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IEEE-RAS International Conference on Humanoid Robots

作者： Hyobin Jeong Jaesung Oh Mingeuk Kim Kyungdon Joo In So Kweon Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory School of Mechanical Aerospace & Systems Engineering Department of Electrical Engineering Korea Advanced Institute of Science and Technology Department of Electrical Engineering KAIST

ISBN: (纸本)9781479968862

This paper proposes strategies for the driving and egress of a vehicle with a humanoid robot. To drive the vehicle, the RANSAC method was used to detect obstacles, and the Wagon model was used to control the steering and velocity of the vehicle with only a limited number of sensors which were installed on the humanoid robot. Additionally, a manual teleoperating method was used with the lane projection technique. For the egress motion, gain override and the Cartesian position/force control technique were used to interact with the vehicle structure. To overcome the disadvantages of a highly geared manipulator, a special technique was used that included modelled friction compensation and a non-complementary switching mode. DRC-HUBO+ used the proposed method to perform a vehicle driving and egress task in the DRC finals 2015.

关键词： Humanoid robots EGRESS vehicle Vehicle driving Automobile driving UTILITY VEHICLES control strategy friction compensation DRIVES Steering

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous robotics Systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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Qualitative analysis of differential, difference equations, and dynamic equations on time scales

Abstract and Applied Analysis

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Abstract and Applied Analysis 2015年第1期2015卷

作者： Li, Tongxing Diblík, Josef Domoshnitsky, Alexander Rogovchenko, Yuriy V. Sadyrbaev, Felix Wang, Qi-Ru School of Informatics Linyi University Linyi Shandong 276005 China Department of Mathematics and Descriptive Geometry Faculty of Civil Engineering Brno University of Technology Brno 602 00 Czech Republic Department of Mathematics Faculty of Electrical Engineering Brno University of Technology Brno 616 00 Czech Republic Department of Mathematics and Computer Sciences Ariel University Ariel 40700 Israel Department of Mathematical Sciences University of Agder P.O. Box 422 Kristiansand 4604 Norway Institute of Mathematics and Computer Science University of Latvia Rainis Boulevard 29 Riga LV-1459 Latvia School of Mathematics and Computational Science Sun Yat-sen University Guangzhou 510275 China

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A p300 model for cerebot - A mind-controlled humanoid robot 2

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2nd International Conference on Robot Intelligence technology and Applications, RiTA 2013

作者： Li, Mengfan Li, Wei Zhao, Jing Meng, Qinghao Zeng, Ming Chen, Genshe Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin300072 China Department of Computer & Electrical Engineering and Computer Science California State University BakersfieldCA93311 United States Intelligent Fusion Technology Inc. GermantownMD20876 United States

ISBN: (纸本)9783319055817

In this paper, we present a P300 model for control of Cerebot - a mind-controlled humanoid robot, including a procedure of acquiring P300 signals, topographical distribution analysis of P300 signals, and a classification approach to identifying subjects’ mental activities regarding robot-walking behavior. We design two groups of image contexts to visually stimulate subjects when acquiring neural signals that are used to control a simulated or real NAO robot. Our study shows that the group of contexts using images of robot behavior delivers better performance. © Springer International Publishing Switzerland 2014.

关键词： Anthropomorphic robots

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Quantitative Evaluation of Interictal High Frequency Oscillations in Scalp EEGs for Epileptogenic Region Localization

Quantitative Evaluation of Interictal High Frequency Oscilla...

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7th International Conference on Intelligent Systems and Knowledge Engineering, ISKE 2012

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 138632 Singapore Department of Electrical and Computer Engineering National University of Singapoire Singapore 117576 Singapore 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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Vibration control design for a flexible string with input saturation

Vibration control design for a flexible string with input sa...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Wei He Chen Sun Shuzhi Sam Ge Robotics Institute and School of Automation Engineering University of Electronic Science and Technology of China Chengdu China Department of Electrical & Computer Engineering National University of Singapore Singapore Singapore

In this paper, we consider the vibration control problem of a flexible string system in the presence of input saturation. The dynamics of the string system are represented by the coupled partial differential equation (PDE) and ordinary differential equation (ODE). In order to suppress the transverse vibration of the flexible string system, boundary control is proposed by introducing a well-defined integral Lyapunov function. An auxiliary system is introduced to handle the effect of input saturation, and the proof for the existence and the uniqueness of the solution of the closed-loop system is presented. The exponential stability is achieved through rigorous analysis without any simplification of the dynamics. The results are illustrated with numerical simulations for verifying the control performance.

关键词： Vibrations Closed loop systems Boundary conditions Equations Stability analysis Educational institutions

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High dielectric material dependence of carbon nanotube field effect transistor considering non-ballistic conduction

High dielectric material dependence of carbon nanotube field...

