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IEEE International Conference on robotics and Biomimetics

作者： Meng-Li Cao Qing-Hao Meng Wei Li Ying-Jie Liu Ming Zeng Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China and Department of Computer and Electrical Engineering California State University Bakersfield CA 933311 USA

ISBN: (纸本)9781467396769

Chemical source localization (CSL) is significant for the protection of public security. In typical CSL problems, a collaborative group of multiple robots are expected to perform better than a single robot. This paper proposes a behavior-based multi-robot chemical source localization (BbMR-CSL) architecture. It includes three group behaviors, i.e., the chemical finding, chemical source tracing (CST), and chemical source declaration behaviors, among which the CST behavior is further divided into two individual behaviors. A hierarchical behavior selection method is designed for coordinating the behaviors in the BbMRCSL architecture. Then, a method framework is also proposed for combining evolutionary computation (EC) with the BbMRCSL architecture. Based on the proposed framework, three typical EC algorithms (i.e., the genetic algorithm, the artificial bee colony algorithm (ABC), and the global-best-guided ABC) are implemented in the BbMR-CSL architecture. The resulting behavior-based CSL methods were tested and compared in a simulated filamentous plume environment.

关键词： CSL significant protection

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25th Annual Computational Neuroscience Meeting CNS-2016, Seogwipo City, South Korea, July 2-7, 2016 Abstracts

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BMC NEUROSCIENCE 2016年第1期17卷 1-112页

作者： [Anonymous] Computational Neurobiology Laboratory The Salk Institute for Biological Studies San Diego USA UNIC CNRS Gif sur Yvette France The European Institute for Theoretical Neuroscience (EITN) Paris France ATR Computational Neuroscience Laboratories Kyoto Japan Krembil Research Institute University Health Network Toronto Canada Department of Physiology University of Toronto Toronto Canada Department of Medicine (Neurology) University of Toronto Toronto Canada Department of Physics University of New Hampshire Durham USA Department of Neurophysiology Nencki Institute of Experimental Biology Warsaw Poland Department of Theory Wigner Research Centre for Physics of the Hungarian Academy of Sciences Budapest Hungary Department of Mathematical Sciences KAIST Daejoen Republic of Korea Department of Mathematics University of Houston Houston USA Department of Biochemistry & Cell Biology and Institute of Biosciences and Bioengineering Rice University Houston USA Department of Biology and Biochemistry University of Houston Houston USA Grupo de Neurocomputación Biológica Dpto. de Ingeniería Informática Escuela Politécnica Superior Universidad Autónoma de Madrid Madrid Spain Department of Biological Sciences University of Southern California Los Angeles USA Center for Neuroscience Korea Institute of Science and Technology Seoul South Korea Department of Neurology Albert Einstein College of Medicine Bronx USA Center for Neuroscience KIST Seoul South Korea Department of Neuroscience University of Science and Technology Daejon South Korea Systems Neuroscience Group QIMR Berghofer Medical Research Institute Herston Australia Department of Psychology Yonsei University Seoul South Korea Department of Psychiatry Kyung Hee University Hospital at Gangdong Seoul South Korea Department of Psychiatry Veterans Administration Boston Healthcare System and Harvard Medical School Brockton USA Department of Electrical and Electronic Engineering The University of Melbourne Parkvil

