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2010 IEEE International Conference on Industrial Technology (ICIT 2010)

作者： Patrick Y. Shinzato Leandro C. Fernandes Fernando S. Osorio Denis F. Wolf Mobile Robotics Laboratory Institute of Mathematics and Computer Science University of Sao Paulo Sao Carlos - SP Brazil

ISBN: (纸本)9781424456956

Navigation is a broad topic that has been receiving considerable attention from the mobile robotic community. In order to execute a safe navigation on outdoors it is necessary to identify parts of the terrain that can be traversed by the robot and parts that should be avoided. This paper describes an analyses of an image-based terrain identification based on different visual information using a multi-layer perceptron neural network. Experimental tests using an outdoor robot and a video camera have been conducted in real scenarios to evaluate the proposed methods.

关键词： navigation Outdoors Video cameras terrains Robot Artificial neural networks landscapes

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Motion planning for a vigilant humanoid robot

Motion planning for a vigilant humanoid robot

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IEEE-RAS International Conference on Humanoid Robots

作者： Jean-Bernard Hayet Claudia Esteves Gustavo Arechavaleta Eiichi Yoshida Computer Science Group Centro de Investigación en Matemáticas Guanajuato Mexico Department of Mathematics Universidad de Guanajuato Guanajuato Mexico Robotics and Advance Manufacturing Group Centro de Investigación y de Estudios Avanzados del IPN (CINVESTAV) Saltillo Coahuila Mexico Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan

ISBN: (纸本)9781424445875

This paper presents a motion planner for a vigilant humanoid robot. In this context of surveillance, the robot task is to keep a distinctive point in the environment in sight during all of its motion. The method we propose consists of three main ingredients: (1) A motion planner for an appropriate simplified model of the walking robot, adapted to the particular needs of humanoid robots, that outputs an admissible path with local optimality properties. This path is guaranteed to satisfy the visibility constraints resulting both from the landmark and from the angular limits of the mechanical system; (2) A generic walking pattern generator that produces stable walking motions; (3) A generalized inverse-kinematics module to satisfy the remaining collisions and posture constraints, in particular the gaze direction. The effectiveness of this method is shown with several examples on the humanoid robot plataform HRP-2.

关键词： Motion planning Humanoid robots Legged locomotion Service robots Surveillance Monitoring Collision avoidance Robot sensing systems Mechanical systems Humans

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Biomimetic evolutionary analysis: Robotically-simulated vertebrates in a predator-prey ecology

Biomimetic evolutionary analysis: Robotically-simulated vert...

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IEEE Symposium on Artificial Life, ALIFE

作者： Nicole Doorly Kira Irving Gianna McArthur Keon Combie Virginia Engel Hassan Sakhtah Elise Stickles Hannah Rosenblum Andres Gutierrez Robert Root Chun Wai Liew John H. Long Mechanical and Aerospace Engineering Department Case Western Reserve University Cleveland OH USA Interdisciplinary Robotics Research Laboratory and the Cognitive Science Program Vassar College Poughkeepsie NY USA Neuroscience Institute Stanford University School of Medicine Stanford CA USA Neuroscience and Behavior Program Vassar College Poughkeepsie NY USA Memorial Sloan Kettering Cancer Care Center New York NY USA Department of Biology Vassar College Poughkeepsie NY USA Biochemistry Program Vassar College Poughkeepsie NY USA College of Medicine Howard University College of Medicine Washington D.C. USA School of Oceanography University of Washington Seattle WA USA Vassar College Poughkeepsie NY USA Department of Mathematics Lafayette College Easton PA USA Computer Science Department Lafayette College Easton PA USA Interdisciplinary Robotics Research Laboratory the Department of Biology and the Cognitive Science Program Vassar College Poughkeepsie NY USA

To test adaptation hypotheses about the evolution of animals, we need information about the behavior of phenotypically-variable individuals in a specific environment. To model behavior of ancient fish-like vertebrates, we previously combined evolutionary robotics and software simulations to create autonomous biomimetic swimmers in a simple aquatic environment competing and foraging for a single source of food. This system allowed us to test the hypothesis that selection for improved forage navigation drove the evolution of stiffer tails. In this paper, we extend our framework to evaluate more complex environments and hypotheses. Specifically, we test the hypothesis that predator-prey dynamics and the need for effective foraging strategies, operating simultaneously, were key selection pressures driving the evolution of morphological and sensory traits in early, fish-like vertebrates. Three evolvable traits were chosen because of their importance in propulsion and predator avoidance: (1) the number of vertebrae in the axial skeleton, (2) the trailing edge span of the caudal fin, and (3) the sensitivity of the sensory lateral line. To produce variable offspring, we used a genetic algorithm that rewarded parents with high fitness, allowing them to mate randomly and combine their mutated gametes. Offspring were then instantiated as autonomous embodied robots, the prey. These prey were chased by a non-evolving autonomous predator. Both kinds of robots were surface swimmers. The prey used a control architecture based on that of living fish: a two-layer subsumption architecture with predator escape over-riding steady swimming during foraging. The performance of six different prey robots in each generation was judged with a relative fitness function that rewarded a combination of high speed, rapid escape acceleration, escape responses, and the ability to stay away from the predator while at the same time staying close to the food source. This approach, which we call biomimet

