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Appointments for 2005-2006 term

IEEE Transactions on Very Large Scale Integration (VLSI) systems 2005年第7期13卷 773-782页

作者： Ranganathan, Nagarajan Agrawal, Vishwani D. Chakradhar, Srimat T. Chakrabarty, Krishnendu Courtois, Bernard DeMara, Ronald Hu, Xiaobo Sharon Ismail, Yehea I. Jha, Niraj K. John, Lizy Kurian Ker, Ming-Dou Koren, Israel Liu, Bin-Da Marculescu, Diana Marculescu, Radu Narayanan, Vijaykrishnan Nassif, Sani R. Nowick, Steven M. Sapatnekar, Sachin S. Sherlekar, Sunil Sylvester, Dennis Vemuri, Ranga Pham, Michael Department of Computer Science and Engineering University of South Florida Tampa FL 33620 United States Department of Computer Science and Engineering Nanomaterials and Nanomanufacturing Research Center University of South Florida Tampa United States IEEE United States Systems United States Department of Electrical and Computer Engineering Rutgers University New Brunswick NJ United States IETE India ACM NEC Laboratories America Inc. Princeton NJ United States Duke University Durham NC United States ACM SIGDA Sigma Xi United States Laboratory of Techniques of Informatics and Microelectronics for Computer Architectecture ASME IMAPS IEEE Computer Society University of Central Florida Orlando United States Computer Engineering Program SEECS Department of Computer Science and Engineering University of Notre Dame Notre Dame IN United States Northwestern University Evanston IL United States Department of Electrical Engineering Princeton University Princeton NJ United States Association for Computing Machinery Austin United States UT Austin Engineering Foundation United States Department of Electronics Engineering National Chiao-Tung University Taiwan Department of Electrical and Computer Engineering University of Massachusetts Amherst United States Department of Electrical Engineering Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA United States Electrical and Computer Engineering Faculty Carnegie Mellon University Pittsburgh PA United States Computer Science and Engineering Department Pennsylvania State University University Park United States IBM Austin Research Laboratory Austin TX United States Columbia University New York NY United States Department of Electrical and Computer Engineering University of Minnesota Minneapolis United States Tata Consultancy Services Centre of Excellence for Embedded Systems India Department of Electrical Engineering IIT Bombay India Department of Electrical Engineering Uni

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Exploration of underwater structures with cooperative heterogeneous robots

Exploration of underwater structures with cooperative hetero...

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OCEANS - Europe

作者： D. Spenneberg C. Waldmann R. Babb Robotics Group Department of Math. and Computer Science University of Brethemen Bremen Germany Marum Center of Marine Environmental Sciences University of Brethemen Bremen Germany Underwater Systems Laboratory Southampton Oceanography Centre Southampton UK

This paper describes ideas in the field of cooperative underwater robotics, which can considerably enhance the exploration capabilities of underwater robots. Three heterogeneous planned or existing underwater robots are presented and possible approaches for cooperative behavior are discussed. Possible application scenarios for future deployment are presented.

关键词： Underwater structures Cognitive robotics Intelligent robots Control systems Robot sensing systems Optical sensors Laboratories computer science Bridges Artificial intelligence

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PERFORMANCE-DERIVED BEHAVIOR VOCABULARIES: DATA-DRIVEN ACQUISITION OF SKILLS FROM MOTION

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International Journal of Humanoid robotics 2004年第2期1卷 237-288页

作者： JENKINS, ODEST CHADWICKE MATARIĆ, MAJA J. Robotics Research Laboratory Center for Robotics and Embedded Systems Computer Science Department University of Southern California 941 West 37th Place SAL 228 Los AngelesCA90089 United States Robotics Research Laboratory Center for Robotics and Embedded Systems Computer Science Department University of Southern California 941 West 37th Place SAL 228 Los AngelesCA90089 United States

Control for and interaction with humanoid robots is often restrictive due to limitations of the robot platform and the high dimensionality of controlling systems with many degrees of freedom. We focus on the problem of providing a "skill-level interface" for a humanoid robot. Such an interface serves as (i) a modular foundation for structuring task-oriented control, (ii) a parsimonious abstraction of motor-level control (e.g. PD-servo control), and (iii) a means for grounding interactions between humans and robots through common skill vocabularies. Our approach to constructing skill-level interfaces is two-fold. First, we propose a representation for a skill-level interface as a "behavior vocabulary," a repertoire of modular exemplar-based memory models expressing kinematic motion. A module in such a vocabulary encodes a flow field (or gradient field) in joint angle space that describes the "flow" of kinematic motion for a particular skill-level behavior, enabling prediction from a given kinematic configuration. Second, we propose a data-driven method for deriving behavior vocabularies from time-series data of human motion using spatio-temporal dimension reduction and clustering. Results from evaluating an implementation of our methodology are presented along with the application of derived behavior vocabularies as predictors towards on-line humanoid trajectory formation and off-line motion synthesis. © 2004 World Scientific Publishing Company

关键词： Kinematics

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A small submarine robot for experiments in underwater sensor networks

A small submarine robot for experiments in underwater sensor...

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IFAC/EURON Symposium on Intelligent Autonomous Vehicles

作者： Bokser, Vitaly Oberg, Carl Sukhatme, Gaurav S. Requicha, Aristides Department of Computer Science Center for Robotics and Embedded Systems University of Southern California Los AngelesCA90089 United States

This paper describes a small underwater robot designed for experiments with sensor-actuator networks. The robot is based on the mote platform, which is used extensively in the sensor networking community as an experimental testbed. The components and construction of the robot are described. Preliminary tests of depth regulation and temperature measurement are reported and analyzed. Copyright © 2004 IFAC

关键词： Sensor networks

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Motion capture from inertial sensing for untethered humanoid teleoperation

Motion capture from inertial sensing for untethered humanoid...

