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9th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2012

作者： Kalwa, J. Pascoal, A. Ridao, P. Birk, A. Eichhorn, M. Brignone, L. Caccia, M. Alves, J. Santos, R.S. ATLAS ELEKTRONIK GmbH Bremen Germany Institute of Robotics of the Instituto Superior Técnico Lisbon Portugal Universiat de Girona Girona Spain Jacobs Universität Bremen Bremen Germany Ilmenau University of Technology Faculty of Computer Science and Automation Ilmenau Germany Institut Français de Recherche Pour l'Exploitation de la Mer La Seyne sur Mer France Consiglio Nazionale Delle Ricerche Istituto di Studi sui Sistemi Intelligenti per l'Automazion Genova Italy NATO Undersea Research Centre La Spezia Italy Instituto Do Mar Horta Portugal

ISBN: (纸本)9783902823601

The MORPH project (FP 7, 2012-2016) advances the novel concept of an underwater robotic system composed of a number of spatially separated mobile robot-modules, carrying complementary resources. Instead of being physically coupled, the modules are connected via communication links that rely on the flow of information among them, i. e. inter-module interactions are enabled by underwater communication networks at distant and close ranges and supported by visual perception at very close range. Without rigid links, the MSV can reconfigure itself and adapt in response to the shape of the terrain, including walls with negative slope. The MORPH concept requires qualitatively new behaviors such as adaptive sensor placement for perception and navigation, as well as environmental modeling in complex environments. On site view planning will lead to a solution well beyond the operational state of the art for underwater cliff surveys and other similar missions. A final demonstration on a vertical cliff, unfeasible automatically with today's technology, will validate the efficacy of the methods developed at the end of the project. © IFAC.

关键词： Robots

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The European R&D-project MORPH: Marine robotic systems of self-organizing, logically linked physical nodes

The European R&D-project MORPH: Marine robotic systems of se...

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3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012

作者： Kalwa, J. Pascoal, A. Ridao, P. Birk, A. Eichhorn, M. Brignone, L. Caccia, M. Alvez, J. Santos, R.S. ATLAS ELEKTRONIK GmbH Bremen Germany Institute of Robotics of the Instituto Superior Técnico Lisbon Portugal Universiat de Girona Girona Spain Jacobs Universität Bremen Bremen Germany Ilmenau University of Technology Faculty of Computer Science and Automation Ilmenau Germany Institut Français de Recherche Pour l Exploitation de la Mer La Seyne sur Mer France Consiglio Nazionale delle Ricerche Istituto di Studi Sui Sistemi Intelligenti Per l' Automazion Genova Italy NATO Undersea Research Centre La Spezia Italy Instituto do Mar Horta Portugal

ISBN: (纸本)9783902823199

关键词： Robots

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Micromechanical and tribological properties of nanocomposite nc-TiC/a-C coatings

Solid State Phenomena

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Solid State Phenomena 2011年 177卷 36-46页

作者： Kot, Marcin Moskalewicz, Tomasz Wendler, Bogdan Czyrska-Filemonowicz, Aleksandra Rakowski, Wieslaw Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Al. Mickiewicza 30 PL-30-059 Kraków Poland Faculty of Metals Engineering and Industrial Computer Science AGH University of Science and Technology Al. Mickiewicza 30 PL-30-059 Kraków Poland Faculty of Mechanical Engineering Technical University of Lodz ul Stefanowskiego 1 PL-90 924 lódź Poland

The nanocomposite coatings composed of nanocrystalline TiC grains embedded in hydrogen free amorphous carbon a-C matrix (nc-TiC/a-C) were deposited by magnetron sputtering on the two substrates, oxygen hardened Ti-6Al-4V alloy and heat treated VANADIS 23 steel. The Ti-6Al-4V alloy was oxygen hardened by plasma glow discharge. Micro-mechanical and tribological properties as well as coating adhesion to the substrates were investigated. Micro/nanostructure of the coatings and the substrates were examined using scanningand transmission electron microscopy methods as well as X-ray diffractometry. Nano-, microhardness tests performed for the coated materials showed average hardness 13.4-14.7 GPa and modulus of elasticity 160 GPa. Scratch test revealed good adhesion of coatings to the both substrates. The nanocomposite coatings significantly improved tribological properties of the titanium alloy and steel, increased wear resistance and decreased friction coefficient. © (2011) Trans Tech Publications, Switzerland.