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作者： Rouf, Nirjhor Tahmidur Deep, Ashfaqul Haq Hassan, Rusafa Binte Khan, Sabbir Ahmed Hasan, Mahmudul Mominuzzaman, Sharif Mohammad Control and Applications Research Centre BRAC University Dhaka1212 Bangladesh Department of Electrical and Electronic Engineering BRAC University Dhaka1212 Bangladesh BRACU Robotics Research Lab School of Engineering and Computer Science BRAC University Dhaka1212 Bangladesh Department of Electrical and Electronic Engineering Bangladesh University of Engineering and Technology Dhaka1000 Bangladesh

As a result of this reported research, a simulation model to analyse the behaviour of carbon nanotube field effect transistors (CNTFETs) under non-ballistic conditions is explained and the effect of gate dielectric on the performance of CNTFETs has been explored in detail. For the first time, a thorough study of the combined non-ballistic effect on the performance of CNTFETs has been conducted and the output of the device has been analysed. It has been observed that a gate material with a high dielectric constant leads to higher on-state current and higher on and off state current ratio. In addition, the transconductance, total capacitance, charging energy, subthreshold swing (S), drain-induced barrier lowering (DIBL) and gain with respect to the dielectric constant have been observed and analysed. Transconductance and total capacitance increases by a significant amount, while charging energy and S decrease as the dielectric value increases. The DIBL and gain vary slightly as a higher value dielectric material is used as a gate. Furthermore, the results of this study have been plotted against previously reported ballistic outputs to provide a better perception of the deviation from ideal behaviour. At the same time, the outcomes of this analysis have been compared against some reported experimental values. © The Institution of Engineering and technology 2014.

关键词： Ballistics

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Combining Top-down Spatial Reasoning and Bottom-up Object Class Recognition for Scene Understanding

Combining Top-down Spatial Reasoning and Bottom-up Object Cl...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Lars Kunze Chris Burbridge Marina Alberti Akshaya Tippur John Folkesson Patric Jensfelt Nick Hawes Intelligent Robotics Lab School of Computer Science University of Birmingham United Kingdom Centre for Autonomous Systems KTH Royal Institute of Technology SE-100 44 Stockholm Sweden

ISBN: (纸本)9781479969357

Many robot perception systems are built to only consider intrinsic object features to recognise the class of an object. By integrating both top-down spatial relational reasoning and bottom-up object class recognition the overall performance of a perception system can be improved. In this paper we present a unified framework that combines a 3D object class recognition system with learned, spatial models of object relations. In robot experiments we show that our combined approach improves the classification results on real world office desks compared to pure bottom-up perception. Hence, by using spatial knowledge during object class recognition perception becomes more efficient and robust and robots can understand scenes more effectively.

关键词： object class Object Relations Robot bottom-up spatial reasoning senses Perception top-down

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Real-time road detection and description for robot navigation in an unstructured campus environment

Real-time road detection and description for robot navigatio...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Wenhao Xu Yan Zhuang Huosheng Hu Yiwen Zhao School of Control Science and Engineering Dalian University of Technology Dalian China School of Computer Science and Electronic Engineering University of Essex Colchester U.K. State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China

This paper investigates real-time road detection for an unmanned ground vehicle (UGV) to navigate in a campus environment. A novel vision system with two monocular cameras at different heights and angles is utilized to accomplish both road region detection and direction estimation tasks simultaneously. An Adaboost-based classifier is used in the road region detection in order to handle the road surface's diversity, and a vanishing point tracking technique is used to estimate the road direction. To describe the unstructured road spaces with an accurate model, a RANSAC Spline Fitting algorithm is adopted to delineate the road borders based on the data fusion results from vision and lasers. Extensive experiments are carried out by using a real UGV platform in a campus environment and results show the feasibility and performance of the proposed approach.

关键词： Roads Cameras Navigation Splines (mathematics) Laser fusion Three-dimensional displays Fitting

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Robust multiple-sensing-modality data fusion using Gaussian Process Implicit Surfaces

Robust multiple-sensing-modality data fusion using Gaussian ...

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International Conference on Information Fusion

作者： Marcos P. Gerardo-Castro Thierry Peynot Fabio Ramos Robert Fitch Australian Centre for Field Robotics (ACFR) The University of Sydney 2006 NSW Australia School of Electrical Engineering and Computer Science Queensland University of Technology Brisbane QLD Australia School of Information Technologies The University of Sydney NSW Australia

ISBN: (纸本)9781479916344

The ability to build high-fidelity 3D representations of the environment from sensor data is critical for autonomous robots. Multi-sensor data fusion allows for more complete and accurate representations. Furthermore, using distinct sensing modalities (i.e. sensors using a different physical process and/or operating at different electromagnetic frequencies) usually leads to more reliable perception, especially in challenging environments, as modalities may complement each other. However, they may react differently to certain materials or environmental conditions, leading to catastrophic fusion. In this paper, we propose a new method to reliably fuse data from multiple sensing modalities, including in situations where they detect different targets. We first compute distinct continuous surface representations for each sensing modality, with uncertainty, using Gaussian Process Implicit Surfaces (GPIS). Second, we perform a local consistency test between these representations, to separate consistent data (i.e. data corresponding to the detection of the same target by the sensors) from inconsistent data. The consistent data can then be fused together, using another GPIS process, and the rest of the data can be combined as appropriate. The approach is first validated using synthetic data. We then demonstrate its benefit using a mobile robot, equipped with a laser scanner and a radar, which operates in an outdoor environment in the presence of large clouds of airborne dust and smoke.

关键词： Robot sensing systems Laser radar Data integration Surface treatment Uncertainty Robustness

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