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IEEE-RAS International Conference on Humanoid Robots

作者： N. Miller O.C. Jenkins M. Kallmann M.J. Mataric Department of Computer Science California State University Bakersfield CA USA Center of Robotics Embedded Systems Interaction Laboratory Los Angeles CA USA

We describe the design of a modular system for untethered real-time kinematic motion capture using sensors with inertial measuring units (IMU). Our system is comprised of a set of small and lightweight sensors. Each sensor provides its own global orientation (3 degrees of freedom) and is physically and computationally independent, requiring only external communication. Orientation information from sensors is communicated via wireless to host computer for processing. We present results of the real-time usage of our untethered motion capture system for teleoperating the NASA Robonaut. We also discuss potential applications for untethered motion capture with respect to humanoid robotics.

关键词： Real time systems Sensor systems Kinematics Sensor phenomena and characterization Measurement units Motion measurement Physics computing Wireless sensor networks Wireless communication NASA

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A small submarine robot for experiments in underwater sensor networks

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IFAC Proceedings Volumes 2004年第8期37卷 239-244页

作者： Vitaly Bokser Carl Oberg Gaurav S. Sukhatme Aristides Requicha Department of Computer Science Center for Robotics and Embedded Systems University of Southern California Los Angeles CA 90089

关键词： marine & underwater systems sensor networks sensor-actuator networks multi-robot small robotic submarine

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Online simultaneous localization and mapping in dynamic environments

Online simultaneous localization and mapping in dynamic envi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： D. Wolf G.S. Sukhatme Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Department of Computer Science University of Southern California Los Angeles CA USA

We propose an on-line algorithm for simultaneous localization and mapping of dynamic environments. Our algorithm is capable of differentiating static and dynamic parts of the environment and representing them appropriately on the map. Our approach is based on maintaining two occupancy grids. One grid models the static parts of the environment, and the other models the dynamic parts of the environment. The union of the two provides a complete description of the environment over time. We also maintain a third map containing information about static landmarks detected in the environment. These landmarks provide the robot with localization. Results in simulation and with physical robots show the efficiency of our approach and show how the differentiation of dynamic and static entities in the environment and SLAM can be mutually beneficial.

关键词： Simultaneous localization and mapping embedded system Mobile robots Object detection computer science Robot localization Testing Performance evaluation Bayesian methods

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Constrained coverage for mobile sensor networks

Constrained coverage for mobile sensor networks

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IEEE International Conference on robotics and Automation (ICRA)

作者： S. Poduri G.S. Sukhatme Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Department of Computer Science University of Southern California Los Angeles CA USA

We consider the problem of self-deployment of a mobile sensor network. We are interested in a deployment strategy that maximizes the area coverage of the network with the constraint that each of the nodes has at least K neighbors, where K is a user-specified parameter. We propose an algorithm based on artificial potential fields which is distributed, scalable and does not require a prior map of the environment. Simulations establish that the resulting networks have the required degree with a high probability, are well connected and achieve good coverage. We present analytical results for the coverage achievable by uniform random and symmetrically tiled network configurations and use these to evaluate the performance of our algorithm.

关键词： Mobile robots Sensor systems Robot sensing systems embedded system Taxonomy Laboratories computer science Mobile computing Global Positioning System Fires

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Using a sensor network for distributed multi-robot task allocation

Using a sensor network for distributed multi-robot task allo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.A. Batalin G.S. Sukhatme Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Computer Science Department University of Southern California Los Angeles CA USA

We present a multi field distributed in-network task allocation (DINTA-MF) algorithm for online multi-robot task allocation (OMRTA) where tasks are allocated explicitly to robots by a pre-deployed, static sensor network. The idea of DINTA-MF is to compute several assignment fields in the sensor network and then distributively assign fields to different robots. Experimental results with a simulated alarm scenario show that our approach is able to compute solutions to the OMRTA problem in a distributed fashion and arguably in an optimal way. We compared DINTA-MF with a simpler implementation (DINTA), which uses one assignment field. The data show that DINTA-MF outperforms DINTA as the number of robots increases.

关键词： Robot sensing systems Navigation computer networks Mobile robots embedded system Distributed computing Wireless sensor networks Laboratories computer science Sensor systems

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Mobile robot navigation using a sensor network

Mobile robot navigation using a sensor network

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.A. Batalin G.S. Sukhatme M. Hattig Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Computer Science Department University of Southern California Los Angeles CA USA Open Source Robotics Intel Corporation Hillsboro OR USA

We describe an algorithm for robot navigation using a sensor network embedded in the environment. Sensor nodes act as signposts for the robot to follow, thus obviating the need for a map or localization on the part of the robot. Navigation directions are computed within the network (not on the robot) using value iteration. Using small low-power radios, the robot communicates with nodes in the network locally, and makes navigation decisions based on which node it is near. An algorithm based on processing of radio signal strength data was developed so the robot could successfully decide which node neighborhood it belonged to. Extensive experiments with a robot and a sensor network confirm the validity of the approach.

关键词： Mobile robots Robot sensing systems Orbital robotics Radio navigation embedded system Sensor phenomena and characterization computer networks Motion planning State-space methods Mobile communication

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