关键词： Biomimetics Environmental factors Biological system modeling System testing Evolution (biology) Robot sensing systems Animals Navigation Tail Propulsion

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Probabilistic normalization: An approach to normalizing similarity measures in Content Based Image Retrieval

Probabilistic normalization: An approach to normalizing simi...

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5th IASTED International Conference on Signal Processing, Pattern Recognition, and Applications, SPPRA 2008

作者： Arevalillo-Herráez, Miguel Domingo, Juan Zacarés, Mario Department of Computer Science Universitat de València Avda. Vicente Andrés Estellés 1 46100-Burjassot Spain Institute of Robotics Universitat de València Avda. Vicente Andrés Estellés 1 46100-Burjassot Spain Institute of Pure and Applied Mathematics Universidad Politécnica de Valencia Camino de Vera s/n 46022-Valencia Spain

ISBN: (纸本)9780889867178

CBIR (Content Based Image Retrieval) systems are usually based on a series of distance functions, whose results are combined to produce similarity values which attempt to emulate the user's judgements. Most of these distance functions produce dissimilarity values according to a given vector of features. Although the values they produce are related to the perceptual similarity between pictures, they usually do not have an easily describable meaning. In this paper, we propose a technique to normalize distance func-tions so that they express probability values. This normalization makes it possible to define a consistent method to combine several distance functions and produce a composite similarity measure which performs better than the original functions. To test the approach, a composite similarity measure has been built from a set of three statistically independent distance functions. Measuring the precision on the first 8 retrieved images for a 100 queries, the composite measure has outperformed the individual distance functions by 29%, and the normalized sum by about 14%.

关键词： Content based retrieval

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Probabilistic Strategies for Pursuit in Cluttered Environments with Multiple Robots

Probabilistic Strategies for Pursuit in Cluttered Environmen...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Geoffrey Hollinger Athanasios Kehagias Sanjiv Singh The Robotics Institute School of Computer Science Carnegie Mellon University Pittsburgh PA USA Division of Mathematics Department of Math. Phys. and Computer Science s Faculty of Engineering Aristotle University of Thessaloniki Thessaloniki Greece

In this paper, we describe a method for coordinating multiple robots in a pursuit-evasion domain. We examine the problem of multiple robotic pursuers attempting to locate a non-adversarial mobile evader in an indoor environment. Unlike many other approaches to this problem, our method seeks to minimize expected time of capture rather than guaranteeing capture. This allows us to examine the performance of our algorithm in complex and cluttered environments where guaranteed capture is difficult or impossible with limited pursuers. We present a probabilistic formulation of the problem, discretize the environment, and define cost heuristics for use in planning. We then propose a scalable algorithm using an entropy cost heuristic that searches possible movement paths to determine coordination strategies for the robotic pursuers. We present simulated results describing the performance of our algorithm against state of the art alternatives in a complex office environment. Our algorithm successfully reduces capture time with limited pursuers in an environment beyond the scope of many other approaches.

关键词： Robot kinematics robotics and automation Costs Robot sensing systems Mobile robots Indoor environments Entropy Humans Game theory Environmental economics

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Panel: Industry Relationship Development

Panel: Industry Relationship Development

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IEEE International Conference on Information Reuse and Integration (IRI)

作者： Stuart Rubin Shu-Ching Chen Susanne Bahr William A. Gruver Robert Hockett Michael Jiang Gordon K. Lee Michael Leyton June R. Massoud Mariofanna Milanova Antony Satyadas Michael Smith Daniel Yeung SPAWAR Systems Center USA Florida International University USA Florida Institute of Technology USA Emeritus of Engineering Science Intelligent Robotics Corporation-Simon Fraser University USA Cornell University USA Motorola USA San Diego State University USA Center for Discrete Mathematics & Theoretical Computer Science (DIMACS) Rutgers University USA Independent Montreal Canada University of Arkansas Little Rock USA IBM Senior Certified Executive Architect IBM Software Group USA University of California Berkeley USA Hong Kong Polytechnic University Hung Hom Hong Kong China

