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International Joint Conference on Neural Networks (IJCNN)

作者： S. Lee R.M. Kil Department of Electrical Engineering-Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

The authors present a novel method of accomplishing robot kinematic control based on a bidirectional mapping neural network (BMNN). The BMNN constructed is composed of a multilayer feedforward network with hidden units having sinusoidal activation functions and a feedback network forming a recurrent loop around the feedforward network. The feedforward network can be trained to accurately represent the forward kinematic equations of a robot arm. The feedback network iteratively generates joint-angle updates based on a Lyapunov function to modify the current joint angles in such a way that the output of the forward network converges to the desired Cartesian position and orientation. The proposed BMNN offers the following advantages over the conventional approaches: (1) the accurate computation of robot forward and inverse kinematic solutions with simple training; (2) the ability to handle one-too-many inverse mapping required for redundant arm kinematics solutions; and (3) the automatic generation of arm trajectories. Simulation results are shown

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Man/robot Interactive And Cooperative System For The Cognitively Disabled

Man/robot Interactive And Cooperative System For The Cogniti...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Suk-han Lee Institute for Robotics and Intelligent Systems Department of Electrical Engineering University of Southern California Los Angeles CA USA

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Object recognition using geometric hashing on the Connection Machine

Object recognition using geometric hashing on the Connection...

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International Conference on Pattern Recognition

作者： O. Bourdon G. Medioni Institute for Robotics and Intelligent Systems Department of Electrical Engineering University of Southern California Los Angeles CA USA

A parallel implementation of a system to recognize 2D objects under realistic scenarios (occlusion, rotation, translation, and perspective) is presented. A preprocessing phase and a recognition phase are used. Both ph... 详细信息

关键词： Object recognition Layout Intelligent robots Polynomials Solid modeling Feature extraction Parallel robots Intelligent systems Machine intelligence Sun

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IROS: an intelligent rehabilitative orthotic system for cerebrovascular accident

IROS: an intelligent rehabilitative orthotic system for cere...

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IEEE International Conference on systems, Man and Cybernetics

作者： S. Lee A. Agah G. Bekey Institute for Robotics and Intelligent Systems Department of Electrical Engineering University of Southern California Los Angeles CA USA Institute for Robotics and Intelligent Systems Department of Computer Science University of Southern California Los Angeles CA USA

An intelligent externally powered orthotic system (exoskeleton) for the treatment of motor dysfunctions of the upper extremities of stroke patients is described. IROS is an interactive and cooperative human-machine system, with both controlling the human arm. Initially, the machine is the main controller of the arm. As the patient improves, the human control of the arm increases, and the machine control of the arm decreases. The system combines the skills of professional therapists with a sensor-integrated orthosis and a real-time graphics system to ensure proper interaction and cooperation with the patient in order to achieve the goals of therapy. It uses the expertise of the therapists, which is incorporated into its knowledge system, while monitoring the sensory information from the patient, including the force, motion, and electromyogram (EMG) signals. The treatment-related tasks are displayed on the real-time graphic system to increase the interest and enhance the motivation of the patient. Such a system can be used to improve the rehabilitation process for stroke patients.< >

关键词： Intelligent systems Orthotics Medical treatment Machine intelligence Humans Real time systems Graphics Exoskeletons Extremities Man machine systems

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Trajectory synthesis and physical admissibility for a biped robot during the single-support phase

Trajectory synthesis and physical admissibility for a biped ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： C.L. Shih Y.Z. Li S. Churng T.T. Lee W.A. Gruver Center for Robotics and Manufacturing Systems University of Kentucky Lexington KY USA Department of Electrical Engineering National Taiwan Institute of Technology Taipei Taiwan

The synthesis and verification of biped walking trajectories during the single-support phase is discussed. The biped is modeled as a seven-link twelve degree-of-freedom anthropomorphic robot. By utilizing the zero moment point (ZMP) and the equivalent force-moment, the physical admissibility of the biped walking is characterized. For physically realizable walking during the single-support phase, the trajectory of the ZMP on the ground must be inside the stable region of the supporting sole. A biped walking trajectory specified by eight pattern parameters is derived through inverse kinematics. ZMP trajectories for different walking patterns and the influence of the pattern parameters on the ZMP trajectories are presented.< >

关键词： Robots Legged locomotion Leg Trajectory Kinematics Gravity Stability Feedback control Manufacturing systems Anthropomorphism

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Towards an understanding of camera fixation

Towards an understanding of camera fixation

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IEEE International Conference on robotics and Automation (ICRA)

作者： D. Raviv M. Herman Robotics Center and The Electrical Engineering Department Florida Atlantic University Boca Raton FL USA Sensory Intelligence Group Robert Systems Division National Institute for Standards and Technology Gaithersburg MD USA

A fixation point is a point in 3-D space that projects to zero optical flow in an image over some period of time while the camera is moving. Quantitative aspects of fixation for a static scene are treated. For the case where the rotation axis of the camera is perpendicular to the instantaneous translation vector, it is shown that there is an infinite number of points that produce zero instantaneous optical flow. These points lie on a circle (called the zero flow circle, or ZFC) and a line. The ZFC changes its location and radius as a function of time, and the intersection of all the ZFCs is a fixation point. Points inside the ZFC produce optical flow that is opposite in sign to those that are outside the ZFC. This fact explains in a more quantitative way phenomena due to fixation. In particular, points in the neighborhood of the fixation point may change the sign of their optical flow as the camera moves. In a set of experiments, it is shown how the concept of the ZFC can be used to explain the optical flow produced by 3-D points near the fixation point.< >

