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International Conference on Advanced robotics (ICAR)

作者： Tomáš Krajník Matías Nitsche Jan Faigl Tom Duckett Marta Mejail Libor Přeučil University of Lincoln Lincoln Lincolnshire GB Lab. of Robotics and Emb. Systems Univ. of Buenos Aires Argentina Dpt. of Computer Science and Engineering FEE Czech Technical Univ. in Prague Lincoln Centre for Autonomous Systems Univ. of Lincoln United Kingdom Intelligent and Mobile Robotics Group FEE Czech Technical Univ. in Prague

We present a fast and precise vision-based software intended for multiple robot localization. The core component of the proposed localization system is an efficient method for black and white circular pattern detection. The method is robust to variable lighting conditions, achieves sub-pixel precision, and its computational complexity is independent of the processed image size. With off-the-shelf computational equipment and low-cost camera, its core algorithm is able to process hundreds of images per second while tracking hundreds of objects with millimeter precision. We propose a mathematical model of the method that allows to calculate its precision, area of coverage, and processing speed from the camera's intrinsic parameters and hardware's processing capacity. The correctness of the presented model and performance of the algorithm in real-world conditions are verified in several experiments. Apart from the method description, we also publish its source code; so, it can be used as an enabling technology for various mobile robotics problems.

关键词： Cameras Three-dimensional displays Robots Mathematical model Estimation Equations Detectors

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Legged robot locomotion based on free vibration

Legged robot locomotion based on free vibration

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2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012

作者： Iida, Fumiya Reis, Murat Maheshwari, Nandan Gunura, Keith Hauser, Simon Bio-Inspired Robotics Lab Institute of Robotics and Intelligent Systems ETH Zurich Leonhardstrasse 27 8092 Zurich Switzerland

ISBN: (纸本)9781457710711

Behavioral performances of our legged robots are still far behind those of biological systems. Energy efficiency and locomotion velocity of our robots, for example, are orders of magnitude lower than those of animals, and in order to fill the gap, it requires a radically new approach in the design and control processes. From this perspective, we have been exploring a novel approach to design and control of legged robots which makes use of free vibration of elastic curved beams. We found that this approach not only simplifies the design and manufacturing processes of locomotion robots, but also substantially improves their energy efficiency, which is comparable to those of animals. In this paper, we explain the novelty and principles of this approach through the four representative case studies that we have been exploring, and discuss challenges and perspectives toward the future. © 2012 IEEE.

关键词： Animals

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A manually-actuated MRI compatible robotic manipulator for image-guided interventions

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Physica Medica 2014年 30卷 e55-e56页

作者： Eftychios G. Christoforou Christoforos Keroglou Andrew Webb Nikolaos V. Tsekos Ioannis Seimenis KIOS Research Center for Intelligent Systems and Networks University of Cyprus Cyprus Department of Electrical and Computer Engineering University of Cyprus Cyprus C.J. Gorter Center for High Field MRI Leiden University Medical Center Leiden Netherlands Medical Robotics Laboratory University of Houston Houston TX USA Med. Physics Lab Medical School Democritus University of Thrace Alexandroupolis Greece

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Activity recognition in wide aerial video surveillance using entity relationship models 12

Activity recognition in wide aerial video surveillance using...

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20th ACM SIGSPATIAL International Conference on Advances in Geographic Information systems, ACM SIGSPATIAL GIS 2012

作者： Choi, Jongmoo Dumortier, Yann Prokaj, Jan Medioni, Gérard Computer Vision Lab. Institute for Robotics and Intelligent Systems University of Southern California United States

ISBN: (纸本)9781450316910

We present the design and implementation of an activity recognition system in wide area aerial video surveillance using Entity Relationship Models (ERM). In this approach, finding an activity is equivalent to sending a query to a Relational DataBase Management System (RDBMS). By incorporating reference imagery and Geographic Information System (GIS) data, tracked objects can be associated with physical meanings, and several high levels of reasoning, such as traffic patterns or abnormal activity detection, can be performed. We demonstrate that different types of activities, with hierarchical structure, multiple actors, and context information, are effectively and efficiently defined and inferred using the ERM framework. We also show how visual tracks can be better interpreted as activities by using geo information. Experimental results on both real visual tracks and GPS traces validate our approach. © 2012 Authors.

