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IEEE International Conference on robotics and Automation (ICRA)

作者： Scott Niekum Sarah Osentoski Christopher G. Atkeson Andrew G. Barto Robotics Institute Carnegie Mellon University Pittsburgh PA USA School of Computer Science University of Massachusetts Amherst Amherst MA USA Robert Bosch Research and Technology Center Palo Alto CA USA

We introduce CHAMP, an algorithm for online Bayesian changepoint detection in settings where it is difficult or undesirable to integrate over the parameters of candidate models. CHAMP is used in combination with several articulation models to detect changes in articulated motion of objects in the world, allowing a robot to infer physically-grounded task information. We focus on three settings where a changepoint model is appropriate: objects with intrinsic articulation relationships that can change over time, object-object contact that results in quasi-static articulated motion, and assembly tasks where each step changes articulation relationships. We experimentally demonstrate that this system can be used to infer various types of information from demonstration data including causal manipulation models, human-robot grasp correspondences, and skill verification tests.

关键词： Hidden Markov models Bayes methods Data models Numerical models Mathematical model Computational modeling Robots

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Fourth international symposium on "new frontiers in human-robot interaction": 21-22 April 2015, canterbury, UK

Fourth international symposium on "new frontiers in human-ro...

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AISB Convention 2015

作者： Salem, Maha Weiss, Astrid Baxter, Paul Dautenhahn, Kerstin School of Computer Science University of Hertfordshire College Lane Hatfield HertfordshireAL10 9AB United Kingdom ACIN Institute of Automation and Control Vienna University of Technology Gusshausstrae 27-29/E376 Vienna1040 Austria Centre for Robotics and Neural Systems Cognition Institute Plymouth University Plymouth DevonPL4 8AA United Kingdom

The Symposium on "New Frontiers in Human-Robot Interaction (HRI)" is the fourth of a series of symposia held in conjunction with the AISB convention. Its topics cover cutting-edge interdisciplinary research on understanding, designing, and evaluating robotic systems for and with humans. Its main difference to other HRI-related conferences and workshops is its inclusiveness for exploratory research and the amount of time for open discussion. This year's symposium consists of six sessions covering topics such as verbal and non-verbal interaction, people's perception of robots, and ethical issues. Moreover, it includes keynote talks by Mark Coeckelbergh and Angelika Peer and a panel on the topic "Robot Perception and Acceptance".

关键词： Human robot interaction

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Oximetry: Miniaturized Battery‐Free Wireless Systems for Wearable Pulse Oximetry (Adv. Funct. Mater. 1/2017)

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Advanced Functional Materials 2017年第1期27卷

作者： Jeonghyun Kim Philipp Gutruf Antonio M. Chiarelli Seung Yun Heo Kyoungyeon Cho Zhaoqian Xie Anthony Banks Seungyoung Han Kyung‐In Jang Jung Woo Lee Kyu‐Tae Lee Xue Feng Yonggang Huang Monica Fabiani Gabriele Gratton Ungyu Paik John A. Rogers Department of Materials Science and Engineering Frederick Seitz Materials Research Laboratory University of Illinois at Urbana‐Champaign Urbana IL 61801 USA Departments of Materials Science and Engineering Northwestern University Evanston IL 60208 USA Beckman Institute University of Illinois at Urbana‐Champaign Urbana IL 61801 USA Departments of Biomedical Engineering Northwestern University Evanston IL 60208 USA Department of Electrical and Computer Engineering Frederick Seitz Materials Research Laboratory University of Illinois at Urbana‐Champaign Urbana IL 61801 USA Department of Civil and Environmental Engineering Northwestern University Evanston IL 60208 USA AML Department of Engineering Mechanics Center for Mechanics and Materials Tsinghua University Beijing 100084 China Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 South Korea Departments of Civil and Environmental Engineering Mechanical Engineering Materials Science and Engineering Center for Engineering and Health Skin Disease Research Center Northwestern University Evanston IL 60208 USA Department of Energy Engineering Hanyang University Seoul 133‐791 Republic of Korea Departments of Materials Science and Engineering Biomedical Engineering Chemistry Neurological Surgery Mechanical Engineering Electrical Engineering and Computer Science Simpson Querrey Institute & Feinberg Medical School Center for Bio‐Integrated Electronics Northwestern University Evanston IL 60208 USA

