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检索条件"机构=LARSyS: Laboratory for Robotics and Systems in Engineering and Science"

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Deposition of carbon nanoparticles using optically induced dielectrophoretic force

Deposition of carbon nanoparticles using optically induced d...

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International Solid-State Sensors, Actuators and Microsystems Conference

作者： Wang, S.E. Dong, Z.L. Qu, Y.L. Lee, G.B. Li, W.J. State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang China Graduate University Chinese Academy of Sciences China Department of Engineering Science National Cheng Kung University Taiwan Centre for Micro and Nano Systems Chinese Univerisity of Hong Kong Hong Kong

ISBN: (纸本)9781457701573

A new method which allows assembly of carbon nanoparticles (CNPs) into predesigned patterns by using optically induced dielectrophoretic (ODEP) force is presented in this study. Theoretical analysis of ODEP working principle and operational regimes are investigated. Moreover, experimental parameters including AC frequency and solution conductivity are optimized for manipulating micro/nano particles. Finally, experimental results clearly demonstrate that CNP patterns and arrays with arbitrary geometry (including a 16×16 array covering an area of 0.4×0.4 mm2) can be successfully realized. Our results proved that ODEP is a highly-effective, low-cost, reconfigurable, and parallel manipulating approach for potential applications in fabricating CNPs sensors and micro-printing. © 2011 IEEE.

关键词： Nanoparticles

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System design and implementation of social interactive robot Nancy

System design and implementation of social interactive robot...

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International Conference on Information sciences and Interaction sciences (ICIS)

作者： Shuzhi Sam Ge Chun Fui Liew Yanan Li Institute of Intelligent Systems University of Electronic Science and Technology Chengdu China Social Robotics Laboratory Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore Social Robotics Laboratory Interactive Digital Media Institute and NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore

This paper presents a social interactive robot Nancy that has been developed in Social robotics laboratory, National University of Singapore. Fundamentally different from factory robots, Nancy's design focuses on social interaction and social intelligent system. The design objectives and consideration are examined in the beginning, followed by the description of hardware and software architectures. Contrast to current existing social robots, Nancy has a graphical user interface (GUI), which acts as an additional channel for human-robot interaction. This GUI helps users to have a better understanding of Nancy's internal states and hence make users feel more comfortable during the interaction with Nancy. Visitors' interaction experience with Nancy is discussed together with Nancy's social skills.

关键词： Robots Graphical user interfaces Servomotors Speech Universal Serial Bus Face Hardware

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Persistent Ocean Monitoring with Underwater Gliders: Towards Accurate Reconstruction of Dynamic Ocean Processes

Persistent Ocean Monitoring with Underwater Gliders: Towards...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Ryan N. Smith Mac Schwager Daniela Rus Stephen L. Smith Gaurav S. Sukhatme School of Engineering Systems at the Queensland University of Technology BrisbaneQLD4000 Australia GRASP Lab University of PennsylvaniaPhiladelphiaPA 19104USA Distributed Robotics Lab Computer Science and Artificial Intelligence LaboratoryMassachusetts Insti Robotic Embedded Systems Laboratory Department of Computer ScienceUniversity of Southern California

This paper proposes a path planning algorithm and a velocity control algorithm for underwater gliders to persistently monitor a patch of ocean. The algorithms address a pressing need among ocean scientists to collect high-value data for studying ocean events of scientific and environmental interest, such as the occurrence of harmful algal blooms. The path planner optimizes a cost function that blends two competing factors: it maximizes the information value of the path, while minimizing the deviation from the path due to ocean currents. The speed control algorithm then optimizes the speed along the planned path so that higher resolution samples are collected in areas of higher information value. The resulting paths are closed circuits that can be repeatedly traversed to collect long term ocean data in dynamic environments. The algorithms were tested during sea trials on an underwater glider operating off the coast of southern California over the course of several weeks. The results show significant improvements in data resolution and path reliability compared to a sampling path that is typically used in the region.

关键词： Oceans Heuristic algorithms Vehicles Monitoring Sea measurements Vehicle dynamics Read only memory

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Seabed Tracking of an Autonomous Underwater Vehicle with Nonlinear Output Regulation

Seabed Tracking of an Autonomous Underwater Vehicle with Non...

