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International Workshop on Discrete Event Systems, WODES

作者： Adam M. Halasz Julius A. Agung George Pappas Vijay Kumar Department of Mechanical Engineering and Applied Mechanics General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania Philadelphia PA USA Department of Electrical and Systems Engineering University of Pennsylvania General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania Philadelphia PA

We discuss the interplay between stochasticity and multistability in bio-molecular networks. The resulting cell-level stochastic behavior reflects the fundamentally discrete and random nature of the underlying molecular processes. These ideas are illustrated on the well studied example of the lac operon. We first describe the switching behavior predicted by a differential-equation based model and then show how cell-level stochastic behavior emerges. Finally we point out that the observed macroscopic behavior may not be enough to determine both the dynamic and stochastic parameters.

关键词： Discrete event systems Conferences

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The Touch Thimble: Providing Fingertip Contact Feedback During Point-Force Haptic Interaction

The Touch Thimble: Providing Fingertip Contact Feedback Duri...

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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS)

作者： Katherine J. Kuchenbecker David Ferguson Michael Kutzer Matthew Moses Allison M. Okamura General Robotics Automation Sensing and Perception (GRASP) Laboratory Mechanical Engineering and Applied Mechanics Department University of Pennsylvania USA Laboratory for Computational Sensing and Robotics (LCSR) Mechanical Engineering Department Johns Hopkins University USA Laboratory for Computational Sensing and Robotics (LCSR) Mechanical Engineering Department Johns Hopkins University Applied Physics Laboratory Johns Hopkins University michael.kutzer@jhuapl.edu

Touching a real object with your fingertip provides simultaneous tactile and force feedback, yet most haptic interfaces for virtual environments can convey only one of these two essential modalities. To address this opportunity, we designed, prototyped, and evaluated the Touch Thimble, a new fingertip device that provides the user with the cutaneous sensation of making and breaking contact with virtual surfaces. Designed to attach to the endpoint of an impedance-type haptic interface like a SensAble Phantom, the Touch Thimble includes a slightly oversize cup that is suspended around the fingertip by passive springs. When the haptic interface applies contact forces from the virtual environment, the springs deflect to allow contact between the user's fingertip and the inner surface of the cup. We evaluated a prototype Touch Thimble against a standard thimble in a formal user study and found that it did not improve nor degrade subjects' ability to recognize smoothly curving surfaces. Although four of the eight subjects preferred it to the standard interface, overall the Touch Thimble made subjects slightly slower at recognizing the presented shapes. Detailed subject comments point out strengths and weaknesses of the current design and suggest avenues for future development of the device.

关键词： Haptic interfaces Virtual environment Springs Force feedback Virtual prototyping Surface impedance Imaging phantoms Prototypes Degradation Shape

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Distributed coverage verification in sensor networks without location information

Distributed coverage verification in sensor networks without...

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IEEE Conference on Decision and Control

作者： Alireza Tahbaz-Salehi Ali Jadbabaie Department of Electrical and Systems Engineering and Department of Economics University of Pennsylvania Philadelphia PA USA General Robotics Automation Sensing and Perception (GRASP) Laboratory Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia PA USA

ISBN: (纸本)9781424431236

In this paper, we present a distributed algorithm for detecting coverage holes in a sensor network with no location information. We demonstrate how, in the absence of localization devices, simplicial complexes and tools from computational homology can be used in providing valuable information on the properties of the cover. In particular, we capture the combinatorial relationships among the sensors by the means of the Rips complex, which is the generalization of the proximity graph of the network to higher dimensions. Our approach is based on computation of a certain generator of the first homology of the Rips complex of the network. We formulate the problem of localizing coverage holes as an optimization problem to compute the sparsest generator of the first homology classes. We also demonstrate how subgradient methods can be used in solving this optimization problem in a distributed manner. Finally, non-trivial simulations are provided that illustrate the performance of our algorithm.

关键词： Distributed algorithms Linear programming Computer networks Mobile communication Algorithm design and analysis Systems engineering and theory robotics and automation Network topology Optimization methods Modeling

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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Cooperative Localization and Tracking in Distributed Robot-Sensor Networks

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Tsinghua Science and Technology 2005年第1期10卷 91-101页

作者：张帆 Guilherme S.Pereira Vijay Kumar General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania Philadelphia PA USA

This paper addresses the problem of real-time position and orientation estimation of networked mobile robots in two-dimensional Euclidean space with simultaneous tracking of a rigid unknown object based on exteroceptive sensory information extracted from distributed vision systems. The sufficient and necessary conditions for team localization are proposed. A localization and object tracking approach based on statistical operators and graph searching algorithms is presented for a team of robots localized with het- erogeneous sensors. The approach was implemented in an experimental platform consisting of car-like mobile robots equipped with omnidirectional video cameras and IEEE 802.11b wireless networking. The experimental results validate the approach.

关键词： cooperative localization multi-robot formation distributed sensor network sensor data fusion

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Planning and Control of Mobile Robots in Image Space from Overhead Cameras

Planning and Control of Mobile Robots in Image Space from Ov...

