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IEEE International Conference on robotics and Automation (ICRA)

作者： Chenyu Wu Branislav Jaramaz Robotics Institute School of Computer Science Carnegie Mellon University Pittsburgh PA USA Faculty of Robotics Institute School of Computer Science Carnegie Mellon University Pittsburgh PA USA The Director of Institute for Computer Assisted Orthopaedic Surgery Western Pennsylvania Hospital Pittsburgh PA USA

Oblique-viewing endoscopes (oblique scopes) are widely used in minimally invasive surgery. The viewing direction of an oblique endoscope can be changed by rotating the scope cylinder, which enables a larger field of view, but makes the scope calibration process more difficult. The calibration is a critical step for incorporating oblique scope into computer assisted surgical procedures (robotics, navigation, augmented reality), though few calibration methods of oblique endoscopes has been developed. Yamaguchi et al. [1] first modelled and calibrated the oblique scope. They directly tracked the camera head and formulated the scope cylinder's rotation to the camera model as an extrinsic parameter. Their method requires five additional parameters to be estimated. In this work, we track the scope cylinder instead. Since the rotation of the camera head with respect to the cylinder only causes the rotation of the image plane, less parameter needs to be estimated. Experiments demonstrate the ease, simplicity and accuracy of our method.

关键词： Calibration Endoscopes Cameras Head Light sources Minimally invasive surgery Lenses Orthopedic surgery Robot vision systems Optical coupling

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How quickly should communication robots respond? 08

How quickly should communication robots respond?

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3rd ACM/IEEE International Conference on Human-Robot Interaction, HRI 2008

作者： Shiwa, Toshiyuki Kanda, Takayuki Imai, Michita Ishiguro, Hiroshi Hagita, Norihiro ATR Intelligent Robotics and Communication Laboratory 2-2-2 Hikaridai Keihanna Science City Kyoto Japan Department of Information and Computer Science Keio University 3-14-1 Hiyoshi Kouhoku-ku Yokohama Kanagawa Japan Faculty of Engineering Osaka University 2-1 Yamadaoka Suita City Osaka Japan

ISBN: (纸本)9781605580173

This paper reports a study about system response time (SRT) in communication robots that utilize human-like social features, such as anthropomorphic appearance and conversation in natural language. Our research purpose established a design guideline for SRT in communication robots. The first experiment observed user preferences toward different SRTs in interaction with a robot. In other existing user interfaces, faster response is usually preferred. In contrast, our experimental result indicated that user preference for SRT in a communication robot is highest at one second, and user preference ratings level off at two seconds. However, a robot cannot always respond in such a short time as one or two seconds. Thus, the important question is "What should a robot do if it cannot respond quickly enough?" The second experiment tested the effectiveness of a conversational filler: behavior to notify listeners that the robot is going to respond. In Japanese "etto" is used to buy time to think and resembles "well..." and "uh..." In English. We used the same strategy in a communication robot to shadow system response time. Our results indicated that using a conversational filler by the robot moderated the user's impression toward a long SRT. Copyright 2008 ACM.

关键词： Fillers

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Efficient color feature extraction and matching for motion estimation and mapping

Efficient color feature extraction and matching for motion e...

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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Hyoseok Hwang In-So Kweon Korea Advanced Institute of Science and Technology Robotics Program Daejeon South Korea Faculty of Electrical and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea

ISBN: (纸本)9781424420575

Feature extraction and matching is one of the most significant research areas in robot vision. In this paper, we present a new method for motion estimation and mapping using color feature extraction and matching. The proposed method reduces computational cost and has good performance. The experimental result shows that the proposed method not only runs faster but provides accurate result.

关键词： Feature extraction Image color analysis Motion estimation Robots Robot kinematics Data mining Computational efficiency

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Wireless communication for secure positioning in multi robot formations of non holonomic ground vehicles

Wireless communication for secure positioning in multi robot...