关键词： High resolution transmission electron microscopy

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Reports of the AAAI 2011 conference workshops

Reports of the AAAI 2011 conference workshops

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作者： Agmon, Noa Agrawal, Vikas Aha, David W. Aloimonos, Yiannis Buckley, Donagh Doshi, Prashant Geib, Christopher Grasso, Floriana Green, Nancy Johnston, Benjamin Kaliski, Burt Kiekintveld, Christopher Law, Edith Lieberman, Henry Mengshoel, Ole J. Metzler, Ted Modayil, Joseph Oard, Douglas W. Onder, Nilufer O'Sullivan, Barry Pastra, Katerina Precup, Doina Ramachandran, Sowmya Reed, Chris Sariel-Talay, Sanem Selker, Ted Shastri, Lokendra Singh, Satinder Smith, Stephen F. Srivastava, Siddharth Sukthankar, Gita Uthus, David C. Williams, Mary-Anne Department of Computer Science University of Texas at Austin United States Center for Knowledge Driven Information Systems Infosys Labs India Adaptive Systems Section Naval Research Laboratory Washington DC United States Department of Computer Science University of Maryland College Park United States EMC's Center of Excellence in Ireland Research Europe at EMC Ireland Department of Computer Science University of Georgia United States School of Informatics University of Edinburgh United Kingdom Department of Computer Science University of Liverpool United Kingdom Department of Computer Science University of North Carolina Greensboro United States Faculty of Engineering and Information Technology University of Technology Sydney Australia VeriSign Inc. United States Department of Computer Science University of Texas at El Paso United States Machine Learning Department Carnegie Mellon University United States Massachusetts Institute of Technology Media Laboratory United States Carnegie Mellon University's Silicon Valley Campus United States Darrell W. Hughes Program for Religion and Science Dialogue Oklahoma City University United States Department of Computing Science University of Alberta Canada College of Information Studies Institute for Advanced Computer Studies University of Maryland College Park United States Department of Computer Science Michigan Technological University United States Department of Computer Science University College Cork Ireland Cognitive Systems Research Insitute Athens Greece School of Computer Science McGill University Canada Stottler Henke Inc. United States School of Computing University of Dundee United Kingdom Department of Computer Engineering Istanbul Technical University Turkey Convergence Lab Infosys Technologies Ltd. United States Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor United States Robotics Institute Carnegie Mellon University United States University of Wisconsin

The AAAI-11 workshop program was held Sunday and Monday, August 7-18, 2011, at the Hyatt Regency San Francisco in San Francisco, California USA. The AAAI-11 workshop program included 15 workshops covering a wide range of topics in artificial intelligence. The titles of the workshops were Activity Context Representation: Techniques and Languages;Analyzing Microtext;Applied Adversarial Reasoning and Risk Modeling;Artificial Intelligence and Smarter Living: The Conquest of Complexity;Artifiicial Intelligence for Data Center Management and Cloud Computing;Automated Action Planning for Autonomous Mobile Robots;Computational Models of Natural Argument;Generalized Planning;Human Computation;Human-Robot Interaction in Elder Care;Interactive Decision Theory and Game Theory, 2010;Language-Action Tools for Cognitive Artificial Agents: Integrating Vision, Action, and Language;Lifelong Learning from Sensorimotor Experience;Plan, Activity, and Intent Recognition;and Scalable Integration of Analytics and Visualization. This article presents short summaries of those events. Copyright © 2012, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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Magnetic navigation system for home use of repetitive transcranial magnetic stimulation (rTMS)

Magnetic navigation system for home use of repetitive transc...

