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2010 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Geoffrey Biggs Bruce A. MacDonald Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan Department of Electrical and Computer Engineering University of Auckland New Zealand

The expression of reactive behaviour is a significant and important requirement in robotic software engineering, since robots must cope with a wide range of unpredictable events and environments. However it is important that the semantics for reactive expression can be used across different architectures and languages. The RADAR robot programming language provides architecture- and language-independent semantics for managing the reactive parts of robot software together with the deliberative parts, allowing greater interaction between the two. We evaluate the architecture-independence of RADAR, as an example, by implementing its reactive semantics using the OpenRTM-aist component-based, distributed architecture. Our goal is to evaluate what limitations the choice of implementation environment may place on the capabilities of such an architecture-independent semantics. In our implementation, we aimed to produce a standard OpenRTM-aist system using the RADAR semantics. We have found that the architecture-independent semantics concept works well in the case of RADAR, although some specific improvements are needed for full interaction between deliberative and reactive sections of robotic software.

关键词： Semantics Robots computer architecture Software Sleep Spaceborne radar

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The application of an apparatus of motion measurement and analysis in freestyle aerials

The application of an apparatus of motion measurement and an...

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Global Congress on intelligent systems

作者： Liu, Limin Ge, Yunjian Liu, Ming Cao, Huibin Liu, Yanhua Zhang, Guangbin Ma, Tingting Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui Province China Department of Automation University of Science and Technology of China Hefei Anhui Province China Dept. Electrical and Computer Systems Eng. Monash University 26 Stanly Ave. Mount Waverlay VIC 3149 Australia

ISBN: (纸本)9780769543048

In order to get the acceleration, angular velocity and other kinematic parameters of the ski athlete during the training timely, which can help team coach analyse the action and guide the team members training with purpose, we design an information acquisition system based on the attitude sensor. This system can gain the parameter information of three-dimensional acceleration and angular velocity recorded by the sensor, and through a certain algorithm can achieve the parameters of velocity, angular acceleration and angle at any time. From the analysis of the parameters, the coaches can guide the athlete training. Experimental results show that this system can record the movement information accurately and help athlete training targeted, which has theoretical and technical guidance value. © 2010 IEEE.

关键词： Personnel training

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Noncontact and contact micromanipulation using a rotating nickel nanowire

Noncontact and contact micromanipulation using a rotating ni...

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IEEE International Conference on Nano/Molecular Medicine and Engineering (NANOMED)

作者： Li Zhang Tristan Petit Kathrin E. Peyer Bradley E. Kratochvil Jiangnan Zhang Jun Lou Bradley J. Nelson Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland ISAE Université de Toulouse Toulouse France Department of Mechanical Engineering & Materials Science Rice University Houston TX USA

This paper reports an approach to perform basic noncontact and contact manipulation tasks using rotating nickel nanowires (Ni NWs) driven by a uniform rotating magnetic field. We show that a rotating NW is capable of propulsion near a solid surface by a tumbling motion. The tumbling NW is steered with micrometer positioning precision in 2-D. The FEM simulation shows that fluid flow is induced around the rotating NW, which was applied to manipulate microobjects in a noncontact fashion. Noncontact pushing and pulling tests of individual polystyrene (PS) microbeads are conducted using a tumbling NW. We also show that a rotating Ni NW can act as a microrotor to rotate a microobject on a solid surface. In addition, contact manipulation is demonstrated by transporting individual microobjects, i.e. a PS microbead and a human blood cell, using a rotating NW. The results imply that rotating magnetic NWs are good candidates for handling cellular and sub-cellular objects in an aqueous low Reynolds number environment.

关键词： Nickel Magnetic fields Perpendicular magnetic anisotropy Coils Fluid flow Propulsion

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Internal force compensating method for wall-climbing caterpillar robot

Internal force compensating method for wall-climbing caterpi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： W. Wang K. Wang H. X. Zhang J. W. Zhang Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany

The redundant driving problem is an inherent phenomenon existing in a modular caterpillar robot. To limit the internal forces arising from the redundant driving, this paper proposes a joint torque control method, which is based on an assumption that there is only one active joint in the four-link mechanism driving the climbing gait. Except the active joint, the other three joints are all considered as passive joints, whose torques tend to be zero, although they are driven by motors in reality. According to the analyses of static forces in the closed chain state, the ideal torque of named active joint is calculated, and will be followed by the joint in real climbing locomotion. The experiments reveal the reasonability and feasibility of the proposed joint control method, as well as the limitations of current prototype and control algorithm.

