamic Programming (DP). The output is a series of proposal maps that encode the probabilities of partial body configurations. Next, we fit a mixture of view-dependent models by Sequential Monte Carlo (SMC), which handles self-occlusion, anthropometric constraints, and large viewpoint changes. DP and SMC are designed to search in opposite directions such that the DP proposals are utilized effectively to initialize and guide the SMC inference. This hybrid strategy of combining deterministic and stochastic search ensures both the robustness and efficiency of DP, and the accuracy of SMC. Finally, we fit an expanded mixture model with increased landmark density through local optimization. The model hierarchy is trained on a large number of gait images. Extensive tests on cluttered images with varying poses including walking, dancing and various types of sports activities demonstrate the feasibility of the proposed approach.

关键词： Sliding mode control Biological system modeling Proposals Humans Dynamic programming Monte Carlo methods Stochastic processes Robustness Testing Legged locomotion

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Electroactive polymer actuation at the nanoscale

Electroactive polymer actuation at the nanoscale

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2006 6th IEEE Conference on Nanotechnology, IEEE-NANO 2006

作者： Lee, Alexander S. Ly, James V. Peteu, Serban F. Thompson, Mark E. Zhou, Chongwu Requicha, Aristides A. G. Laboratory for Molecular Robotics University of Southern California Los Angeles CA 90089-0781 United States Mork Family Department of Chemical Engineering and Materials Science University of Southern California Los Angeles CA 90089-0781 United States Department of Chemistry University of Southern California Los Angeles CA 90089-0781 United States Department of Electrical Engineering University of Southern California Los Angeles CA 90089-0781 United States Department of Computer Science University of Southern California Los Angeles CA 90089-0781 United States

ISBN: (纸本)1424400783

Nanoscale actuators are required for the development of nanorobots and other nanoelectromechanical systems (NEMS) of the future. Actuators based on electrochemically-induced volumetric changes in electroactive polymers (EAPs) have been demonstrated at the macro and microscales, and have been used for artificial muscles and other applications. Here we experimentally and quantitatively demonstrate for the first time that the fundamental phenomena underlying EAP actuation are still active at spatial scales below 100 nm. This opens new directions in nanorobot and NEMS research. Individual polypyrrole structures are investigated in this paper by using atomic force microscopy (AFM) with electrochemistry capabilities. Polypyrrole-based nanowires (∼ 50 nm diameter, ∼ 6 μm in length) and single-walled carbon nanotubes coated with a polypyrrole film ∼125 nm thick both show actuation behavior. The nanowire dimensions change from ∼ 2% to as much as ∼ 35%. The single-walled nanotube-polypyrrole structures show a considerably lower percentage of dimensional change. © 2006 IEEE.

关键词： Nanorobotics

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Using a qualitative sketch to control a team of robots

Using a qualitative sketch to control a team of robots

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Skubic D. Anderson S. Blisard D. Perzanowski A. Schultz Electrical and Computer Engineering Department University of Missouri Columbia Columbia MO USA Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory Inc. Washington D.C. DC USA

In this paper, we describe a prototype interface that facilitates the control of a mobile robot team by a single operator, using a sketch interface on a tablet PC. The user sketches a qualitative map of the scene and includes the robots in approximate starting positions. Both path and target position commands are supported as well as editing capabilities. Sensor feedback from the robots is included in the display such that the sketch interface acts as a two-way communication device between the user and the robots. The paper also includes results of a usability study, in which users were asked to perform a series of tasks

关键词： Robot kinematics Robot sensing systems Mobile robots Layout Prototypes Displays Navigation computer interfaces Military computing Design engineering

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Decision Support Systems Based on CLP Approach in SMEs

Decision Support Systems Based on CLP Approach in SMEs

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Izabela Tomczuk-Pirog Robert Wojcik Zbigniew Banaszak Department of Management and Production Engineering Technical University of Opole Opole Poland Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wroclaw Poland Systems Research Institute Laboratory of Knowledge Systems and Artificial Intelligence Polish Academy of Sciences Wroclaw Poland

The paper focuses on a selected class of decision problems related with the production flow planning in SMEs, particularly in new production orders. Verification of orders gives a possibility to evaluate whether resources capacity of a manufacturer is balanced with the orderer's requirements. The class of decision problems under analysis is included in the scope of organizational production preparation and can be naturally determined by available CLP (constraint logic programming) tools. The approach proposed in the paper is based on establishment of an interface which facilitates its task oriented use. The system has been presented on the basis of a sample order execution in a manufacturer's company (Archimedes S.A.).

关键词： Decision support systems Flow production systems Logic programming Production planning Manufacturing Companies Packaging Artificial intelligence Production systems Knowledge management

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A binary tree for probability learning in eye detection

A binary tree for probability learning in eye detection

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2005 IEEE computer Society Conference on computer Vision and Pattern Recognition, CVPR 2005 - Workshops

作者： Wu, Junwen Trivedi, Mohan M. Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of California San DiegoCA92037 United States

ISBN: (纸本)0769526608

In this paper we proposed to solve the eye detection and localization problem under a general statistical model based object detection framework. A binary tree representation is used to discover the objects' underlying statistical structure. Tree structures enable us to describe the object local statistical structure in a coarse-to-fine fashion. Each subtree explains the statistics for certain local *** tree is built in a top-down fashion. Subsets with negligible conditional independency are found by k-means clustering using mutual information. The conditionally independent features are separated into different subtrees, while more dependent features are tended to appear close in the tree. The distribution of the object can be learned accordingly. Gaussian mixture in the independent component analysis (ICA) subspace is used to model the distribution of each high dependent feature subset, where each independent component explains the local substructure. The use of tree structure enables us to learn the distribution recursively by applying Bayesian criterion. Substantial experiments were done to evaluate the performance over the eyes detection accuracy as well as the localization ability. Experimental results show a better detection accuracy than the Viisage system with a reasonable localization ability, which validate the algorithm. © 2005 IEEE computer Society. All rights reserved.

关键词： Object detection

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Multiperspective thermal IR and video arrays for 3D body tracking and driver activity analysis

Multiperspective thermal IR and video arrays for 3D body tra...

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2005 IEEE computer Society Conference on computer Vision and Pattern Recognition, CVPR 2005 - Workshops

作者： Cheng, Shinko Y. Park, Sangho Trivedi, Mohan M. Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of California San Diego San DiegoCA United States

ISBN: (纸本)0769526608

This paper presents a multi-perspective (i.e., four camera views) multi-modal (i.e., thermal infrared and color) video based system for robust and real-time 3D tracking of important body *** multi-perspective characteristics of the system provides 3Dtrajectory of the body parts, while the multi-modal characteristics of the system provides robustness and reliability of feature detection and tracking. The application context for this research is that of intelligent vehicles and driver assistance systems. Experimental results demonstrate effectiveness of the proposed system. © 2005 IEEE computer Society. All rights reserved.

关键词： Automobile drivers

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