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International Conference on Information and Communication Technologies: From Theory to Applications, ICTTA

作者： Abdulbaset M. Nasr Abd Rahman Ramli Mohammad Hamiruce Shamala K Subramaniam Robotics Lab Institute of advanced technology Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Department of Computer and Communications Systems Faculty of Engineering Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Department of Electrical and Electronics Engineering Faculty of Engineering Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Department of Communication Technology & Networks Faculty of Computer Science and Information Technology Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia

It is well known that speech production and perception process is inherently bimodal consisting of audio and visual components. Recently there has been increased interest in using the visual modality in combination with the acoustic modality for improved speech processing. This field of study has gained the title of audio-visual speech processing. Lip movement recognition, also known as lip reading, is a communication skill which involves the interpretation of lip movements in order to estimate some important parameters of the lips that include, but not limited to, size, shape and orientation. In this paper, we represent a hybrid framework for lip reading which is based on both audio and visual speech parameters extracted from a video stream of isolated spoken words. The proposed algorithm is self-tuned in the sense that it starts with an estimations of speech parameters based on visual lip features and then the coefficients of the algorithm are fine-tuned based on the extracted audio parameters. In the audio speech processing part, extracted audio features are used to generate a vector containing information of the speech phonemes. These information are used later to enhance the recognition and matching process. For lip feature extraction, we use a modified version of the method used by F. Huang and T. Chen for tracking of multiple faces. This method is based on statistical color modeling and the deformable template. The experiments based on the proposed framework showed interesting results in recognition of isolated words.

关键词： Speech processing Image processing Parameter estimation Data mining Feature extraction Robots computer networks Systems engineering and theory Communications technology computer science

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A component-oriented programming for embedded mobile robot software

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International Journal of Advanced Robotic Systems 2007年第3期4卷 371-380页

作者： Jawawi, Dayang N. A. Mamat, Rosbi Deris, Safaai Department of Software Engineering Faculty of Computer Science and Information Systems Universiti Teknologi Malaysia 81310 UTM Skudai Malaysia Department of Mechatronics and Robotics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 UTM Skudai Malaysia

Applying software reuse to many Embedded Real-Time (ERT) systems poses significant challenges to industrial software processes due to the resource-constrained and real-time requirements of the systems. Autonomous Mobile Robot (AMR) system is a class of ERT systems, hence, inherits the challenge of applying software reuse in general ERT systems. Furthermore, software reuse in AMR systems is challenged by the diversities in terms of robot physical size and shape, environmental interaction and implementation platform. Thus, it is envisioned that component-based software engineering will be the suitable way to promote software reuse in AMR systems with consideration to general requirements to be self-contained, platform-independent and real-time predictable. A framework for component-oriented programming for AMR software development using PECOS component model is proposed in this paper. The main features of this framework are: (1) use graphical representation for components definition and composition;(2) target C language for optimal code generation with resource-constrained micro-controller;and (3) minimal requirement for run-time support. Real-time implementation indicates that, the PECOS component model together with the proposed framework is suitable for resource constrained embedded AMR systems software development.

关键词： Mobile robots

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Isometric finger device for assessment and training of force coordination using virtual reality

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Journal of Medical Devices, Transactions of the ASME 2007年第4期1卷 279-282页

作者： Kurillo, Gregorij Mihelj, Matjaž Munih, Marko Bajd, Tadej Laboratory of Robotics and Biomedical Engineering Faculty of Electrical Engineering University of Ljubljana Tržaška 25 1000 Ljubljana Slovenia Department of Electrical Engineering and Computer Science University of California Berkeley Hearst Memorial Mining Building 475 Berkeley CA 94720 United States

Grasping of stroke patients is often affected by improper coactivation of muscles controlling the fingers. The restoration of hand function therefore represents an important goal in rehabilitation. Quantitative data on coordination between fingers can be helpful for the assessment of therapy effectiveness. We have designed a novel isometric finger device to assess three-dimensional forces applied by the thumb, index, and middle finger. The device was used in connection with a simple virtual reality task where the patient had to open a safe by sequentially rotating a knob using the isometric finger input. The presented virtual reality application was evaluated in a group of healthy subjects and a chronic stroke patient to obtain preliminary performance results. We analyzed the coordination of fingertip forces between the thumb and opposing fingers. Pearson correlation coefficient was determined to assess the coordination of force in each direction. In healthy subjects, the analysis of the fingertip forces showed precise coordination of force between the fingers to control a virtual object. The performance of the stroke patient was considerably lower due to reduced muscle control and presence of strong spasticity. The results showed use of excessive force in both hands and lower coordination of force between the fingers as compared to the healthy subjects. The proposed virtual reality system is considered as a complementary method to the existing methods used in physical and occupational therapy. Specific virtual reality tasks could be designed to train coordination of force between the affected fingers. Copyright © 2007 by ASME.

