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2006 IEEE Symposium on Computational Intelligence and Games, CIG'06

作者： Olenderski, Adam Nicolescu, Monica Louis, Sushil J. Robotics Research Laboratory Dept. of Computer Science and Engineering University of Nevada Reno United States Evolutionary Computing Systems Lab Dept. of Computer Science and Engineering University of Nevada Reno United States

ISBN: (纸本)1424404649

Game environments provide a good domain for serious simulations such as those used in training Navy conning officers. Currently, a typical training scenario requires multiple personnel to play each of the boats and thus is expensive. We propose an approach to addressing this issue by developing intelligent, autonomous controllers for each boat. Significant challenges toward achieving these goals are the realism of behavior exhibited by the automated boats and their real-time response to change. In this paper we describe a control architecture that enables the real-time response of boats and the repertoire of realistic behaviors we developed for this application. We demonstrate the capabilities of our system with experimental results.

关键词： Personnel training

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Nanorobotic manipulation of carbon nanotubes inside a transimission electron microscope

Nanorobotic manipulation of carbon nanotubes inside a transi...

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作者： Dong, Lixin Nelson, Bradley J. Tao, Xinyong Zhang, Li Zhang, Xiaobin Frutiger, Dominic R. Subramanian, Arunkumar Institute of Robotics and Intelligent Systems ETH Zurich 8092 Zurich Switzerland Dept. of Materials Science and Engineering Zhejiang University Hangzhou 310027 China Laboratory for Micro- and Nanotechnology Paul Scherrer Institute CH-5232 Villigen-PSI Switzerland

ISBN: (纸本)9783902661173

Basic processes for nanorobotic manipulation of carbon nanotubes (CNTs) inside a transmission electron microscope are investigated experimentally. These processes are fundamental for the characterization of nanoscale materials, for the structuring of nanosized building blocks, and for the prototyping of nanoelectromechanical systems. Multi-walled CNTs, bamboo-structured CNTs, Cutipped CNTs, and quantum dots attached to CNTs have been used as test structures for manipulation. Copyright © 2006 IFAC.

关键词： Transmission electron microscopy

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A Behavior-Based Architecture for Realistic Autonomous Ship Control

A Behavior-Based Architecture for Realistic Autonomous Ship ...

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IEEE Symposium on Computational Intelligence and Games, CIG

作者： Adam Olenderski Monica Nicolescu Sushil J. Louis Robotics Research Laboratory Department of Computer Science and Engineering University of Nevada Reno USA Evolutionary Computing Systems Laboratory Department of Computer Science and Engineering University of Nevada Reno USA

Game environments provide a good domain for serious simulations such as those used in training navy conning officers. Currently, a typical training scenario requires multiple personnel to play each of the boats and thus is expensive. We propose an approach to addressing this issue by developing intelligent, autonomous controllers for each boat. Significant challenges toward achieving these goals are the realism of behavior exhibited by the automated boats and their realtime response to change. In this paper we describe a control architecture that enables the real-time response of boats and the repertoire of realistic behaviors we developed for this application. We demonstrate the capabilities of our system with experimental results

关键词： Marine vehicles Boats Automatic control Personnel Robot kinematics Navigation Computer architecture Computer science Robustness Costs

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A High-Level Controller for Robot-Assisted Rehabilitation

A High-Level Controller for Robot-Assisted Rehabilitation

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

作者： Duygun Erol Nilanjan Sarkar Bibhrajit Halder Department of Electrical Engineering and Computer Science Vanderbilt University USA Department of Mechanical Engineering Robotics and Autonomous Systems Laboratory Vanderbilt University USA

The goal of our research is to develop a high-level controller to provide reference trajectories automatically to the low-level controller of a rehabilitation robotic device. The high-level controller, which is the supervisory controller, is an event driven, asynchronous discrete event system (DES), described by a finite state automaton. Extensive simulations are performed using the supervisory controller for a rehabilitation task. The results demonstrate the feasibility of the proposed supervisory controller

关键词： Robot control Rehabilitation robotics Automatic control Robot kinematics Control systems Force control Medical treatment Supervisory control Automata Medical control systems

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Distributed Stochastic Control of MEMS-PZT Cellular Actuators with Broadcast Feedback