关键词： Climbing robots Motion control robotics and automation Kinematics Biological control systems Torque control Joining processes USA Councils Tail Gravity

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Bézier curve based dynamic obstacle avoidance and trajectory learning for autonomous mobile robots

Bézier curve based dynamic obstacle avoidance and trajector...

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International Conference on intelligent systems Design and Applications (ISDA)

作者： Tayyab Chaudhry Tauseef Gulrez Ali Zia Shyba Zaheer Intelligent Machines & Robotics Research Group Department of Computer Science Comsats Institute of Information Technology Lahore Pakistan Department of Electrical Engineering College of Engineering and Applied Sciences Al Ghurair University Dubai UAE

This paper addresses the problem of avoiding dynamic obstacles while following the learned trajectory through non-point based maps directly through laser data. The geometric representation of free configuration area changes while a moving obstacle enters into the safety region of autonomous mobile robot. We have applied the Bézier curve properties to the free configuration eigenspaces to satisfy the dynamic obstacle avoidance path constraints. The algorithm is designed to accurately represent the mobile robot's characteristics while avoiding obstacle such as minimum turning radius. Moreover, we also discuss the obstacle avoided path feasibility as a vectorial combination of free configuration eigen-vectors at discrete time scan-frames to manifest a trajectory, which once followed and mapped onto the two control signals of mobile robot will enable it to build an efficient and accurate online environment map. Preliminary results in Matlab have been shown to validate the idea, while the same has been implemented in Player/stage (robotics real-time software) to analyze the performance of the proposed system.

关键词： Trajectory Vehicles Robot sensing systems Mobile robots Mathematical model Lasers

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Heterogeneous artificial agents for triage nurse assistance

Heterogeneous artificial agents for triage nurse assistance

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IEEE-RAS International Conference on Humanoid Robots

作者： D.M. Wilkes Stan Franklin Erdem Erdemir Stephen Gordon Steve Strain Karen Miller Kazuhiko Kawamura Center of Intelligent Systems and Electrical and Computer Engineering Vanderbilt University USA Cognitive Computing Research Group Institute of Intelligent Systems University of Memphis Memphis TN USA Department of Electrical Engineering and Computer Science Vanderbilt University USA Electrical Engineering Vanderbilt University USA Cognitive Computing Research Group Institute of Intelligent Systems University of Memphis USA Clinical Research Operations for Emergency Medicine Vanderbilt University USA Center of Intelligent Systems and Electrical and Computer Engineering Vanderbilt University Nashville TN USA

A dream of humanoid robot researchers is to develop a complete “human-like” (whatever that means) artificial agent both in terms of body and brain. We now have seen an increasing number of humanoid robots (such as Honda's ASIMO, Aldebaran's Nao and many others). These, however, display only a limited number of cognitive skills in terms of perception, learning and decision-making. On the other hand, brain research has begun to produce computational models such as LIDA. In this paper, we propose an intermediate approach for body-brain integration in a form of a scenario-based distributed system. Busy hospital Emergency departments (ED) are concerned with shortening the waiting times of patients, with relieving overburdened triage team physicians, nurses and medics, and with reducing the number of mistakes. Here we propose a system of cognitive robots and a supervisor, dubbed the TriageBot System that would gather both logistical and medical information, as well as take diagnostic measurements, from an incoming patient for later use by the triage team. TriageBot would also give tentative, possible diagnoses to the triage nurse, along with recommendations for non-physician care Some of the robots in the TriageBot System would be humanoid in form, but it is not necessary that all of them take this form. Advances in humanoid robotic design, in sensor technology, and in cognitive control architectures make such a system feasible, at least in principle.

关键词： Robot sensing systems Robot kinematics computer architecture Humanoid robots Pain

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A Reliability Assessment Paradigm for Automated Video Tracking systems

A Reliability Assessment Paradigm for Automated Video Tracki...

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International Conference on Pattern Recognition

作者： Chung-Hao Chen Yi Yao Andreas Koschan Mongi Abidi Department of Math and Computer Science North Carolina Central University NC USA Global Research Center General Electric NY USA Imaging Robotics and Intelligent Systems Laboratory University of Tennessee Knoxville TN USA

Most existing performance evaluation methods concentrate on defining separate metrics over a wide range of conditions and generating standard benchmarking video sequences for examining the effectiveness of video tracking systems. In other words, these methods attempt to design a robustness margin or factor for the system. These methods are deterministic in which a robustness factor, for example, 2 or 3 times the expected number of subjects to track or the strength of illumination would be required in the design. This often results in over design, thus increasing costs, or under design causing failure by unanticipated factors. In order to overcome these limitations, we propose in this paper an alternative framework to analyze the physics of the failure process and, through the concept of reliability, determine the time to failure in automated video tracking systems. The benefit of our proposed framework is that we can provide a unified and statistical index to evaluate the performance of automated video tracking system for a task to be performed. At the same time, the uncertainty problem about a failure process, which may be caused by the system's complexity, imprecise measurements of the relevant physical constants and variables, or the indeterminate nature of future events, can be addressed accordingly based on our proposed framework.