关键词： Cameras Image motion analysis Intelligent robots Optical sensors Robot sensing systems NIST Robot vision systems Intelligent systems Intelligent sensors Orbital robotics

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Time dilation visualization in relativity 90

Time dilation visualization in relativity

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Proceedings of the 1990 ACM/IEEE conference on Supercomputing

作者： Ping-Kang Hsiung Robert H. Thibadeau Christopher B. Cox Robert H. P. Dunn Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh Pennsylvania Imaging Systems Laboratory The Robotics Institute Carnegie Mellon University Pittsburgh Pennsylvania Department of Physics Carnegie Mellon University Pittsburgh Pennsylvania Department of Art Carnegie Mellon University Pittsburgh Pennsylvania

ISBN: (纸本)9780897914123

This work extends our previous effort in visualizing the spatial aspect of relativistic effects, and treats the phenomenon of time dilation; an inherent temporal effect of special ***, we demonstrate through still-frame images and live animations that in observing the viewing independent time dilation, the finite light transit time involved in performing the observation makes the observed time dilation also depend on the viewing *** we introduce the physics of special relativity into ray-tracing and make time to pass as a ray travels through space, we are able to link the spatial and temporal dimensions in a fundamental and consistent way in our simulations, and generate images that reveal the spatial and temporal properties of the 4D geometry of *** exploration highlights the interplay of the imaging process and the imaged physical events in producing the final images. It reveals a richly detailed physical reality which the mathematical language of thought experiment in relatively does not directly provide.

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Time dilation visualization in relativity

Time dilation visualization in relativity

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Supercomputing Conference

作者： P.-K. Hsiung R.H. Thibadeau C.B. Cox R.H.P. Dunn Department of Electrical & Computer Engineering Carnegie Mellon University Pittsburgh PA USA Imaging Systems Laboratory The Robotics Institute Carnegie Mellon University Pittsburgh PA USA Department of Physics Carnegie Mellon University Pittsburgh PA USA Department of Art Carnegie Mellon University Pittsburgh PA USA

The authors extend their previous effort in visualizing the spatial aspect of relativistic effects, and treat the phenomenon of time dilation, an inherent temporal effect of special relativity. Here, the authors demonstrate through still-frame images and live animations that, in observing the viewing-independent time dilation, the finite light transit time involved in performing the observation makes the observed time dilation also depend on the viewing condition. As the authors introduce the physics of special relativity into ray-tracing and make time to pass as a ray travels through space, they are able to link the spatial and temporal dimensions in a fundamental and consistent way in their simulations, and generate images that reveal the spatial and temporal properties of the 4D geometry of spacetime. The present exploration highlights the interplay of the imaging process and the imaged physical events in producing the final images.< >

关键词： Visualization Physics Time measurement Ray tracing Space exploration Geometry Clocks Laboratories Orbital robotics Motion measurement

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DUAL REDUNDANT ARM CONFIGURATION OPTIMIZATION WITH TASK-ORIENTED DUAL ARM MANIPULABILITY

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IEEE TRANSACTIONS ON robotics AND AUTOMATION 1989年第1期5卷 78-97页

作者： LEE, S Department of Electrical Engineering-Systems the Institute of Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

It is shown that the required motion and force trajectories of a given task can be abstracted by a series of desired manipulability ellipsoids and that task-oriented dual-arm manipulability (TODAMM) can be mathematically defined by quantifying how the manipulability of one arm affects the other and measuring the geometrical closeness between the desired and the actual manipulability ellipsoids. TODAMM can be used in the optimization of dual-arm joint configurations. The task-oriented manipulability measure (TOMM) developed can also be used in the joint configuration optimization of a single arm, providing efficient joint configurations in terms of joint motions and joint torques for the required Cartesian motions and static forces. The dual-arm joint configuration optimization based on TODAMM can be applied to a variety of asks which require dual-arm cooperation.< >

关键词： Motion control Ellipsoids Arm Force control Volume measurement Fixtures Robot kinematics Intelligent robots Shape

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ADAPTIVE MULTISCALE FEATURE-EXTRACTION FROM RANGE DATA

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COMPUTER VISION GRAPHICS AND IMAGE PROCESSING 1989年第3期45卷 346-356页

作者： PARVIN, B MEDIONI, G Institute of Robotics and Intelligent Systems Department of Electrical Engineering Powel Hall 233 University of Southern California Los Angeles California 90089-0272 USA

We present a method to extract meaningful features from range images which introduces some novel ideas: Firstm our primitives are a richer set than the usual one, as we not only extract high frequences events, which correspond to jump boundaries and sharp creases, but also low frequency events such as smooth ridges and ravines. These last features are generally discarded as they tend to hide in noise; however, they provide a coarse descriotion of the shape, and we believe they may help in inferring volumetric description. The method works at multiple scales to improve reliability, and we have designed a control strategy to automatically select the most appropriate mask size. We present results on images of different levels of complexity from three different sensors.

关键词： Image Processing

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