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IEEE Conference on Decision and Control

作者： A. Adhami-Mirhosseini A. Pedro Aguiar M. J. Yazdanpanah Control and Intelligent Processing Center of Excellence University of Tehran P.O. Box 14395/515 Tehran Iran Lab. of Robotics and Systems in Engineering and Science (LARSyS) Inst. Superior Tecnico (IST) Technical University of Lisbon Av. Rovisco Pais 1049-001 Lisboa Portugal

ISBN: (纸本)9781612848006

This paper proposes a new control algorithm for automatic seabed tracking performed by a low cost autonomous underwater vehicle subject to the fact that the seabed profile is not known in advance. The control design amounts to cast the problem in the framework of nonlinear output regulation theory combined with pseudo-spectral methods to approximate the solutions of the regulator equations. To this end, the seabed tracking problem is re-formulated as a trajectory tracking problem and the reference signal is constructed using Fourier series to approximate the seabed profiles. An interesting feature of this approach is that the combination of the Fourier series with output regulation problem allows to bypass the need to compute explicitly the Fourier coefficients. Stability analysis and simulation results with real seabed data show the effectiveness of the proposed controller.

关键词： Equations Regulators Mathematical model Vehicles Chebyshev approximation Vehicle dynamics

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Sensor suites for assistive arm prosthetics

Sensor suites for assistive arm prosthetics

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Annual IEEE Symposium on Computer-Based Medical systems

作者： Martin Buckley Ravi Vaidyanathan Walterio Mayol-Cuevas Bristol Robotics Laboratory University of Bristol UK University of West of England UK Department of Systems Engineering US Naval Postgraduate School Monterrey CA USA Department of Mechanical Engineering Imperial College London London UK Department of Computer Science University of Bristol UK

This paper introduces a sensor suite framework for the partial automation of prosthetic arm control allowing high level control with a reduction of cognitive burden placed upon the user. Automation aims to replicate the hand eye co-ordination through the synergy of a virtual 7DOF arm prosthesis together with the development of a gaze tracking system. The interactions between elements of the suite are detailed and a selection of sensors implemented to control a simple simulation. Use of the novel tongue control system is used to provide discrete input to the system. Initial tests are made of of the system together with a users ability to learn to use the system with promising user feedback on ease of interaction and potential for reduced cognitive burden.

关键词： Cameras Prosthetics Tongue Games Joints Elbow Control systems

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INS/EKF-based stride length, height and direction intent detection for walking assistance robots

INS/EKF-based stride length, height and direction intent det...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Dario Brescianini Jun-Young Jung In-Hun Jang Hyun Sub Park Robert Riener Department of Mechanical and Process Engineering ETH Zurich Zurich Switzerland Department of Intelligent Robotics University of Science and Technology Daejeon South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea Spinal Cord Injury Center University Hospital Balgrist Zurich Switzerland Sensory-Motor Systems Laboratory Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland

We propose an algorithm used to obtain the information on stride length, height difference, and direction based on user's intent during walking. For exoskeleton robots used to assist paraplegic patients' walking, this information is used to generate gait patterns by themselves in on-line. To obtain this information, we attach an inertial measurement unit(IMU) on crutches and apply an extended kalman filter-based error correction method to reduce the phenomena of drift due to bias of the IMU. The proposed method is verifed in real walking scenarios including walking, climbing up-stairs, and changing direction of walking with normal.

关键词： Legged locomotion Trajectory Exoskeletons Navigation Measurement uncertainty Robot sensing systems

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Reports of the AAAI 2010 fall symposia

Reports of the AAAI 2010 fall symposia

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作者： Azevedo, Roger Biswas, Gautam Bohus, Dan Carmichael, Ted Finlayson, Mark A. Hadzikadic, Mirsad Havasi, Catherine Horvitz, Eric Kanda, Takayuki Koyejo, Oluwasanmi Lawless, William F. Lenat, Doug Meneguzzi, Felipe Mutlu, Bilge Oh, Jean Pirrone, Roberto Raux, Antoine Sofge, Donald A. Sukthankar, Gita Van Durme, Benjamin Yorke-Smith, Neil Department of Educational and Counseling Psychology McGill University Canada Center for Intelligent Systems Vanderbilt University United States Microsoft Research Redmond United States Department of Software and Information Systems University of North Carolina Charlotte United States Complex Systems Institute United States Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology United States Media Lab. Massachusetts Institute of Technology United States ATR Intelligent Robotics and Communication Laboratories Kyoto Japan Department of Electrical and Computer Engineering University of Texas Austin United States Department of Mathematics Paine College Augusta GA United States Cycorp Austin TX United States Robotics Institute Carnegie Mellon University United States Department of Computer Sciences University of Wisconsin Madison United States University of Palermo Italy Honda Research Institute United States Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory Washington DC United States Department of Electrical Engineering and Computer Science University of Central Florida United States Department of Computer Science Johns Hopkins University United States American University of Beirut Lebanon SRI International's Artificial Intelligence Center United States

The Association for the Advancement of Artificial Intelligence (AAAI) presented the 2010 Fall Symposium Series on November 11-13, 2010. The eight symposia included Cognitive and Metacognitive Educational systems, Commonsense Knowledge, Complex Adaptive systems: Resilience, Robustness, and Evolvability, Computational Models of Narrative, Dialog with Robots, Manifold Learning and Its Applications, Proactive Assistant Agents and Quantum Informatics for Cognitive, Social, and Semantic Processes. Cognitive and Metacognitive Educational systems aimed to provide a comprehensive definition of metacognitive educational systems that is inclusive of the theoretical, architectural, and educational aspects of this field. The AAAI Commonsense Knowledge Fall Symposium had the goal of bringing together the diverse elements of this community whose work benefits from or contributes to the representation of general knowledge about the world. One of the specific goals of Proactive symposium was to gather the researchers from various projects in assistant agents to share their wisdom in retrospect.