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Hierarchical Classification of Large-Scale Patient Records for Automatic Treatment Stratification

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IEEE Journal of Biomedical and Health Informatics 2015年第4期19卷 1234-1245页

作者： Mei, Kuizhi Peng, Jinye Gao, Ling Zheng, Naiquan Nigel Fan, Jianping Institute of Artificial Intelligence and Robotics Xi'An Jiaotong University Xi'an710049 China School of Information Science and Technology Northwest University Xi'an710069 China Center of Biomedical Engineering University of North Carolina at Charlotte NC28223 United States Department of Computer Science University of North Carolina at Charlotte NC28223 United States

In this paper, a hierarchical learning algorithm is developed for classifying large-scale patient records, e.g., categorizing large-scale patient records into large numbers of known patient categories (i.e., thousands of known patient categories) for automatic treatment stratification. Our hierarchical learning algorithm can leverage tree structure to train more discriminative max-margin classifiers for high-level nodes and control interlevel error propagation effectively. By ruling out unlikely groups of patient categories (i.e., irrelevant high-level nodes) at an early stage, our hierarchical approach can achieve log-linear computational complexity, which is very attractive for big data applications. Our experiments on one specific medical domain have demonstrated that our hierarchical approach can achieve very competitive results on both classification accuracy and computational efficiency as compared with other state-of-the-art techniques. © 2015 IEEE.

关键词： Learning algorithms

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The paro robot seal as a social mediator for healthy users

The paro robot seal as a social mediator for healthy users

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AISB Convention 2015

作者： Wood, Natalie Sharkey, Amanda Mountain, Gail Millings, Abigail Sheffield Robotics University of Sheffield S1 3JD United Kingdom Department of Computer Science University of Sheffield S1 4DP United Kingdom School of Health and Related Research University of Sheffield S1 4DA United Kingdom Centre for Assistive Technology and Connected Healthcare Department of Psychology University of Sheffield S10 2TP United Kingdom

Robots are being designed to provide companionship, but there is some concern that they could lead to a reduction in human contact for vulnerable populations. However, some field data suggests that robots may have a social mediation effect in humanhuman interactions. This study examined social mediation effects in a controlled laboratory setting. In this study 114 unacquainted female volunteers were put in pairs and randomised to interact together with an active Paro, an inactive Paro, or a dinosaur toy robot. Each pair was invited to evaluate and interact with the robot together during a ten minute session. Post-interaction questionnaires measured the quality of dyadic interaction between participants during the session. Our results indicate that the strongest social mediation effect was from the active Paro.

关键词： Economic and social effects

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Active articulation model estimation through interactive perception

Active articulation model estimation through interactive per...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Karol Hausman Scott Niekum Sarah Osentoski Gaurav S. Sukhatme Karol Hausman and Gaurav S. Sukhatme are with the Department of Computer Science University of Southern California Los Angeles CA USA Scott Niekum is with the Robotics Institute Carnegie Mellon University Pittsburgh PA USA School of Computer Science University of Massachusetts Amherst Amherst MA USA Sarah Osentoski is with Robert Bosch Research and Technology Center Palo Alto CA USA

We introduce a particle filter-based approach to representing and actively reducing uncertainty over articulated motion models. The presented method provides a probabilistic model that integrates visual observations with feedback from manipulation actions to best characterize a distribution of possible articulation models. We evaluate several action selection methods to efficiently reduce the uncertainty about the articulation model. The full system is experimentally evaluated using a PR2 mobile manipulator. Our experiments demonstrate that the proposed system allows for intelligent reasoning about sparse, noisy data in a number of common manipulation scenarios.

关键词： Robot sensing systems Visualization Entropy Joints Uncertainty Probabilistic logic

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Task-driven image retrieval using geographic information

Task-driven image retrieval using geographic information

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20th Anniversary International Conference on MultiMedia Modeling, MMM 2014

作者： Dong, Peixiang Mei, Kuizhi Zhang, Ji Lei, Hao Fan, Jianping Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University China Department of Computer Science School of Information Science and Technology Northwest University Xi'an 710069 China