关键词： Biomechanics

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Identification of Stepping Motor Parameters

Identification of Stepping Motor Parameters

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EUROCON 2007 - The International Conference on " computer as a Tool" (EUROCON 2007), vol.3

作者： Aljaz Kapun Ales Hace Karel Jezernik Faculty of Electrical Engineering and Computer Science Institute of Robotics University of Maribor Maribor Slovenia

This paper presents the offline identification process to identify the parameters of the dynamical model of a stepping motor with a permanent magnet. The proposed method identify the higher harmonics in flux distribution generated by the permanent magnet, cogging torque harmonics and friction coefficients from given experimental data for the stator currents, rotor position and rotor speed. The identification process is theoretically developed and verified by the simulations.

关键词： Parameter estimation Least squares method Stepper motors Permanent magnet motors

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Mechatronics of the humanoid robot ROMAN 1

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作者： Mianowski, Krzysztof Schmitz, Norbert Berns, Karsten Institute of Aeronautics and Applied Mechanics Faculty of Power and Aeronautical Engineering Warsaw University of Technology Nowowiejska str. 24 00-665 Warsaw Poland Department of Computer Science Robotics Group University of Kaiserslautern Gottlieb-Daimler-Strasse 67663 Kaiserslautern Germany

ISBN: (数字)9781846289743

ISBN: (纸本)9781846289736

Recent developments in the area of service robotics show an increasing interest in personal robots. Those personal robots can help to handle daily work and to entertain people. Both tasks require a robot that is able to communicate with people in a natural way. For these tasks non-verbal motions like gestures, mimic, and body pose are more and more important. Several anthropomorphic robots like [1], [6], [8], and [7] have been build in recent years. Although several goals could be reached humanoid robots are not able to communicate with humans in a natural way. © Springer-Verlag London Limited 2007.

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Autonomously Flying VTOL-Robots: Modeling and Control

Autonomously Flying VTOL-Robots: Modeling and Control

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IEEE International Conference on robotics and Automation (ICRA)

作者： Konstantin Kondak Markus Bernard Nicolas Meyer Gunter Hommel Real-Time Systems and Robotics Group Faculty of Electrical Engineering and Computer Science Technische Universitat Berlin Berlin Germany

In this paper an approach for control of autonomously flying robots with vertical take off and landing capabilities (VTOL) is presented. After reviewing that the motion description for different VTOL-robots is very similar, the general control scheme for VTOL-robots is presented. This scheme is based on linearisation and decoupling using inversion of the system model blocks. To compensate the model uncertainties and disturbances two additional parts are included into the controller: a reduced state observer based on a robot motion model as well as a disturbances observer and compensator for orientation control. The presented approach was applied to two different VTOL-robots: a helicopter and a quad-rotor. In real flight experiments it was verified that the presented general but simple controller provides sufficient performance for a wide range of practical applications.

关键词： Helicopters Robot sensing systems Gyroscopes robotics and automation Automatic control Motion control Uncertainty Unmanned aerial vehicles Observers Delay estimation

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Next generation human-robot telematic teams

Next generation human-robot telematic teams

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2007 AAAI Spring Symposium

作者： Preucil, Libor Pavlicek, Jiri Mazl, Roman Driewer, Frauke Schilling, Klaus Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Technicka 2 CZ 16627 Prague 6 Czech Republic Computer Science VII: Robotics and Telematics Julius-Maximilians University Würzburg Am Hubland D-97074 Würzburg Germany

ISBN: (纸本)9781577353164

The contribution investigates new methods and tools for design of next-generation telematic systems based on hybrid teams of cooperating robots and humans. The contribution presents selected issues of building the feature of presence in such systems, deals with human-robot integration and cooperation issues together with drawbacks and benefits of the technology in question. The presented approach is focused onto investigation of a search and rescue type of tasks and provides evaluation of results obtained in proof-of-concept experiments. Compilation copyright © 2006, American Association for Artificial Intelligence (***). All rights reserved.