A1 Functional advantages of cell-type heterogeneity in neural circuits Tatyana O. Sharpee A2 Mesoscopic modeling of propagating waves in visual cortex Alain Destexhe A3 Dynamics and biomarkers of mental disorders Mitsuo Kawato F1 Precise recruitment of spiking output at theta frequencies requires dendritic h-channels in multi-compartment models of oriens-lacunosum/moleculare hippocampal interneurons Vladislav Sekulić, Frances K. Skinner F2 Kernel methods in reconstruction of current sources from extracellular potentials for single cells and the whole brains Daniel K. Wójcik, Chaitanya Chintaluri, Dorottya Cserpán, Zoltán Somogyvári F3 The synchronized periods depend on intracellular transcriptional repression mechanisms in circadian clocks. Jae Kyoung Kim, Zachary P. Kilpatrick, Matthew R. Bennett, Kresimir Josić O1 Assessing irregularity and coordination of spiking-bursting rhythms in central pattern generators Irene Elices, David Arroyo, Rafael Levi, Francisco B. Rodriguez, Pablo Varona O2 Regulation of top-down processing by cortically-projecting parvalbumin positive neurons in basal forebrain Eunjin Hwang, Bowon Kim, Hio-Been Han, Tae Kim, James T. McKenna, Ritchie E. Brown, Robert W. McCarley, Jee Hyun Choi O3 Modeling auditory stream segregation, build-up and bistability James Rankin, Pamela Osborn Popp, John Rinzel O4 Strong competition between tonotopic neural ensembles explains pitch-related dynamics of auditory cortex evoked fields Alejandro Tabas, André Rupp, Emili Balaguer-Ballester O5 A simple model of retinal response to multi-electrode stimulation Matias I. Maturana, David B. Grayden, Shaun L. Cloherty, Tatiana Kameneva, Michael R. Ibbotson, Hamish Meffin O6 Noise correlations in V4 area correlate with behavioral performance in visual discrimination task Veronika Koren, Timm Lochmann, Valentin Dragoi, Klaus Obermayer O7 Input-location dependent gain modulation in cerebellar nucleus neurons Maria Psarrou, Maria Schilstra, Neil Davey, Benjamin Torben-Ni

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Global Exponential Stabilization on the n-Dimensional Sphere

Global Exponential Stabilization on the n-Dimensional Sphere

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American Control Conference

作者： Pedro Casau Christopher G. Mayhew Ricardo G. Sanfelice Carlos Silvestre Department of Electrical and Computer Engineering and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico Universidade Tecnica de Lisboa 1049-001 Lisboa Portugal Department of Computer Engineering University of California Santa Cruz CA 95064 Department of Electrical and Computer Engineering of the Faculty of Science and Technology of the University of Macau Macao China

ISBN: (纸本)9781479917730

In this paper, we show that the existence of centrally synergistic potential functions on the n-dimensional sphere, denoted by S~n, is a sufficient condition for the global asymptotic stabilization of a point in S~n. Additionally, if these functions decrease exponentially fast during flows and are bounded from above and from below by some polynomial function of the tracking error, then the reference point can be globally exponentially stabilized. We construct two kinds of centrally synergistic functions: the first kind consists of a finite family of potential functions on S~n while the second kind consists of an uncountable number of potential functions on S~n. While the former generates a simpler jump logic, the latter is optimal in the sense that it generates flows with minimal length.

关键词： Tin Manifolds Robots Trajectory Robustness Three-dimensional displays computers

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Selecting observers for source localization via error exponents

Selecting observers for source localization via error expone...

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IEEE International Symposium on Information Theory

作者： Sabina Zejnilović João Xavier João Gomes Bruno Sinopoli Carnegie Mellon University Pittsburgh PA US Institute for Systems and Robotics University of Lisbon Portugal Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA

ISBN: (纸本)9781467377058

In today's large social and technological networks, since it is unfeasible to observe all the nodes, the source of diffusion is determined based on the observations of a subset of nodes. The probability of source localization error depends on the particular choice of observer nodes. We propose a criterion for observer node selection based on the minimal pairwise Chernoff distance between distributions of different source candidates. The proposed approach is optimal for the fastest error decay with vanishing noise. Although suboptimal for non-negligible noise, through simulation, we demonstrate its applicability in achieving low error probability. We also analyze the effect of network topology on the resulting error by bounding the smallest Chernoff distance for some specific networks.