关键词： Security systems

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Multi-robot Task Allocation for Search and Rescue Missions

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Journal of Physics: Conference Series 2014年第5期570卷

作者： Ahmed Hussein Mohamed Adel Mohamed Bakr Omar M Shehata Alaa Khamis Intelligent Systems Lab (LSI) Research Group Universidad Carlos III de Madrid (UC3M) Av. de la Universidad 30 28911 Madrid Spain Robotics and Autonomous Systems (RAS) Research Group German University in Cairo (GUC) 5th settlement – New Cairo 11432 Cairo Egypt Engineering Science Department Suez University Egypt and Vestec. Inc. 125 Northfield Drive West Waterloo N2L 6N8 Canada

Many researchers from academia and industry are attracted to investigate how to design and develop robust versatile multi-robot systems by solving a number of challenging and complex problems such as task allocation, group formation, self-organization and much more. In this study, the problem of multi-robot task allocation (MRTA) is tackled. MRTA is the problem of optimally allocating a set of tasks to a group of robots to optimize the overall system performance while being subjected to a set of constraints. A generic market-based approach is proposed in this paper to solve this problem. The efficacy of the proposed approach is quantitatively evaluated through simulation and real experimentation using heterogeneous Khepera-III mobile robots. The results from both simulation and experimentation indicate the high performance of the proposed algorithms and their applicability in search and rescue missions.

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A force-distance model of humanoid arm withdrawal reflexes

A force-distance model of humanoid arm withdrawal reflexes

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Joint of the 13th Annual Conference on Towards Autonomous Robotic systems, TAROS 2012 and the 15th Annual FIRA RoboWorld Congress

作者： Dahl, Torbjørn S. Paraschos, Alexandros Cognitive Robotics Research Centre University of Wales Newport United Kingdom Intelligent Autonomous Systems Lab. Technische Universitaet Darmstadt Germany

ISBN: (纸本)9783642325267

This paper presents the force-distance model of humanoid robot arm withdrawal reflexes. The model was developed in order to provide humanoid robots with a generic withdrawal reflex that could complement other robot safety mechanisms based on collision avoidance, reduced momentum, and compliance. The model goes beyond existing work on withdrawal behaviours by studying reflexes for arbitrary poses on a humanoid robots. It is inspired by a human withdrawal reflex trigger mechanism, the reflex receptive field and the withdrawal motions in the model are based on human reflex motion data. The model is implemented on a Nao humanoid robot with its upper and lower arms covered in a custom made tactile skin sensor. The efficiency of the resulting reflexes is analysed in terms of the distance the stimulation point on the robot is moved away from the spacial point of impact and in terms of whether the robot collides with itself during the expression of the reflex. © 2012 Springer-Verlag.

关键词： Anthropomorphic robots

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Recent advances on the energy management of a Hybrid Electric vehicle

Recent advances on the energy management of a Hybrid Electri...

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2012 20th Mediterranean Conference on Control and Automation, MED 2012

作者： Efstathiou, D.S. Petrou, A.K. Spanoudakis, P. Tsourveloudis, N.C. Valavanis, K.P. Intelligent Systems and Robotics Lab Technical University of Crete Chania Greece Machine Tools Laboratory Technical University of Crete Chania Greece Department of Electrical and Computer Engineering University of Denver Denver CO 80208 United States

ISBN: (纸本)9781467325318

This paper presents new innovative subsystems of the ER11 prototype urban vehicle which is powered by hydrogen fuel cells and ultra-capacitors. The subsystems described here are: 1) the energy management system, which is responsible for the optimization of the fuel efficiency and the increased mileage of the vehicle, 2) the driver's monitoring and control panel and 3) the power transmission system, which offers the possibility of continuous change of gear. The powertrain of the test-bed vehicle consists of an electric motor, a fuel (H2) cell system, an ultra-capacitor bank and a DC/DC converter. Testing verified that the proposed energy management system is benefitted by the variable transmission of power leading to less fuel consumption. © 2012 IEEE.