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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Arturo Gil-Pinto Philippe Fraisse Rene Zapata Faculty of Mechanical Engineering Central University of Venezuela Caracas Venezuela Department of Robotics Laboratory of Computer Science Robotics and Microelectronics of Montpellier L.I.R.M.M Montpellier France

ISBN: (纸本)9781424420575

The use of wireless network signal strength proposed to estimate the relative position between vehicles in a robot formation set. We propose a relative leader-follower model which allows us to use the reception signal strength as control variable for robot stabilization in the formation. Vehicle sensors consist of wheel speed and steering angle, the WiFi data consist of reception signal strength (RSS) and the angle of the maximal RSS with respect to the robot orientation. A nonholonomic nonlinear model vehicle is considered, due to this nonlinearities an extended Kalman filter EKF is used. Simulation and experimental results of the proposed estimation strategy are presented.

关键词： Robots Vehicles Robot kinematics Distance measurement Robot sensing systems Estimation Mobile robots

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Adaptive observer based actuator fault diagnosis for ASV

Adaptive observer based actuator fault diagnosis for ASV

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3rd International Conference on Innovative Computing Information and Control, ICICIC'08

作者： Wang, Jianfei Jiang, Bin Shi, Peng Wang, Hankang College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China Faculty of Advanced Technology University of Glamorgan Pontypridd CF37 1DL United Kingdom Department of Computer Science VII: Robotics and Telematics Universtity of Würzburg 97074 Würzburg Germany

ISBN: (纸本)9780769531618

This paper deals with the actuator fault diagnosis and accommodation problem for the aero space vehicle (ASV). A novel nonlinear robust adaptive observer is developed for estimation of the actuator fault under the lipschitz condition on the nonlinear part of such systems, which is used to continuously accommodate the control signal, so as to ensure the stability of faulty system. Finally, simulation results about ASV are presented to illustrate the feasibility and effectiveness of the proposed methods. © 2008 IEEE.

关键词： Fault detection

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CNC Machine Scheduling Problems with the Tool Aging

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IFAC Proceedings Volumes 2008年第3期41卷 122-126页

作者： Adam Janiak Wladyslaw Janiak Radoslaw Rudek Agnieszka Wielgus Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Janiszewskiego 11/17 50-372 Wroclaw Poland Faculty of Computer Science and Management Wroclaw University of Technology Lukasiewicza 5 50-371 Wroclaw Poland

The aging effect can be understood as a deterioration of a machine (tool) that increases a time required to manufacture products. It is highly desirable to minimize the negative influence of this effect, which in case of CNC machine is usually compensated by the increasing of its working speed. Therefore, although a tool efficiency decreases the processing times of jobs (products) can be still kept on the desired level. On the other hand, the increasing of a working speed cases the faster decreasing of a durability of a tool and its premature failure. In this paper, we focus on optimization problems in manufacturing systems, where occur the tool wear of CNC drilling/cutting machine and its compensation at the cost of a durability of a tool. We model such problems by single machine scheduling problems with the aging effect and additional resources with two criteria: time criterion (makespan and maximum lateness) and resource consumption penalty. The objectives are the minimization of time criteria under a given resource consumption and the minimization of resource consumption under a given time criteria. Computational analysis of these problems together with solution algorithms are provided.

关键词： Scheduling Deteriorating Resource allocation CNC Tool wear

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Evaluation of Ordering Methods for DNA Sequence Design Based on Ant Colony System

Evaluation of Ordering Methods for DNA Sequence Design Based...

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Asia International Conference on Modeling & Simulation

作者： Tri Basuki Kurniawan Noor Khafifah Khalid Zuwairie Ibrahim Marzuki Khalid Martin Middendorf Centre for Artificial Intelligence and Robotics (CAIRO) Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia Department of Computer Science University of Leipzig Leipzig Germany

Hybridization between a DNA sequence and its base-pairing complement is crucial in DNA computing to retrieve the information stored in DNA sequences and operate a computation processes. Therefore, much works have focused on designing the DNA sequences for a reliable molecular computation. In this paper, Ant Colony System (ACS) is proposed to solve the DNA sequence design problem. ACS, which is based on Ant Colony Optimization (ACO) is an improvement of Ant System (AS) that uses some agents to obtain the solutions based on the pheromone in their colony. The DNA sequence design problem is modeled by four nodes, representing four DNA bases (A, T, C, and G) using the nearest-neighbor thermodynamic parameter's Watson-Crick base-pair DeltaGdeg 37 as distances between one node to other nodes. Seven ordering methods for ACS are presented in this study in order to obtain the best set solution. The performance of each of those methods are compared and evaluated to decide the best ordering method for this application.