关键词： Observers Noise Error probability Measurement Topology Noise level Network topology

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Control Schemes for Passive Teleoperation systems over Wide Area Communication Networks with Time Varying Delay

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International Journal of Automation and computing 2014年第1期11卷 100-108页

作者： Shafiqul Islam Xiaoping P.Liu Abdulmotaleb El Saddik Lakmal Seneviratne Jorge Dias School of Information Technology and Engineering University of Ottawa School of Engineering and Applied Sciences Harvard University Robotics and Mechanical Engineering Khalifa University of Science & Technology Department of Systems and Computer Engineering Carleton University Electrical Engineering New York University Division of Engineering Kings College London Robotics and Electrical and Computer Engineering Khalifa University of Science & Technology Institute of Systems and Robotics University of Coimbra

In this paper,the problem of time varying telecommunication delays in passive teleoperation systems is *** design comprises delayed position,velocity and position-velocity signals with the local position and velocity signals of the master and slave *** adaptive control terms are employed locally to cope with uncertain parameters associated with the gravity loading vector of the master and slave ***-Krasovskii function is employed for three methods to establish asymptotic tracking property of the closed loop teleoperation *** stability analysis is derived for both symmetrical and unsymmetrical time varying delays in the forward and backward communication channel that connects the local and remote ***,evaluation results are presented to illustrate the efectiveness of the proposed design for real-time applications.

关键词： Teleoperation telerobotics Lyapunov-Krasovskii functional time varying delay passive systems

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Dexterity optimization of a three degrees of freedom DELTA parallel manipulator 1

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ROBOT 2013: 1st Iberian robotics Conference

作者： Silva, Vitor Gaspar Tavakoli, Mahmoud Marques, Lino Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal

ISBN: (纸本)9783319036526

This paper demonstrates dexterity optimization of a Deltalike three degrees of freedom (3 DOF) spatial parallel manipulator. The parallel manipulator consists of three identical chains and is able to move on all three translational axes. In order to optimize the manipulator in term of dexterity, a Genetic Algorithm (GA) global search method was applied. This algorithm aims to propose the best design parameters such as the length of the links which results in a better dexterity. Results of the optimization are presented. © Springer International Publishing Switzerland 2014.

关键词： Manipulators

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Structure from motion;ToF-aided 3D reconstruction of isometric surfaces

Structure from motion;ToF-aided 3D reconstruction of isometr...

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3rd International Conference on Pattern Recognition Applications and Methods, ICPRAM 2014

作者： Jafar Hosseini, S. Araujo, Helder Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Coimbra Portugal

ISBN: (纸本)9789897580185

This paper deals with structure-from-motion (SfM) for non-rigid surfaces that undergo isometric motion. Our SfM framework aims at the joint estimation of the 3D surface and the camera motion by combining a ToF range sensor and a monocular RGB camera through a template-based approach. Our goal is to use the 2D low-resolution depth estimates provided by the TOF camera, in order to facilitate the estimation of non-rigid structure using the high-resolution images obtained by means of a RGB camera. In this paper, we model isometric surfaces with a triangular mesh. The ToF sensor is used to obtain the depth of a sparse set of 3D feature points, from which the depth of the mesh vertices can be recovered using a multivariate linear system. Subsequently, we form a non-linear constraint based on the projected length of each edge. A second non-linear constraint is then used for minimizing re-projection errors. These constraints are finally incorporated into an optimization scheme to solve for structure and motion. Experimental results show that the proposed approach has good performance even if only a low-resolution depth image is used. Copyright © 2014 SCITEPRESS.

关键词： Linear systems

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Robotic Software System for the Disaster Circumstances: System of Team KAIST in the DARPA robotics Challenge Finals

Robotic Software System for the Disaster Circumstances: Syst...

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IEEE-RAS International Conference on Humanoid Robots

作者： Jeongsoo Lim Inwook Shim Okkee Sim Hyunmin Joe Inhyeok Kim Jungho Lee 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 Department of Electrical Engineering College of Information Science and Technology Korea Advanced Institute of Science and Technology Rainbow Co.

ISBN: (纸本)9781479968862

We developed a software system for operating the humanoid robot DRC-HUBO+ in disaster circumstances that the US Defense Advanced Research Projects Agency suggested. This system was developed under the consideration of the stability of whole system, the systemic software environment for multiple developers, and the recovery routine when the system encounters a seriously abnormal situation. With these design goals, we devised our strategy for three domains: system, vision, and communication. Following the strategy we made two software frameworks (PODO and VPC) and one logical flow of data for remote process management. With this software system, we conducted all Tasks in the DARPA robotics Challenge Finals, and we won the competition.