关键词： Semantics

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WORKSHOP: The role of expectations in intuitive human-robot interaction

WORKSHOP: The role of expectations in intuitive human-robot ...

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Verena Hafner Manja Lohse Joachim Meyer Yukie Nagai Britta Wrede Department of Computer Science Cognitive Robotics Berlin Germany CoR-Laboratory and Applied Informatics Technical Faculty Bielefeld University Germany Department of Industrial Engineering and Management University of Negev Israel Department of Adaptive Machine Systems Graduate School of Engineering Osaka University Japan Head of CoR-Laboratory research group Hybrid Society Technical Faculty Bielefeld University Germany

Human interaction is highly intuitive: we infer reactions of our opponents mainly from what we have learned in years of experience and often assume that other people have the same knowledge about certain situations, abilities, and expectations as we do. In human-robot interaction (HRI) we cannot take for granted that this is equally true since HRI is asymmetrical. In other words, robots have different abilities, knowledge, and expectations than humans. They need to react appropriately to human expectations and behaviour. With this respect, scientific advances have been made to date for applications in entertainment and service robotics that largely depend on intuitive interaction. However, HRI today is often still unnatural, slow, and unsatisfactory for the human interlocutor. Both the sensorimotor interaction with environment and interlocutor, and the social aspects of the interaction still need to be researched and improved. Therefore, this full-day workshop aims to bring together researchers from different scientific fields to discuss these crosscutting issues and to exchange views on what are the preconditions and principles of intuitive interaction.

关键词： Educational institutions Computer science Robot sensing systems Electronic mail Humans Industrial engineering

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Improved vertex control for time-varying and uncertain linear discrete-time systems with control and state constraints

Improved vertex control for time-varying and uncertain linea...

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2011 American Control Conference (ACC)

作者： H.N. Nguyen P.-O. Gutman S. Olaru M. Hovd F. Colledani Automatic Control Department SUPELEC Systems Sciences (E3S) Gif sur Yvette France Faculty of Civil and Environmental Engineering Technion Israel Institute of Technology Israel Norwegian University of Science and Technology Norway LIST Interactive Robotics Laboratory CEA Fontenay-aux-Roses France

This paper addresses the problem of regulating a discrete-time linear uncertain and time-varying system to the origin. It is shown that, based on an interpolation technique, by minimizing an appropriate objective function, how feasibility and a robustly and asymptotically stable closed-loop behavior can be achieved. It is shown that the control is a piecewise affine and continuous function of the state. Several simulations demonstrate the performance of our results.

关键词： Interpolation Trajectory Robustness Linear programming Lyapunov methods Closed loop systems

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Shared control for obstacle avoidance in intelligent wheelchairs

Shared control for obstacle avoidance in intelligent wheelch...

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2010 IEEE International Conference on robotics, Automation and Mechatronics, RAM 2010

作者： Petry, Marcelo R. Moreira, Antonio Paulo Braga, Rodrigo A. M. Reis, Luis Paulo Robotics and Intelligent Systems - INESCPorto Faculty of Engineering of the University of Porto - FEUP Porto Portugal Artificial Intelligence and Computer Science Laboratory Faculty of Engineering of the University of Porto - FEUP Porto Portugal

ISBN: (纸本)9781424465033

Intelligent wheelchairs operating in dynamic environments need to sense its neighborhood and adapt the control signal, in real-time, to avoid collisions and protect the user. In this paper we propose a robust, real-time obstacle avoidance extension of the classic potential field methodology. Our algorithm is specially adapted to share the wheelchair's control with the user avoiding risky situations. This method relies on the idea of virtual forces, generated by the user command (attractive force) and by the objects detected on each ultrasonic sensor (repulsive forces), acting on the wheelchair. The resultant wheelchair's behavior is obtained by the sum of the attractive force and all the repulsive forces at a given position. Experimental results from drive tests in a cluttered office environment provided statistical evidence that the proposed algorithm is effective to reduce the number of collisions and still improve the user's safety perception. ©2010 IEEE.

关键词： Wheelchairs

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