关键词： Performance evaluation Reliability theory Lighting Robustness Mathematical model

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Using variable decoding weight for language model in statistical machine translation

Using variable decoding weight for language model in statist...

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9th Biennial Conference of the Association for Machine Translation in the Americas, AMTA 2010

作者： Mohit, Behrang Hwa, Rebecca Lavie, Alon Intelligent Systems Program University of Pittsburgh Pittsburgh PA 15260 United States Computer Science Department University of Pittsburgh Pittsburgh PA 15260 United States Language Technology Institute Carnegie Mellon University Pittsburgh PA 15213 United States Carnegie Mellon University in Qatar P.O.Box 24866 Doha Qatar

This paper investigates varying the decoder weight of the language model (LM) when translating different parts of a sentence. We determine the condition under which the LM weight should be adapted. We find that a better translation can be achieved by varying the LM weight when decoding the most problematic spot in a sentence, which we refer to as a difficult segment. Two adaptation strategies are proposed and compared through experiments. We find that adapting a different LM weight for every difficult segment resulted in the largest improvement in translation quality.

关键词： Decoding

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Boundary control of a flexible marine riser with vessel dynamics

Boundary control of a flexible marine riser with vessel dyna...

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作者： He, Wei Voon Ee How, Bernard Ge, Shuzhi Sam Choo, Yoo Sang Department of Electrical and Computer Engineering Centre for Offshore Research and Engineering National University of Singapore Singapore 117576 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China Chengdu 610054 China Department of Civil Engineering Centre for Offshore Research and Engineering National University of Singapore Singapore 117576 Singapore

ISBN: (纸本)9781424474264

In this paper, boundary control of a flexible marine riser with vessel dynamics is developed to reduce the riser's vibrations. To provide an accurate and concise representation of the riser's dynamic behavior, the distributed parameter model of the flexible marine riser with vessel dynamics is described by a partial differential equation (PDE) coupled with ordinary differential equations (ODEs) involving functions of space and time. Boundary control is developed at the top boundary of the riser based on Lyapunov's direct method to regulate the riser's vibrations. With the proposed boundary control, uniform boundedness is achieved. The boundary control is implementable with actual instrumentation since all the signals in the control can be measured by sensors or calculated by a backwards difference algorithm. Simulations are provided to illustrate the effectiveness of the proposed control. © 2010 AACC.

关键词： Dynamics

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Locally indistinguishable subspaces spanned by three-qubit unextendible product bases

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Physical Review A 2010年第3期81卷 032329-032329页

作者： Runyao Duan Yu Xin Mingsheng Ying Centre for Quantum Computation and Intelligent Systems (QCIS) Faculty of Engineering and Information Technology University of Technology Sydney New South Wales 2007 Australia State Key Laboratory of Intelligent Technology and Systems Tsinghua National Laboratory for Information Science and Technology Department of Computer Science and Technology Tsinghua University Beijing 100084 People's Republic of China Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge Massachusetts 02139 USA Department of Physics Tsinghua University Beijing 100084 People's Republic of China

We study the local distinguishability of general multiqubit states and show that local projective measurements and classical communication are as powerful as the most general local measurements and classical communication. Remarkably, this indicates that the local distinguishability of multiqubit states can be decided efficiently. Another useful consequence is that a set of orthogonal n-qubit states is locally distinguishable only if the summation of their orthogonal Schmidt numbers is less than the total dimension 2n. Employing these results, we show that any orthonormal basis of a subspace spanned by arbitrary three-qubit orthogonal unextendible product bases (UPB) cannot be exactly distinguishable by local operations and classical communication. This not only reveals another intrinsic property of three-qubit orthogonal UPB but also provides a class of locally indistinguishable subspaces with dimension 4. We also explicitly construct locally indistinguishable subspaces with dimensions 3 and 5, respectively. Similar to the bipartite case, these results on multipartite locally indistinguishable subspaces can be used to estimate the one-shot environment-assisted classical capacity of a class of quantum broadcast channels.

关键词： Quantum computers

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