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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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Shape driven kernel adaptation in Convolutional Neural Network for robust facial trait recognition

Shape driven kernel adaptation in Convolutional Neural Netwo...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Shaoxin Li Junliang Xing Zhiheng Niu Shiguang Shan Shuicheng Yan Department of Electrical and Computer Engineering National University of Singapore Singapore Key Lab of Intelligent Information Processing of Chinese Academy of Sciences (CAS) Institute of Computing Technology CAS Beijing China National Laboratory of Pattern Recognition Institute of Automation CAS Beijing China

ISBN: (纸本)9781467369657

One key challenge of facial trait recognition is the large non-rigid appearance variations due to some irrelevant real world factors, such as viewpoint and expression changes. In this paper, we explore how the shape information, i.e. facial landmark positions, can be explicitly deployed into the popular Convolutional Neural Network (CNN) architecture to disentangle such irrelevant non-rigid appearance variations. First, instead of using fixed kernels, we propose a kernel adaptation method to dynamically determine the convolutional kernels according to the spatial distribution of facial landmarks, which helps learning more robust features. Second, motivated by the intuition that different local facial regions may demand different adaptation functions, we further propose a tree-structured convolutional architecture to hierarchically fuse multiple local adaptive CNN subnetworks. Comprehensive experiments on WebFace, Morph II and MultiPIE databases well validate the effectiveness of the proposed kernel adaptation method and tree-structured convolutional architecture for facial trait recognition tasks, including identity, age and gender recognition. For all the tasks, the proposed architecture consistently achieves the state-of-the-art performances.

关键词： Kernel Shape Face Face recognition Robustness Neural networks computer architecture

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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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A p300 model for cerebot - A mind-controlled humanoid robot 2

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2nd International Conference on Robot Intelligence Technology and Applications, RiTA 2013

作者： Li, Mengfan Li, Wei Zhao, Jing Meng, Qinghao Zeng, Ming Chen, Genshe Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin300072 China Department of Computer & Electrical Engineering and Computer Science California State University BakersfieldCA93311 United States Intelligent Fusion Technology Inc. GermantownMD20876 United States

ISBN: (纸本)9783319055817

In this paper, we present a P300 model for control of Cerebot - a mind-controlled humanoid robot, including a procedure of acquiring P300 signals, topographical distribution analysis of P300 signals, and a classification approach to identifying subjects’ mental activities regarding robot-walking behavior. We design two groups of image contexts to visually stimulate subjects when acquiring neural signals that are used to control a simulated or real NAO robot. Our study shows that the group of contexts using images of robot behavior delivers better performance. © Springer International Publishing Switzerland 2014.

关键词： Anthropomorphic robots

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Zinc oxide/copper oxide heterogeneous nanowire preparation and application in UV sensor 14

Zinc oxide/copper oxide heterogeneous nanowire preparation a...

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2014 14th IEEE International Conference on Nanotechnology, IEEE-NANO 2014

作者： Wei, Fanan Liu, Lianqing Li, Guangyong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh15261 United States

ISBN: (纸本)9781479956227

In this paper, we investigate the hydrothermal synthesis of zinc oxide (ZnO)/copper oxide (CuO) heterojunction nanostructures. Uniform ZnO nanowires are grown on ITO slides with the sophisticated hydrothermal approach. By changing the anions in the copper ion source solution, different CuO structures are grown on ZnO nanowires. With copper chloride as reactant, spike-like structure is obtained. While leaf like structure is grown when copper nitrate is used. Copper sulfate leads to CuO nanobelt. And copper acetate results into similar structure with copper chloride. Then, the application of the heterogeneous nanostructure in UV light sensing is tested. Furthermore, single ZnO/CuO heterojunction nanowire is assembled between the electrodes to fabricate single nanowire based P-N junction. © 2014 IEEE.

关键词： Heterojunctions

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Viewpoint selection for vision systems in industrial inspection

Viewpoint selection for vision systems in industrial inspect...

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IEEE International Conference on robotics and automation (ICRA)

作者： Jose Luis Alarcon-Herrera Xiang Chen Xuebo Zhang Department of Electrical and Computer Engineering University of Windsor Windsor Ontario Canada Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China

An automatic method for solving the problem of view planning in high-resolution industrial inspection is presented. The method's goal is to maximize the visual coverage, and to minimize the number of cameras used for inspection. Using a CAD model of the object of interest, we define the scene-points and the viewpoints, with the later being the solution space. The problem formulation accurately encapsulates all the vision- and task-related requirements of the design process for inspection systems. We use a graph-based approach to formulate a solution for the problem. The solution is implemented as a greedy algorithm, and the method is validated through experiments.

关键词： Cameras Inspection Lenses Solid modeling Visualization Image resolution Robot vision systems

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An automated thermographic image segmentation method for induction motor fault diagnosis

An automated thermographic image segmentation method for ind...

