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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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On the solvability of implicit differential inclusions (vol 94, pg 129, 2014)

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APPLICABLE ANALYSIS 2015年第5期94卷 129-143页

作者： Arutyunov, A. de Oliveira, V. A. Pereira, Lobo F. Zhukovskiy, E. Zhukovskiy, S. [a] Department of Nonlinear Analysis and Optimization Peoples’ Friendship University of Russia ul. Miklukho-Maklaya 6 Moscow 117198 Russia.[b] Departamento de Matematica Aplicada Instituto de Biociencias Letras e Ciencias Exatas UNESP - Univ. Estadual Paulista Campus de Sao Jose do Rio Preto S?o Paulo Brazil.[c] Department of Electrical and Computer Engineering Institute for Systems and Robotics Universidade do Porto Rua Dr. Roberto Frias s/n 4200-465 Porto Portugal.[d] Department of Algebra and Geometry Tambov State University ul. Internatsilonalnaya 33 Tambov 392000 Russia.

In the paper, the set-valued covering mappings are studied. The statements on solvability, solution estimates, and well-posedness of inclusions with conditionally covering mappings are proved. The results obtained are applied to the investigation of differential inclusions unsolved for the unknown function. The statements on solvability, solution estimates, and well-posedness of these inclusions are derived.

关键词： conditionally covering mapping Lipschitz perturbation implicit differential inclusion 47J22 34A60

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Infeasibility-free inverse kinematics method

Infeasibility-free inverse kinematics method

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IEEE/SICE International Symposium on System Integration

作者： Wael Suleiman Fumio Kanehiro Eiichi Yoshida Electrical and Computer Engineering Department Université de Sherbrooke Sherbrooke Quebec Canada Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba Ibaraki Japan CNRS-AIST JRL (Joint Robotics Laboratory) Tsukuba Ibaraki Japan

ISBN: (纸本)9781467372435

The problem of inverse kinematics is revisited in the present paper. The paper is focusing on the problem of solving the inverse kinematics problem while respecting velocity limits on both the robot's joints and the end-effector. Even-though the conventional inverse kinematics algorithms have been proven to be efficient in many applications, defining an admissible trajectory for the end-effector is still a burdensome task for the user, and the problem can easily become unsolvable. The main idea behind the proposed algorithms is to consider the sampling time as a free variable, hence adding more flexibility to the optimization problem associated with the inverse kinematics. We prove that the reformulated problem has always a solution if the end-effector path is in the reachable space of the robot, thus solving the problem of infeasibility of conventional inverse kinematics methods. To validate the proposed approach, we have conducted three simulations scenarios. The simulation results point that while the conventional inverse kinematics methods fail to track precisely a desired end-effector trajectory, the proposed algorithms always succeed.

关键词： Kinematics Optimization Robots Trajectory Algorithm design and analysis Jacobian matrices Angular velocity

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Increasing the autonomy levels for underwater intervention missions by using learning and probabilistic techniques 1

Increasing the autonomy levels for underwater intervention m...

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ROBOT 2013: 1st Iberian robotics Conference

作者： Sales, Jorge Santos, Luís Sanz, Pedro J. Dias, Jorge García, J.C. Computer Science and Engineering Dept University of Jaume-I Castellón Spain Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal Robotics Institute Khalifa University Abu Dhabi United Arab Emirates

ISBN: (纸本)9783319034126

This paper represents research in progress in autonomous manipulation for underwater intervention missions within the context of the GRASPER project. This project focuses on developing manipulation skills for an Autonomous Underwater Vehicle (AUV). Current research in underwater robotics intends to increase autonomy for all kinds of robotic intervention operations that require physical interaction. Very few underwater systems have the capacity to carry out intervention without any kind of umbilical cables for tele-operating the actions. This article aims to investigate new approaches to follow with the aforementioned challenges, with the inclusion of learning and probabilistic techniques to increase the autonomy levels of an underwater manipulation system. With this goal, a collaboration research action has been established between the IRSLab at UJI (Spain), as experts in the underwater robotic manipulation domain, and the institute of systems and robotics from University of Coimbra (Portugal), experts in learning by interaction within a robotic manipulation context. © Springer International Publishing Switzerland 2014.