关键词： Hybrid vehicles

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Linear Multi-Modal Actuation Through Discrete Coupling

Linear Multi-Modal Actuation Through Discrete Coupling

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IEEE/RSJ International Conference on intelligent robotics and systems

作者： Derek Leach Fabian Günther Nandan Maheshwari Fumiya Iida Bio-Inspired Robotics Lab Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Leonhardstrasse 27 CH-8092 Zurich Switzerland

ISBN: (纸本)9781467317375

Due to technological limitations robot actuators are often designed for specific tasks with narrow performance goals, whereas a wide range of output and behaviours is necessary for robots to operate autonomously in uncertain complex environments. We present a design framework that employs dynamic couplings in the form of brakes and clutches to increase the performance and diversity of linear actuators. The couplings are used to switch between a diverse range of discrete modes of operation within a single actuator. We also provide a design solution for miniaturized couplings that use dry friction to produce rapid switching and high braking forces. The couplings are designed so that once engaged or disengaged no extra energy is consumed. We apply the design framework and coupling design to a linear series elastic actuator (SEA) and show that this relatively simple implementation increases the performance and adds new behaviours to the standard design. Through a number of performance tests we are able to show rapid switching between a high and a low impedance output mode;that the actuator's spring can be charged to produce short bursts of high output power;and that the actuator has additional passive and rigid modes that consume no power once activated. Robots using actuators from this design framework would see a vast increase in their behavioural diversity and improvements in their performance not yet possible with conventional actuator design.

关键词： Discrete Coupling clutches improvements actuators Clutch Size Clutches Couplings Robot Braking operation mode Output power DESIGN CRITERIA Brake dry friction

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A multiple feature fusion model for image segmentation based on hierarchical visual pathway

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Advances in Information Sciences and Service Sciences 2012年第8期4卷 274-282页

作者： Hu, Dekun Li, Jianping Yang, Simon X. Gregori, Stefano School of Computer Science and Engineering University of Electronic Science and Technology of China China Advanced Robotics and Intelligent Systems Lab School of Engineering University of Guelph Canada

To segment an object from its background in an image for advanced vision processing, this paper presents a novel bio-inspired general framework for image segmentation in complex nature scenes, which is a hierarchical system that mimics the organization of layered early visual area in primate visual cortex. The proposed methodology consists of two typical stages: the first stage is a parallel modular structure including three segmenting operators based on color feature, form feature and texture feature, each of which solves the segmentation problem independently for the same input. Then, a fusion operation, multiple feature fusion segmentation (MFFS), integrates these three feature segmentations together through the backpropagation neuron network (BPNN) in the last stage, which simulates the operation of area following the lateral geniculate nucleus in primary visual cortex. The proposed approach is applied to several segmentation experiments of many single objects in clustering conditions, the result shows that the approach is capable of competing with state-of-the-art systems.

关键词： Neural networks

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A Unified Representation for Reasoning about Robot Actions, Processes, and their Effects on Objects

A Unified Representation for Reasoning about Robot Actions, ...

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IEEE/RSJ International Conference on intelligent robotics and systems

作者： Moritz Tenorth Michael Beetz Intelligent Robotics and Communications Lab ATR Kyoto Japan Intelligent Autonomous Systems/Artificial Intelligence Department of Computer Science and Centre for Computing Technologies (TZI) University of Bremen Germany

ISBN: (纸本)9781467317375

Mobile manipulation robots are becoming more and more common and begin to extend their task spectrum towards more general housework activities. The sequence of actions needed to accomplish such tasks can be obtained from instructions on the Internet originally written for humans. While giving valuable information about the types of actions and some of their parameters, these instructions usually lack information that humans consider to be obvious. In this paper, we investigate how we can equip robots with sufficient knowledge and inference mechanisms to competently detect and fill such knowledge gaps in descriptions of everyday activities. We present methods for projecting the effects of actions and processes, for inferring action parameters like the objects and locations to be used, and introduce representations for reasoning about object transformations resulting from the effects of actions.

关键词： their Effects some introduce representations Reasoning Robot Action EFFECTS OF THE ACTION Inference mechanisms instruction Human information-type

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