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Learning to predict how rigid objects behave under simple manipulation

Learning to predict how rigid objects behave under simple ma...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Marek Kopicki Sebastian Zurek Rustam Stolkin Thomas Mörwald Jeremy Wyatt School of Computer Science University of Binningham UK Automation and Control Institute University of Technology Vienna Austria

An important problem in robotic manipulation is the ability to predict how objects behave under manipulative actions. This ability is necessary to allow planning of object manipulations. Physics simulators can be used to do this, but they model many kinds of object interaction poorly. An alternative is to learn a motion model for objects by interacting with them. In this paper we address the problem of learning to predict the interactions of rigid bodies in a probabilistic framework, and demonstrate the results in the domain of robotic push manipulation. A robot arm applies random pushes to various objects and observes the resulting motion with a vision system. The relationship between push actions and object motions is learned, and enables the robot to predict the motions that will result from new pushes. The learning does not make explicit use of physics knowledge, or any pre-coded physical constraints, nor is it even restricted to domains which obey any particular rules of physics. We use regression to learn efficiently how to predict the gross motion of a particular object. We further show how different density functions can encode different kinds of information about the behaviour of interacting objects. By combining these as a product of densities, we show how learned predictors can cope with a degree of generalisation to previously unencountered object shapes, subjected to previously unencountered push directions. Performance is evaluated through a combination of virtual experiments in a physics simulator, and real experiments with a 5-axis arm equipped with a simple, rigid finger.

关键词： Shape Robots Physics Predictive models Equations Three dimensional displays Training

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Probabilistic shape vision for embedded systems

Probabilistic shape vision for embedded systems

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2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011

作者： Olufs, Sven Vincze, Markus Plöger, Paul G. Vienna University of Technology Automation and Control Institute Gusshausstrasse 25-29 / E376 1040 Vienna Austria Bonn-Rhein-Sieg University of Applied Sciences Department of Computer Science D-53757 St. Augustin Germany

ISBN: (纸本)9781457707223

This paper presents a robust object tracking method using a sparse shape-based object model for embedded systems with limited computational capabilities. Our approach consists of three ingredients namely shapes, a motion model and a sparse (non-binary) sub-sampling of colours in background and foreground parts based on the shape assumption. The tracking itself is inspired by the idea of having a short-term and a longterm memory. A lost object is missed by the long-term memory when it is no longer recognized by the short-term memory. Moreover, the long-term memory allows to re-detect vanished objects and using their new position as a new initial position for object tracking. The short-term memory is implemented with a new Monte Carlo variant which provides a heuristic to cope with the loss-of-diversity problem. It enables simultaneous tracking of multiple (visually) identical objects. The long-term memory is implemented with a Bayesian Multiple Hypothesis filter. We demonstrate the robustness of our approach with respect to object occlusions and non-Gaussian/non-linear movements of the tracked object. Our approach is very scalable since one can tune the parameters for a trade-off between precision and computational time. © 2011 IEEE.

关键词： Embedded systems

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Physical simulation for monocular 3D model based tracking

Physical simulation for monocular 3D model based tracking

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IEEE International Conference on Robotics and automation (ICRA)

作者： Damien Jade Duff Thomas Mörwald Rustam Stolkin Jeremy Wyatt School of Computer Science University of Binningham Birmingham UK Institute of Automation and Control University of Technology Vienna Vienna Austria

The problem of model-based object tracking in three dimensions is addressed. Most previous work on tracking assumes simple motion models, and consequently tracking typically fails in a variety of situations. Our insight is that incorporating physics models of object behaviour improves tracking performance in these cases. In particular it allows us to handle tracking in the face of rigid body interactions where there is also occlusion and fast object motion. We show how to incorporate rigid body physics simulation into a particle filter. We present two methods for this based on pose and force noise. The improvements are tested on four videos of a robot pushing an object, and results indicate that our approach performs considerably better than a plain particle filter tracker, with the force noise method producing the best results over the range of test videos.

关键词： Noise Tracking Image edge detection Probabilistic logic Mathematical model Dispersion Force

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The influence of the spatial separation of control elements on the workload for mobile information systems 11

The influence of the spatial separation of control elements ...