关键词： Software systems DARPA design target robotics Disasters Religious Missions flow datas

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[email protected] : Analysis and results of evolving competitions for domestic and service robots

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Artificial Intelligence 2015年 229卷 258-281页

作者： Luca Iocchi Dirk Holz Javier Ruiz-del-Solar Komei Sugiura Tijn van der Zant Department of Computer Control and Management Engineering Sapienza University of Rome Italy Autonomous Intelligent Systems Group University of Bonn Germany Department of Electrical Engineering & Advanced Mining Technology Center Universidad de Chile Chile Information Services Platform Laboratory National Institute of Information and Communications Technology Japan Cognitive Robotics Laboratory University of Groningen The Netherlands

Scientific competitions are becoming more common in many research areas of artificial intelligence and robotics, since they provide a shared testbed for comparing different solutions and enable the exchange of research results. Moreover, they are interesting for general audiences and industries. Currently, many major research areas in artificial intelligence and robotics are organizing multiple-year competitions that are typically associated with scientific conferences. One important aspect of such competitions is that they are organized for many years. This introduces a temporal evolution that is interesting to analyze. However, the problem of evaluating a competition over many years remains unaddressed. We believe that this issue is critical to properly fuel changes over the years and measure the results of these decisions. Therefore, this article focuses on the analysis and the results of evolving competitions. In this article, we present the [email protected] competition, which is the largest worldwide competition for domestic service robots, and evaluate its progress over the past seven years. We show how the definition of a proper scoring system allows for desired functionalities to be related to tasks and how the resulting analysis fuels subsequent changes to achieve general and robust solutions implemented by the teams. Our results show not only the steadily increasing complexity of the tasks that [email protected] robots can solve but also the increased performance for all of the functionalities addressed in the competition. We believe that the methodology used in [email protected] for evaluating competition advances and for stimulating changes can be applied and extended to other robotic competitions as well as to multi-year research projects involving Artificial Intelligence and robotics.

关键词： Robotic competitions Artificial intelligence and robotics Benchmarking

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Microscopic image segmentation using quantum inspired evolutionary algorithm

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Journal of Advanced Microscopy Research 2015年第3期10卷 164-173页

作者： Choudhury, Alokeparna Samanta, Sourav Dey, Nilanjan Ashour, Amira S. Balas-Timar, Dana Gospodinov, Mitko Gospodinova, Evgeniya Department of Computer Science and Engineering University Institute of Technology Burdwan West Bengal713104 India Department of Information Technology Techno India College of Technology Kolkata700156 India Department of Electronics and Electrical Communications Engineering Faculty of Engineering Tanta University 31527 Egypt Aurel Vlaicu University of Arad Arad310130 Romania Institute of Systems Engineering and Robotics Bulgarian Academy of Sciences Sofia1113 Bulgaria

Image segmentation has became an important research area for various medical imaging fields. The automated complex analytical process makes it a huge time consuming procedure. The intention to microscopic images segmentation is to extract the cellular, nuclear or tissue components. This is considered a challenging process due to the large variations of features of these components (size, shape, orientation or texture). In this paper, a novel approach to deal with rats' microscopic hippocampus images segmentation based on the hybrid evolutionary strategy (ES) is proposed. The proposed work used the quantum-inspired evolutionary algorithm (QIEA) to establish the optimal level for the multilevel thresholding. The QIEA depends on both quantum and evolutionary computing. An intensive works for automatic hippocampus segmentation is performed on a database of 179 images. The acquired results have demonstrated that the proposed algorithm provides superior segmentation with eight levels (L = 8), that offer the highest correlation between the original and the corresponding segmented image. © Copyright 2015 American Scientific Publishers All rights reserved.

关键词： Evolutionary algorithms

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