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IEEE/ICME International Conference on Complex Medical Engineering, CME

作者： Asao Okada Atsushi Nishikawa Taishi Fukushima Kazuhiro Taniguchi Fumio Miyazaki Masaki Sekino Yoshihiro Yasumuro Taiga Matsuzaki Koichi Hosomi Youichi Saitoh Department of Mechanical Science and Bioengineering Graduate School of Engineering Science Osaka University Toyonaka Japan Department of Mechanical Science and Bioengineering Graduate School of Engineering Science Department of Neuromodulation and Neurosurgery Office for U niversity-Industry Collaboration Osaka University Toyonaka Japan Division of Mechanical Engineering and Robotics Faculty of Textile Science and Technology Shinshu University Ueda Japan Department of Neuromodulation and Neurosurgery Office for U niversity-Industry Collaboration Osaka University Toyonaka Japan Department of Electrical Engineering and Information Systems Graduate School of Engineering University of Tokyo Kashiwa Japan Faculty of Environmental and Urban Engineering Kansai University Suita Japan Home Healthcare Research and Development Department Teijin Limited Tokyo Japan

We are developing stimulation coil navigation systems for home use of repetitive transcranial magnetic stimulation (rTMS). rTMS is effective for intractable diseases of the nervous system. However, the effects of rTMS last only for several hours, requiring a continuing daily rTMS therapies in a nearby clinic. A magnetic navigation system, the present system for fulfilling such needs, uses downsized, lightweight, low-cost magnetic sensors with datasets relating the magnetic field to the 3D position of the stimulation coil instead of the complicated handling and operation of large-scale and expensive devices or systems like a 3D position-measurement device. This system has been modified for home use and is easily available to non-medical staff. However, in a hospital, a large number of datasets, at least 500, is required, so collecting datasets might be a burden for the physician. To solve this problem, this paper proposes a method for extracting the necessary datasets for navigation. In the proposed method, many more datasets, which can handle any shape of a patient's head, are prepared in advance. The physician then collects only a few samples in the hospital. The system extracts the remaining datasets necessary for navigation by applying geometric model approximations like Delaunay triangulation or the ellipsoid model to the data for these samples. We evaluate the efficiency of the proposed method by a simulation of extracting datasets and navigating using a head model. The proposed method reduces the number of datasets collected by physicians from 500 to 10, thus reducing physicians' burdens.

关键词： Approximation methods Optical sensors Medical treatment Shape Magnetic heads Navigation Production facilities

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Multibody approach in suspension system optimization

Multibody approach in suspension system optimization

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作者： Korta, Jakub Martowicz, Adam Gallina, Alberto Uhl, Tadeusz AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Robotics and Mechatronics Al. A. Mickiewicza 30 30-059 Cracow Poland

In this paper an approach of optimization of suspension system parameters is described. Taking into consideration the stiffness and damping coefficients of springs and shock absorbers of a heavy road transport vehicle semitrailer, process of adjusting those values has been undertaken by means of the response surface methodology and a desirability function application, supported by the sensitivity computations. Two different methods of constructing metamodels: Kriging and polynomial regression have been tested and compared with a set of results obtained from the numerical multibody dynamic analysis. The objective of the undertaken efforts was to minimize the loads in the crucial points of the structure, identified as the high-risk failure areas. A number of simulations have been carried out under the set of different load cases, specially established to represent a wide range of operating conditions possible to be met during the vehicle life cycle. Copyright © 2011 by Institute of Fundamental Technological Research, Polish Academy of sciences.

关键词： Shock absorbers

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Factors impacting the spatial orientation of the visually impaired people

Factors impacting the spatial orientation of the visually im...

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18th International Congress on Sound and Vibration 2011, ICSV 2011

作者： Mlynarczyk, Dorota Wiciak, Jerzy W. Department of Mechanics and Vibroacoustics Faculty of Mechanical Engineering and Robotics AGH- University of Science and Technology Al. Mickiewicza 30 30-059 Cracow Poland

ISBN: (纸本)9781618392596

The world of the blind people is a world of sound, touch, smell and taste. They are deprived of visual experience and learn about the surrounding world through the cooperation of other senses. The article presents analysis of results of questionnaire to determine places and situations in a big city, in which wave-vibration signal could be useful in orientation and mobility for blind and partially sighted people. Examination of the questionnaire is the first stage to elaborate a conception of the system of training orientation supported on wave-vibration signals and touch sense. Sense of hearing is a key sense for the blind when moving. Therefore in the paper there is presented also a review of influence of environmental sounds on orientation and mobility of blind and partially sighted people. Results of the questionnaire are provided to obtain some answers for questions for example: In which situations in big city orientation based on wave-vibration signals is the most desirable and in which situations orientation based on wave-vibration signals is the most unsettled. They will also help in creating a system that is common, convenient to use and easy to implement. Copyright © (2011) by the International Institute of Acoustics & Vibration.