关键词： Autonomous underwater vehicles

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Control of a Quadruped Robot with Bionic Springy Legs in Trotting Gait

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Journal of Bionic engineering 2014年第2期11卷 188-198页

作者： Mantian Li Zhenyu Jiang Pengfei Wang Lining Sun Shuzhi Sam Ge State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China Institute of Intelligent Systems and Information Technology University of Electronic Seience and Technology of China Chengdu 610000 P.R. China Department of Electrical and Computer Engineering the National University of Singapore Singapore 117576 Singapore

Legged robots have better performance on discontinuous terrain than that of wheeled robots. However, the dynamic trotting and balance control of a quadruped robot is still a challenging problem, especially when the robot has multi-joint legs. This paper presents a three-dimensional model of a quadruped robot which has 6 Degrees of Freedom （DOF） on torso and 5 DOF on each leg. On the basis of the Spring-Loaded Inverted Pendulum （SLIP） model, body control algorithm is discussed in the first place to figure out how legs work in 3D trotting. Then, motivated by the principle of joint function separation and introducing certain biological characteristics, two joint coordination approaches are developed to produce the trot and provide balance. The robot reaches the highest speed of 2.0 m.s-1, and keeps balance under 250 Kg.m.s-1 lateral disturbance in the simulations. The effectiveness of these approaches is also verified on a prototype robot which runs to 0.83 m.s-1 on the treadmill, The simulations and experiments show that legged robots have good biological properties, such as the ground reaction force, and spring-like leg behavior.

关键词： legged robots locomotion control quadruped robot trotting gait

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Control Strategies for a Humanoid Robot to Drive and then Egress a Utility Vehicle for Remote Approach

Control Strategies for a Humanoid Robot to Drive and then Eg...

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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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Minimum number of information gatherers to ensure full observability of a dynamic social network: A structural systems approach

Minimum number of information gatherers to ensure full obser...

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2014 IEEE Global Conference on Signal and Information Processing, GlobalSIP 2014

作者： Pequito, Sergio Kar, Soummya Aguiar, A. Pedro Department of Electrical and Computer Engineering Carnegie Mellon University PittsburghPA15213 United States Institute for Systems and Robotics Instituto Superior Técnico Technical University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal

ISBN: (纸本)9781479970889

This paper studies the problem of identifying the minimum number of entities (agents), referred to as information gatherers, that are able to infer all the states in a dynamical social network. The information gatherers can be, for instance, service providers and the remaining agents the clients, each comprising several dynamic states associated with the services and personal information. The problem of identifying the minimum number of information gatherers can constitute a way to create coalitions to oversee the entire state of the system, and consequently the behavior of the agents in the social network. The dynamical social network is assumed to be modelled as a linear time-invariant system, and we will make use of the structural systems concept, i.e., by considering only the sparsity pattern (location of zeroes/non-zeroes) of the system coupling matrix. As a consequence, the design guarantees derived hold for almost all numerical parametric realizations of the system. In this paper, we show that this problem is NP-hard: in addition, we provide a reduction of the coalition problem to a minimum set covering problem that, in practice, leads to efficient (polynomial complexity) approximation schemes for solving the coalition problem with guaranteed optimality gaps. Finally, an example is provided which illustrates the analytical findings. © 2014 IEEE.

关键词： Observability

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Strong convergence to mixed equilibria in fictitious play

Strong convergence to mixed equilibria in fictitious play

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Annual Conference on Information Sciences and systems (CISS)

作者： Brian Swenson Soummya Kar João Xavier Institute for Systems and Robotics (ISR) University of Lisbon Portugal Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

Learning processes that converge to mixed-strategy equilibria often exhibit learning only in the weak sense in that the time-averaged empirical distribution of players' actions converges to a set of equilibria. A stronger notion of learning mixed equilibria is to require that players period-by-period strategies converge to a set of equilibria. A simple and intuitive method is considered for adapting algorithms that converge in the weaker sense in order to obtain convergence in the stronger sense. The adaptation is applied to the the well-known fictitious play (FP) algorithm, and the adapted version of FP is shown to converge to the set of Nash equilibria in the stronger sense for games known to have the FP property.

关键词： Games Convergence Robustness Game theory Algorithm design and analysis Heuristic algorithms Joints

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