The purpose of the industrial panel is summarily stated as follows. This panel serves the goal of finding ways to increase industrial participation in the SMC Transaction journals. Only through industrial collaboration can the SMC society maintain financial solvency and an influx of industrial and academic minds into its constituent fields. It is our hope that the industrial panel will provide vision and direction with these ends in mind. Invitees to the panel currently serve or have served as a CEO, president, vice-president, or other ranking executive of a corporation or federal agency that has a vested interest in transitioning research; or, as a dean (any subrank), provost, president, or grant agent of an accredited North American Research University that has experience in marketing patents, or other research products such as software, etc. Several distinguished university professors have also be invited. They have special insight into technology transition, and have a track record of bringing in funding, as appropriate, publication (not necessarily extensive, which helps us to bolster our IEEE Transaction journals as one of the subjects of our planned deliberations). The panel will address, as its primary focus, how to increase the market share of our IEEE SMC Transactions (especially Part C), while maintaining or improving their quality, maintaining or improving their financial solvency, and publishing research that industry and government need done and can share in an open forum.

关键词： Industrial relations USA Councils Sliding mode control Publishing computer industry Intelligent robots Competitive intelligence Service robots mathematics computer science

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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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A boosting SVM chain learning for visual informat ion retrieval

A boosting SVM chain learning for visual informat ion retrie...

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3rd International Symposium on Neural Networks, ISNN 2006 - Advances in Neural Networks

作者： Yuan, Zejian Yang, Lei Qu, Yanyun Liu, Yuehu Jia, Xinchun Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an 710049 China Department of Computer Science Xiamen University Xiamen China Department of Mathematics Shanxi University Taiyuan China

ISBN: (纸本)354034439X

Training strategy for negative sample collection and robust learning algorithm for large-scale samples set are critical issues for visual information retrieval problem. In this paper, an improved one class support vector classifier (SVC) and its boosting chain learning algorithm is proposed. Different from the one class SVC, this algorithm considers negative samples information, and integrates the bootstrap training and boosting algorithm into its learning procedure. The performances of the SVC can be successively boosted by repeat important sampling large negative set. Compared with traditional methods, it has the merits of higher detection rate and lower false positive rate, and is suitable for object detection and information retrieval. Experimental results show that the proposed boosting SVM chain learning method is efficient and effective. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Learning systems

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Low-cost and Universal Secure Scan: a Design- Architecture for Crypto Chips

Low-cost and Universal Secure Scan: a Design- Architecture f...

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International Conference on Dependability of computer Systems (DepCos-RELCOMEX)

作者： Marcin Gomulkiewicz Maciej Nikodem Tadeusz Tomczak Institute of Mathematics and Computer Sciences Germany Institute of Computer Science Automatics and Robotics Wroclaw University of Technology Poland

Scan based design-for-test is a powerful testing scheme, but it can be used to retrieve secrets stored inside a crypto device. In this paper, we propose a novel scan based DFT architecture called secure scan that maintains the high test quality without compromising the security. Moreover our proposition is universal and can be easily implemented as an extension of the standard scan chain architecture. Apart from presenting our proposal we analyse its implementation complexity, test's efficiency impact and gained security level

关键词： Cryptography Hardware Circuit testing Performance evaluation Life testing Security Manufacturing Design for testability Automatic testing Production facilities

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Predicting grasp inertia with a geometric model

Predicting grasp inertia with a geometric model

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2005 Australian Conference on robotics and Automation, ACRA 2005

作者： Kowadlo, Gideon Friedman, Jason Flash, Tamar Intelligent Robotics Research Centre Monash University Clayton VIC Australia Department of Applied Mathematics and Computer Science Weizmann Institute of Science Rehovot Israel

ISBN: (纸本)0958758379

Controlling fnger impedance is critical for successful grasping. Understanding how humans achieve this is of great interest for learning about human motor control, as well as for applications in robotic grasping. There have been a number of studies on finger impedance in both the robotics and biological fields. They almost exclusively consider only stiffness and viscosity. However, inertia may play an important role in certain grasps, and is important for calculation of the other impedance properties. This paper reports current progress of a project to create a geometric model of the hand for predicting hand/grasp inertia at different configurations (sensed by a glove that measures joint angles) during a variety of tasks.

关键词： robotics

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