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作者： Karvelis, Petros Georgoulas, George Stylios, Chsysostomos D. Tsoumas, Ioannis P. Antonino-Daviu, Jose Alfonso Rodenas, Maria Jose Picazo Climente-Alarcon, Vicente Laboratory of Knowledge and Intelligent Computing Technological Educational Institute of Epirus Department of Computer Engineering Arta Greece Larges Drives Products RandD Department Siemens Industry Sector - Drive Technologies Nuremberg Germany Instituto de Ingeniería Energética Universitat Politècnica de València Valencia Spain Department of Electrical Engineering and Automation Aalto University Espoo Finland

ISBN: (纸本)9781479940325

Eventual failures in induction machines may lead to catastrophic consequences in terms of economic costs for the companies. The development of reliable systems for fault detection that enable to diagnose a wide range of faults is a motivation of many researchers worldwide. In this context, non-invasive condition monitoring strategies have drawn special attention since they do not require interfering with the operation process of the machine. Though the analysis of the motor currents has proven to be a reliable, non-invasive methodology to detect some of the faults (especially when assessing the rotor condition), it lacks reliability for the diagnosis of other faults (e.g. bearing faults). The infrared thermography has proven to be an excellent, non-invasive tool that can complement the diagnosis reached with the motor current analysis, especially for some specific faults. However, there are still some pending issues regarding its application to induction motor faults diagnosis, such as the lack of automation or the extraction of reliable fault indicators based on the infrared data. This paper proposes a methodology that intends to provide a solution to the first issue: a method based on image segmentation is employed to detect several failures in an automated way. Four specific faults are analyzed: bearing faults, fan failures, rotor bar breakages and stator unbalance. The results show the potential of the technique to automatically identify the fault present in the machine. © 2014 IEEE.

关键词： Image segmentation

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Decoding of Intentional Actions from Scalp Electroencephalography (EEG) in Freely-behaving Infants

Decoding of Intentional Actions from Scalp Electroencephalog...

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

作者： Zachery R. Hernandez Jesus Cruz-Garza Teresa Tse Jose L. Contreras-Vidal Non-Invasive Brain-Machine Interface Systems Laboratory at the Department of Electrical and Computer Engineering University of Houston (UH) Center for Robotics and Intelligent Systems Tecnologico de Monterrey

ISBN: (纸本)9781424479276

The mirror neuron system (MNS) in humans is thought to enable an individual's understanding of the meaning of actions performed by others and the potential imitation and learning of those actions. In humans, electroencephalographic (EEG) changes in sensorimotor a-band at central electrodes, which desynchronizes both during execution and observation of goal-directed actions (i.e., μ suppression), have been considered an analog to MNS function. However, methodological and developmental issues, as well as the nature of generalized μ suppression to imagined, observed, and performed actions, have yet to provide a mechanistic relationship between EEG μ-rhythm and MNS function, and the extent to which EEG can be used to infer intent during MNS tasks remains unknown. In this study we present a novel methodology using active EEG and inertial sensors to record brain activity and behavioral actions from freely-behaving infants during exploration, imitation, attentive rest, pointing, reaching and grasping, and interaction with an actor. We used δ-band (1-4Hz) EEG as input to a dimensionality reduction algorithm (locality-preserving Fisher's discriminant analysis, LFDA) followed by a neural classifier (Gaussian mixture models, GMMs) to decode the each MNS task performed by freely-behaving 6-24 month old infants during interaction with an adult actor. Here, we present results from a 20-month male infant to illustrate our approach and show the feasibility of EEG-based classification of freely occurring MNS behaviors displayed by an infant. These results, which provide an alternative to the μ-rhythm theory of MNS function, indicate the informative nature of EEG in relation to intentionality (goal) for MNS tasks which may support action-understanding and thus bear implications for advancing the understanding of MNS function.

关键词： Electroencephalography Scalp Acceleration Training Coherence Electrodes Testing

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Optimization for 3D Model-based Multi-Camera Deployment

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IFAC Proceedings Volumes 2014年第3期47卷 10126-10131页

作者： Xuebo Zhang Jose Luis Alarcon-Herrera Xiang Chen Department of Electrical and Computer Engineering University of Windsor Windsor ON N9B 3P4 Canada Institute of Robotics and Automatic Information System(IRAIS) and Tianjin Key Laboratory of Intelligent Robotics (tjKLIR) Nankai University Tianjin 300071 China

Based on convex optimization techniques, we propose a new multi-camera deployment method for optimal visual coverage of a three-dimensional (3D) object surface. Different from existing methods, the optimal placement of a single camera is formulated as two convex optimization problems, given a set of covered triangle faces. Moreover, this idea is incorporated into a recursive framework to expand the covered area for each camera, wherein initially covered triangle faces are elegantly chosen using an importance criterion for the first recursion. By placing cameras one by one using the same method, the object surface is gradually covered by iteratively removing the covered partition of the previously deployed camera. Due to the usage of convex optimization, each camera is guaranteed to be placed at an optimal pose for a group of triangle faces other than a single one. This merit, together with the importance criterion-based selection of initially covered triangle faces, reduces the number of required cameras while satisfying various constraints including the resolution, field of view, focus and occlusion. Simulation results on two real 3D computer-aided design (CAD) models are presented to verify the effectiveness of the proposed approach.

关键词： Multi-camera deployment convex optimization

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Flexible triangular formation keeping of marine robotic vehicles using range measurements 19

Flexible triangular formation keeping of marine robotic vehi...

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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Rego, Francisco Soares, Jorge M. Pascoal, António Aguiar, A. Pedro Jones, Colin Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

ISBN: (纸本)9783902823625

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation. © IFAC.

关键词： Vehicle performance

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