关键词： Human computer interaction

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A two-phased object orientation controller on soft finger operations

A two-phased object orientation controller on soft finger op...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Takahiro Inoue Shinichi Hirai Faculty of Computer of Systems Engineering for Sports Computer Science and Systems Engineering Okayama Prefectural University Soja Okayama Japan Laboratory for Integrated Machine Intelligence and Faculty of Department of Robotics Ritsumeikan University Japan

The greatest characteristic of soft-fingered manipulation is its softness and flexibility during manipulating operations. In previous works, this intrinsic property had been quantitatively explained from the viewpoint of physical and mechanical perspective that the deformation energy induced by large elastic distortion automatically has a minimum equilibrium point. Hence this report first derive equations of motion of two-fingered soft finger robotic hand on the basis of energy- based analysis, and explain that an equilibrium point on a combined energy function exists even in the case of manipulating motions by the hand. In this paper, the equilibrium point is called LMEEwC that is unfolded as local minimum of elastic energy with constraints. Next, we show that the posture control of a rigid object grasped by the minimal degrees-of-freedom hand can easily be achieved by applying a two-phased controller associated with each joint angle of the hand, which is newly proposed in this report. This control scheme is constructed by two parts: a PD controller with respect to the finger angle and an integral controller with respect to the orientation of the grasped object. The characteristics of the control method of the latter part is that the desired joint angle of the hand is produced dynamically by the integral controller with respect to the object orientation. Finally, we clarify the effectiveness of the proposed control method in the case of the soft-fingered manipulation.

关键词： Fingers Equations Force control Motion analysis Grasping Systems engineering and theory Linear feedback control systems Force feedback Robot kinematics Intelligent robots

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Assessment and training of hand dexterity in virtual environment

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Journal Europeen des Systemes Automatises 2007年第2期41卷 219-238页

作者： Veber, Mitja Kurillo, Gregorij Bajd, Tadej Munih, Marko University of Ljubljana Faculty of Electrical Engineering Laboratory of Robotics and Biomedical Engineering Slovenia University of California Department of Electrical Engineering and Computer Science Berkeley CA United States

We designed two systems for assessment and training of force coordination and hand dexterity in virtual environment. In the first system subjects aligned a real object with the reference virtual object. Pose of hand segments and object was assessed with motion tracking system. The study revealed repeatability of trajectories of movements and a significant delay in the movements of joints when close to their mechanical constraints. The second device was designed to simultaneously assess isometric forces applied by the fingers. Mathematical model of grasping was applied to achieve multi-fingered interaction with virtual objects. Several tasks were developed with the aim to improve grip force coordination and increase muscle strength of patients after stroke through repetitive exercises. © 2007 Lavoisier.

关键词： Virtual reality

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ML DESIGNERTM as simulation tool in robotics

ML DESIGNERTM as simulation tool in robotics

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International Conference on Telecommunications in Modern Satellite, Cable and Broadcasting Service (TELSIKS)

作者： Mario Schulz Ivan Velickovic Sasa Andelkovic Volker Zerbe Goran S. Dordevic Computer Science and Automation Faculty System and Control Theory Department Technical University Ilmenau Ilmenau Germany Faculty of Electronics engineering Robotics Lab University of Nis Nis Serbia

Robots are complex systems that require multidisciplinary approach to development. Hence, both research and production of a robotic system require a tool that would provide means for coordination between teams with different areas of expertise as well as the ability to integrate, simulate and debug the system in a comprehensive way. Also, with the growing popularity of service robotics, research and modeling of human-machine interaction gains the attention. From a simulation tool, it is expected to support the means for describing this interaction. For that purpose we are investigating the ML Designer TM , not just as a possible simulation tool, but also as a modeling and design paradigm. For verification purposes we will compare it against MATLAB Simulink TM . A pneumatic system will be modeled with both tools and a comparison will be performed.

关键词： Mathematical model Robot kinematics Cleaning System testing Power system modeling MATLAB Pneumatic systems Control systems Level control Costs

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