ISBN: (纸本)9783319041162

When large-scale online geo-tagged images come into view, it is important to leverage geographic information for web image retrieval. In this paper, a geo-metadata based image retrieval system is proposed using both textual tags and visual features. This image retrieval system is especially useful for tourism related tasks such as tourism recommendation and tourism guide. First, the requested image retrieval task is classified into one of the three different types according to the retrieval purpose, and then it can be handled with specific method. Second, a WordNet hierarchy based semantic similarity is developed to measure the similarity between different cities. This semantic similarity is somehow consistent with the visual similarity. Finally, a high-level image representation method is proposed to narrow the semantic gap between the low-level visual features and high-level image concepts. The proposed algorithm is evaluated on an image set which is consisted of totally 177,158 images of 120 most popular cities all over the world collected from Flickr, and the experiments have provided very positive results. © 2014 Springer International Publishing.

关键词： Semantics

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Corrigendum to `Parallel machine scheduling and common due window assignment with job independent earliness and tardiness costs' [Information sciences, 224 (2013) 109–117]

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Information sciences 2016年 357卷 217-217页

作者： Adam Janiak Władysław Janiak Mikhail Y. Kovalyov Erhan Kozan Erwin Pesch Institute of Computer Engineering Control and Robotics Wroclaw University of Technology 11/17 Janiszewskiego Str. 50-372 Wroclaw Poland Faculty of Computer Science and Management Wroclaw University of Technology 5 Lukasiewicza Str. 50-373 Wroclaw Poland United Institute of Informatics Problems National Academy of Sciences of Belarus Surganova 6 2200120 Minsk Belarus School of Mathematical Sciences QUT GPO Box 2434 Brisbane Qld 4001 Australia Institute of Information Systems University of Siegen 57068 Siegen Germany

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Quantitative evaluation of interictal high frequency oscillations in scalp EEGs for epileptogenic region localization

Advances in Intelligent Systems and Computing

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Advances in Intelligent Systems and Computing 2014年 215卷 877-885页

作者： Pan, Yaozhang Guan, Cuntai Eng, How-Lung Ge, Shuzhi Sam Ng, Yen Ling Chan, Derrick Wei Shih 1 Fusionopolis Way #21-01 Connexis Singapore 138632 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore The Robotics Institute and School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 11813 China KK Women's and Children's Hospital 100 Bukit Timah Road Singapore 229899 Singapore

Electroencephalography is a commonly used tool for presurgical evaluation of epilepsy patients. In this paper, we present a quantitative evaluation of interictal high frequency oscillations (HFOs) in scalp Electroencephalographies (EEGs) for epileptogenic region localization. We process multichannel EEGs using time-frequency spectral analysis in order to detect HFOs in each EEG channel. Comparison between the results of time-frequency analysis and visual assessment is performed to verify the reliability of time-frequency analysis. Later, t-test and Pearson correlation analysis are performed to analyze the relationships between ictal HFOs and interictal HFOs. The high correlations between interictal and ictal HFOs imply that interictal HFOs, like ictal HFOs, are valuable in localizing the epileptogenic region. As a result, scalp interictal HFOs are valuable in epileptogenic region localization for presurgical evaluation of epilepsy patients. It holds great potential for reducing the long delay before patients can be referred for surgery. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Spectrum analysis

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Adaptive Control Design for a Nonuniform Gantry Crane with Constrained Tension

Adaptive Control Design for a Nonuniform Gantry Crane with C...

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第三十三届中国控制会议

作者： Wei He Xiuyu He Shuzhi Sam Ge Robotics Institute and School of Automation Engineering University of Electronic Science and Technology of China Robotics Institute and School of Computer Science and Engineering University of Electronic Science and Technology of China

ISBN: (纸本)9781479947249

In this paper, the control problem is addressed for a hybrid PDE-ODE system that describes a nonuniform gantry crane system with constrained tension. A bottom payload hangs from the top gantry by connecting a flexible cable. The flexible cable is nonuniform due to the spatiotemporally varying tension applied to the system. Cooperative control laws are proposed and the Integral-Barrier Lyapunov Functions are employed for stability analysis of the closed-loop system. Adaption laws are developed for handling parametric uncertainties. The bounded stability is guaranteed through rigorous analysis without any simplification of the dynamics. In the end, numerical simulations are displayed to illustrate the performance of the proposed cooperative control.

关键词： Flexible Structures,Vibration control,Tension constraints,Distributed parameter systems(DPSs).

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