关键词： Audition

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System for determination of hazardous and particularly important areas in the big city for the blind people using wave-vibration markers

System for determination of hazardous and particularly impor...

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18th International Congress on Sound and Vibration 2011, ICSV 2011

作者： Wiciak, Jerzy W. Mlynarczyk, Dorota Department of Mechanics and Vibroacoustics Faculty of Mechanical Engineering and Robotics AGH- University of Science and Technology Al. Mickiewicza 30 30-059 Kraków Poland

ISBN: (纸本)9781618392596

The article presents a conception of the system for spatial orientation training supported by wave-vibration signals and touch sense. This paper provides analysis of hazardous places and particular important situations for blind people. Also analysis concerning problems with mobility (downstairs and upstairs, train station) and orientation (which public buildings are the most important) in a big city. The paper also presents an overview of solutions that support spatial orientation of the visually impaired people, which have so far emerged on the market and are based on acoustic and vibration signals. Opinions and observations of blind users of such solutions can be helpful when creating a new system. Based on questionnaire results and the analysis of available literature the system of spatial orientation supported by wave-vibration signals and touch sense will be built. This tool with "wave-vibration situations" will be used for orientation and mobility training. Copyright © (2011) by the International Institute of Acoustics & Vibration.

关键词： Vibration analysis

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High resolution face sequences from a PTZ network camera

High resolution face sequences from a PTZ network camera

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IEEE International Conference on Automatic Face and Gesture Recognition

作者： Dinh, Thang Ba Vo, Nam Medioni, Gérard Institute of Robotics and Intelligent Systems University of Southern Los Angeles CA 90089 United States Faculty of Information Technology University of Science Ho Chi Minh City Viet Nam

ISBN: (纸本)9781424491407

We propose here to acquire high resolution sequences of a person's face using a pan-tilt-zoom (PTZ) network camera. This capability should prove helpful in forensic analysis of video sequences as frames containing faces are tagged, and within a frame, windows containing faces can be retrieved. The system starts in pedestrian detector mode, where the lens angle is set widest, and detects people using a pedestrian detector module. The camera then changes to the region of interest (ROI) focusing mode where the parameters are automatically tuned to put the upper body of the detected person, where the face should appear, in the field of view (FOV). Then, in the face detection mode, the face is detected using a face detector module, and the system switches to an active tracking mode consisting a control loop to actively follow the detected face with two different modules: a tracker to track the face in the image, and a camera control module to adjust the camera parameters. During this loop, our tracker learns online the face appearance in multiple views under all condition changes. It runs robustly at 15 fps and is able to reacquire the face of interest after total occlusion or leaving FOV. We compare our tracker with various state-of-the-art tracking methods in terms of precision and running time performance. Extensive experiments in challenging indoor and outdoor conditions are also demonstrated to validate the complete system. © 2011 IEEE.

关键词： Face recognition

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Cyclic steady state refinement

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作者： Bocewicz, Grzegorz Wójcik, Robert Banaszak, Zbigniew A. Dept. of Computer Science and Management Koszalin University of Technology Koszalin Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland Faculty of Management Dept. of Business Informatics Warsaw University of Technology Warsaw Poland

ISBN: (纸本)9783642199332

The paper presents a new modeling framework enabling to evaluate the cyclic steady state of a given system of concurrently flowing cyclic processes (SCCP) on the base of the assumed topology of transportation routes, dispatching rules employed, resources and operation times as well as an initial processes allocation. The objective is to provide the rules useful in the course of routing and scheduling executed in SCCP where local cyclic processes interact on the base of a mutual exclusion protocol. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Transportation routes

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