引用

13th International Conference on Human-computer Interaction with Mobile Devices and Services, Mobile HCI 2011

作者： Ziegler, Jens Graube, Markus Suhrbier, Alexander Wessel, Niels Malberg, Hagen Urbas, Leon Department of Distributed Control Systems Engineering Institute of Automation Dresden University of Technology 01062 Dresden Germany Institute for Applied Computer Science KIT Karlsruhe Institute of Technology 76344 Eggenstein-Leopoldshafen Germany Department of Physics Humboldt-Universität Zu Berlin 10115 Berlin Germany Institute for Biomedical Engineering Dresden University of Technology 01062 Dresden Germany

ISBN: (纸本)9781450305419

Mobile information systems (MIS) are finding their way into private and business every-day activities. There are also increased attempts to establish MIS for on-site activities in industrial facilities. Industrial environments, however, place significantly higher demands on mobile user interfaces than office or home environments. Common interaction styles are often unsuitable for this domain. MIS comprising specialized configurations like wearable systems might overcome current limitations. Wearable systems make it possible to arrange system components in the immediate environment of the user's body in order to create an ergonomic and intuitive user interface. However, the use of distributed, body-worn user interfaces, and in particular separation of input and output devices, might increase the workload for the user. This study examines the extent to which the separation of input and output devices affects the workload for wearable MIS. Three interaction styles in two different configurations are investigated with four different measures to determine the workload covering both objective and subjective indicators. This investigation shows that there is no significant increase of workload in general. However, the measurement of the heart rate variability revealed subtle but significant differences between the two configurations, particularly for one interaction style. These findings indicate that physiological measures can provide more detailed and subtle information about additional workload and its source than other measures. © 2011 ACM.

关键词： Human computer interaction

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Probabilistic shape vision for embedded systems

Probabilistic shape vision for embedded systems

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Sven Olufs Markus Vincze Paul G. Plöger Automation and Control Institute University of Technology Vienna Vienna Austria Department of Computer Science Bonn-Rhein-Sieg University of Applied Sciences Saint Augustin Germany

This paper presents a robust object tracking method using a sparse shape-based object model for embedded systems with limited computational capabilities. Our approach consists of three ingredients namely shapes, a motion model and a sparse (non-binary) sub-sampling of colours in background and foreground parts based on the shape assumption. The tracking itself is inspired by the idea of having a short-term and a longterm memory. A lost object is “missed” by the long-term memory when it is no longer recognized by the short-term memory. Moreover, the long-term memory allows to re-detect vanished objects and using their new position as a new initial position for object tracking. The short-term memory is implemented with a new Monte Carlo variant which provides a heuristic to cope with the loss-of-diversity problem. It enables simultaneous tracking of multiple (visually) identical objects. The long-term memory is implemented with a Bayesian Multiple Hypothesis filter. We demonstrate the robustness of our approach with respect to object occlusions and non-Gaussian/non-linear movements of the tracked object. Our approach is very scalable since one can tune the parameters for a trade-off between precision and computational time.

关键词： Probabilistic logic Target tracking Monte Carlo methods Particle filters Histograms Color

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Robust H∞ control of switched uncertain time-varying delay discrete-time systems via dynamic output feedback

Robust H∞ control of switched uncertain time-varying delay ...

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7th International Conference on Electrical and Electronics Engineering, ELECO 2011

作者： Song, Zhengui Dimirkovsky, Gyorgyi Zhao, Jun Institute of Integrated Process Automation College of Information Science and Engineering Northeastern University Shenyang Liaoning 110004 China Departments of Computer Eng. and Control Eng. Faculty of Engineering Dogus University Acibadem Zeamet Sokak 21 Kadikoy TR-34722 Istanbul Turkey Institute of Automation and Systems Eng. Faculty of Electrical Eng. and Info. Technologies SS Cyril and Methodius University Karpos 2 BB MK-1000 Skopje Macedonia

ISBN: (纸本)9786050102048

Robust H∞ output feedback control problem for a class of switched linear discrete-time systems possessing norm-bounded uncertainty and time-varying delay is investigated. A switched dynamic output feedback controller is sought that can robust exponentially stabilize and reduce to a prescribed level the effect of disturbance input on the controlled output in the closed loop. A delay-dependent linear matrix inequality based sufficient condition for the problem to be solvable is derived via the switched Lyapunov functions. controller design is performed by solving a set of linear matrix inequalities. An illustrative example along with simulation results is given to demonstrate the validity of these novel derivations. © 2011 Chamber of Turkish Electric.

关键词： Linear matrix inequalities

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Sliding mode control of switched uncertain linear systems: Designing robust H∞ sliding surface

Sliding mode control of switched uncertain linear systems: D...