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IEEE International Conference on robotics and automation (ICRA)

作者： R.S. Rao V. Kumar C.J. Taylor General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia PA USA

In this work, we present a framework for the development of a planar mobile robot controller based on image plane feedback. We show that the design of such a motion controller can be accomplished in the image plane by making use of a subset of the parameters that relate the image plane to the ground plane, while still leveraging the simplifications offered by modeling the system as a differentially flat system. Our method relies on a waypoint-based trajectory generator, with all the waypoints specified in the image, as seen by an overhead observer. We present some results from simulation as well as from experiments that validate the ideas presented in this work and discuss some ideas for future work.

关键词： Robot control Mobile robots Robot vision systems Cameras Robot sensing systems Visual servoing Automatic control Orbital robotics Motion control robotics and automation

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Efficient Localized Localization Algorithm for Wireless Sensor Networks

Efficient Localized Localization Algorithm for Wireless Sens...

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Computer and Information Technology, 2005. CIT 2005. The Fifth International Conference on

作者： Kezhong Liu Shu Wang Fan Zhang Fuping Hu Changchun Xu Department of Electronics and Information Huazhong University of Science and Technology Hubei China Research Center for Traffic and Environment Wuhan University of Technology Hubei China General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania PA USA

ISBN: (纸本)076952432X

The location of sensor nodes in wireless sensor networks plays an important role in most applications. In this paper, we address the localization problem by characterizing some sufficient conditions such that technical convenience for the collection of local information used for network localization can be enabled. The main contribution of this paper is as follows. Some latest research results on the graph rigidity theory are introduced and incorporated, and a feasible node localization scheme is presented. More specifically, a tree structure termed BN-tree is introduced to construct a localizable collaborative body. Especially, the localizable collaborative body can be constructed dynamically with the variety of the network topology. Simulation results, which show that the quality of localization is well bounded by the range of communication, are also provided to validate the proposed algorithm.

关键词： Wireless sensor networks Sensor phenomena and characterization Acoustic sensors robotics and automation Collaboration Global Positioning System Computer vision Telecommunication traffic Robot sensing systems Sufficient conditions

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Understanding the bacterial stringent response using reachability analysis of hybrid systems

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7th International Workshop on Hybrid Systems: Computation and Control, HSCC 2004

作者： Belta, Câlin Finin, Peter Habets, Luc C. G. J. M. Halász, Ádám M. Imieliński, Marcin Vijay Kumar, R. Rubin, Harvey Department of Mechanical Engineering Drexel University PhiladelphiaPA19101 United States General Robotics Automation Sensing and Perception Laboratory PhiladelphiaPA19101 United States Graduate Group in Computational Biology and Genomics University of Pennsylvania PhiladelphiaPA19101 United States Department of Medicine University of Pennsylvania PhiladelphiaPA19101 United States Department of Mathematics and Computer Science Eindhoven University of Technology Eindhoven Netherlands

ISBN: (纸本)3540212590

In this paper we model coupled genetic and metabolic networks as hybrid systems. The vector fields are multi affine, i.e., have only product type nonlinearities to accommodate chemical reactions, and are defined in rectangular invariants, whose facets correspond to changes in the behavior of a gene or enzyme. For such systems, we showed that reachability and safety verification problems can be formulated and solved (conservatively) in an elegant and computationally inexpensive way, based on the fact that multi-affine functions on rectangular regions of the space are determined at the vertices. Using these techniques, we study the stringent response system, which is the transition of bacterial organisms from growth phase to a metabolically suppressed phase when subjected to an environment with limited nutrients. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Hybrid systems

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Design and verification of controllers for airships

Design and verification of controllers for airships

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： J. Kim J. Keller V. Kumar General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia PA USA

Robotic airships have several beneficial properties such as low operation cost, low noise, and low speed flight capability. We present in this paper the design and verification of a feedback control algorithm for waypoint to waypoint navigation of an outdoor blimp. A rapidly exploring random tree (RRT) is used for the validation of the blimp system control law. We describe an implementation of an algorithm that systematically searches the set of all disturbances to validate viability of the control law in the presence of winds. Experimental results with a simulator show that the RRT method can be effective in verifying controller design under unpredictable but bounded disturbances.

关键词： robotics and automation Algorithm design and analysis Feedback control Control systems Remotely operated vehicles Automatic control Robot sensing systems Laboratories Portable media players Costs

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Motion planning a aerial robot using rapidly-exploring random trees with dynamic constraints

Motion planning a aerial robot using rapidly-exploring rando...

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IEEE International Conference on robotics and automation (ICRA)

作者： Jongwoo Kim J.P. Ostrowski General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia PA USA

We describe some recent work on randomized motion planning algorithms and consider the problem of motion planning for systems with both kinematic and dynamic constraints. Such a problem is often referred to as kinodynamic motion planning. A rapidly-exploring random tree (RRT) is used for the motion planning of a blimp system, and some techniques for improving the performance of the planner are proposed. Based on a dynamic model of a blimp, dynamic constraints are introduced into the algorithm design and simulations are conducted for trajectory generation.

关键词： Motion planning Algorithm design and analysis robotics and automation Kinematics Path planning Trajectory Nonlinear dynamical systems Robot sensing systems Control systems Laboratories

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