关键词： Sequences DNA computing Ant colony optimization Evolutionary computation Asia computer simulation Artificial intelligence Intelligent robots Turing machines Uniform resource locators

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Hybridized GPS/DR Positioning System With Unknown Initial Heading For Land Vehicles

Hybridized GPS/DR Positioning System With Unknown Initial He...

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International Conference on Intelligent Transportation

作者： A. Dumitrache M.A. Zamora R. Toledo-Moreo A.G. Skarmeta Centre for Research and Training Industrial Control Robotics and Material Engineering Technical University of Bucharest Romania Faculty of Computer Science Department of Information and Communication Engineering University of Murcia Spain

In the intelligent transportation systems (ITS) field, the number of applications that demand a high integrity positioning system is growing. In order to improve the integrity of localization systems, GPS is usually hybridized with additional proprioceptive sensors. In this paper, a new hybridization algorithm based on GPS plus odometry and a gyro is proposed as an improvement of the most common extended Kalman filter (EKF) approach. In concrete, these investigations focus on the performance of the system under bad initial conditions. Results show the suitability of the proposed system for navigation under bad initial values of heading, and its benefits as compared to two state-of-the-art methods of the literature: an EKF, and a particle filter based solution.

关键词： Global Positioning System Land vehicles Intelligent transportation systems Navigation Particle filters Road vehicles Intelligent sensors Sensor systems Costs Sensor fusion

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Single machine scheduling with job ready and delivery times subject to resource constraints

Single machine scheduling with job ready and delivery times ...

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International Symposium on Parallel and Distributed Processing (IPDPS)

作者： Wladyslaw Adam Janiak Adam Janiak Marie-Claude Portmann Faculty of Computer Science and Management Wrocław University of Technology Wroclaw Poland Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wroclaw Poland Ecole des Mines de Nancy Nancy France

The paper deals with a single machine scheduling problem with job processing times dependent on continuously-divisible resource, e.g. gas, power, energy, raw materials, catalyzer, financial outlay. Ready and delivery times are also given for each job. The problem is to find a schedule of jobs and resource allocation that minimize the time by which all jobs are delivered. Genetic approach, using some proved problem properties is constructed to solve the problem being strongly NP-hard. Analysis of some computational experiment and conclusion remarks are also given.

关键词： Single machine scheduling Resource management Job shop scheduling Paper technology Raw materials Processor scheduling Genetics Manufacturing processes computer science Energy management

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Adaptive Observer Based Actuator Fault Diagnosis for ASV

Adaptive Observer Based Actuator Fault Diagnosis for ASV

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International Conference on Innovative Computing, Information and Control (ICICIC)

作者： Jianfei Wang Bin Jiang Peng Shi Hankang Wang College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China Faculty of Advanced Technology University of Glamorgan Pontypridd UK Department of Computer Science VII: Robotics and Telematics University of Wurzburg Wurzburg Germany

This paper deals with the actuator fault diagnosis and accommodation problem for the aero space vehicle (ASV). A novel nonlinear robust adaptive observer is developed for estimation of the actuator fault under the Lipschitz condition on the nonlinear part of such systems, which is used to continuously accommodate the control signal, so as to ensure the stability of faulty system. Finally, simulation results about ASV are presented to illustrate the feasibility and effectiveness of the proposed methods.

关键词： Fault diagnosis Actuators Observers Estimation Algorithm design and analysis Robustness Adaptive systems

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