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7th International Conference on Electrical and Electronics Engineering, ELECO 2011

作者： Lian, Jie Dimirkovsky, Gyorgyi Zhao, Jun Institute of Integrated Process Automation College of Information Science and Engineering Northeastern University Shenyang Liaoning 110004 China Departments of Computer Eng. and Control Eng. Faculty of Engineering Dogus University Acibadem Zeamet Sokak 21 Kadikoy TR-34722 Istanbul Turkey Institute of Automation and Systems Eng. Faculty of Electrical Eng. and Info. Technologies SS Cyril and Methodius University Karpos 2 BB MK-1000 Skopje Macedonia

ISBN: (纸本)9786050102048

The robust H∞ control problem for a class of uncertain switched linear systems by using the variable structure control is investigated. A robust H∞ single sliding surface is shown to exist as long as a convex combination of the subsystems of the switched system is robustly stabilizable with disturbance attenuation level γ. A switching law is constructed via the single Lyapunov function technique. Variable structure controllers of subsystems are designed so as the resulting closed-loop system guarantees the robust H∞ performance. An illustrative example and simulation results are given to demonstrate the effectiveness of the proposed design method. © 2011 Chamber of Turkish Electric.

关键词： Sliding mode control

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Synergy level impedance control for multifingered hands

Synergy level impedance control for multifingered hands

引用

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Thomas Wimböck Benjamin Jahn Gerd Hirzinger Institute of Robotics and Mechatronics German AeroSpace Center (DLR) Wessling Germany Control Engineering Group Computer Science and Automation Faculty Ilmenau University of Technology Ilmenau Germany

In many robotic manipulation tasks a robotic hand is used to just grasp and fix the object of interest while the object motion is performed by the arm. Motivated by the analysis on human grasping using data reduction techniques, we applied this concept to the DLR Hand II. Therefore, we analyzed the grasp database that was grown over the past years to find suitable robotic ¿synergy coordinates¿. 74% of these grasps can be represented by two coordinates that were originally defined by 12 joint variables. As a second step, a synergy impedance controller was derived and implemented extending the work on passivity based hand control at DLR. This controller for torque-controlled robot hands allows to imitate the behavior of a synergistic, respectively underactuated, hand. Such a controller provides furthermore a simplified interface for higher level grasping strategies and allows furthermore to manually teach new grasps easily. The controller was evaluated on the DLR Hand II by commanding steps that demonstrate the desired transient behavior. Finally, two objects were successfully grasped validating our approach.

关键词： Robot kinematics Joints Impedance Databases Grasping Symmetric matrices

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Total variation regularization for bioluminescence tomography with an adaptive parameter choice approach

Total variation regularization for bioluminescence tomograph...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： Jinchao Feng Xiaowei Jia Kebin Jia Chenghu Qin Jie Tian College of Electronic Information & Control Engineering Beijing University of Technology School of Computer Science and Technology University of Science and Technology of China Intelligent Medical Research Center Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781424441211

In this paper, we explore the application of total variation regularization method for bioluminescence tomography (BLT) with an adaptive regularization parameter choice approach. Since BLT is a seriously ill-posed problem, therefore, l_2 regularized methods are frequently adopted to recover the bioluminescent sources. However, l_2 regularized methods typically lead to smooth reconstructions. In this paper, we investigated the use of total variation (TV) regularization to improve the quality of BLT reconstruction. Furthermore, the regularization parameter in TV method was chosen adaptively to make the proposed algorithm more stable. Results on simulation data provide evidence that the reconstructed source can be localized accurately compared with l_2 method. Meanwhile, the effectiveness of utility of the parameter choice were illustrated. Finally, different levels of noisy data were added to validate the performance of the proposed algorithm.

关键词： Bioluminescence noisy data simulated data Tomography Television Self tuning Variation Reconstructive Surgical Procedures

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Monitoring and control of liquid nitrogen level of the 13C separation column using NI PXI-1031

Monitoring and control of liquid nitrogen level of the 13C s...

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International Symposium on Applied Computational Intelligence and Informatics ( SACI)

作者： A.O. Neaga C. Festila E. H. Dulf R. Both T. Szelitzky M. Gligan Department of Automatic Control Faculty of Automation and Computer Science Technical University of Cluj Napoca Cluj-Napoca Romania National Institute for Research and Development of Isotopic and Molecular Technologies Cluj-Napoca Romania

This paper is a step forward by making real time control system design to monitor and control process variables to ensure its smooth operation and desired reliability. Liquid nitrogen level in the condenser is a core component of isotopic separation process to obtain ( 13 C), so is needed a special focus on monitoring and control. The goal of the work is to design a controller for the liquid nitrogen in the condenser of ( 13 C) isotope separation column using NI-PXI 1031 (PCI eXtensions for Instrumentation) from National Instruments. The designed ON-OFF controller is implemented in LabVIEW and are discussed the advantages and disadvantages.

关键词： Nitrogen Nickel Monitoring Isotopes Valves Instruments Resistance

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