Distributed Stochastic Control of MEMS-PZT Cellular Actuator...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Jun Ueda L. Odhner Sang-Gook Kim H.H. Asada DArbeloff Laboratory for Information Systems and Technology Massachusetts Institute of Technology Cambridge MA USA Robotics Laboratory Graduate School of Information Science Nara Institute of Science and Technology Ikoma Nara Japan Micro & Nano Systems Laboratory Mechanical Engineering Massachusetts Institute of Technology Cambridge MA USA

A biologically-inspired approach is proposed for the coordination of a vast number of "cellular actuators." Each cellular actuator has a decision-making unit that changes the transition probability depending on the broadcasted control signal from a centralized feedback controller. Although there is no deterministic coordination among the vast number of cellular actuator, the sum of the displacements of the cellular actuators can track a desired trajectory. We propose a design of transition probability that guarantees the convergence of the expectation of this ensemble. We show that broadcast signal needs to contain the positioning error but other information is unnecessary, and robustness against failure is guaranteed for any percentage of inactive (dead) cells. A MEMS-PZT cellular actuator with strain amplifying mechanism is also presented

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NANOROBOTIC MANIPULATION OF CARBON NANOTUBES INSIDE A TRANSIMISSION ELECTRON MICROSCOPE

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IFAC Proceedings Volumes 2006年第16期39卷 114-119页

作者： Lixin Dong Bradley J. Nelson Xinyong Tao Li Zhang Xiaobin Zhang Dominic R. Frutiger Arunkumar Subramanian Institute of Robotics and Intelligent Systems ETH Zurich 8092 Zurich Switzerland Dept. of Materials Science and Engineering Zhejiang University Hangzhou 310027 China Laboratory for Micro- and Nanotechnology Paul Scherrer Institute CH-5232 Villigen-PSI Switzerland

关键词： nanorobotic manipulation transmission electron microscope carbon nanotube property characterization NEMS

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Fast solvers and Sylvester equations: Both sides now

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COMPUTING IN science & engineering 2005年第6期7卷 74-77页

作者： O'Leary, DP Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Universidade Técnica de Lisboa Lisbon Portugal

In our last homework, we solved large sparse systems of linear equations andlearned that to keep storage and computational costs low, it's very important to exploit structurein our matrix. We exploited sparsity; i... 详细信息

关键词： Equations Matrix decomposition Home computing Sparse matrices Computational efficiency Linear systems Arithmetic Sufficient conditions Eigenvalues and eigenfunctions Gold

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Stability analysis and control law design for acrobots

Stability analysis and control law design for acrobots

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IEEE International Conference on robotics and Automation (ICRA)

作者： Xu-Zhi Lai Jin-Hua She S.X. Yang Min Wu School of Information Science and Engineering Central South University Changsha Hunan China School of Bionics Tokyo University of Technology Hachioji Tokyo Japan Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

This paper presents a novel control strategy based on a non-smooth Lyapunov function to guarantee the stability of the system in the whole motion space. Three control laws that are derived based on three Lyapunov functions are applied successively in three stages of motion control to achieve a suitable posture and increase the energy so as to make the acrobot move into the area around the unstable inverted equilibrium position, and to stabilize it at that position. These three Lyapunov functions are combined into one non-smooth function, which theoretically guarantees the stability of the acrobot in the whole motion space. Simulation results have demonstrated the validity of this strategy

关键词： Stability analysis Motion control Lyapunov method Control systems Information science Intelligent robots Actuators Fuzzy control Intelligent systems Centralized control

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The world of mushrooms - A transdisdplinary approach to human-computer interaction with ambient intelligence

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NTT Technical Review 2006年第12期4卷 17-24页

作者： Maeda, Eisaku Minami, Yasuhiro Miyoshi, Masato Sawaki, Minako Sawada, Hiroshi Nakamura, Atsushi Yamato, Junji Yamada, Takeshi Higashinaka, Ryuichiro NTT Communication Science Laboratories Atsugi-shi 243-0198 Japan Ambient Intelligence Research Group Media Intormation Laboratory NTT Communication Science Laboratories IEEE IEICE IPSJ Signal Processing Research Group Media Information Laboratory NTT Communication Science Laboratories ASJ Audio Engineering Society Recognition Research Group Media Information Laboratory NTT Communication Science Laboratories Institute of Image Information and Television Engineers Robotics Society of Japan Emergent Learning and Systems Research Group Innovative Communication Laboratory NTT Communication Science Laboratories ACM Scheduling Society of Japan Knowledge Processing Research Group Innovative Communication Laboratory NTT Communication Science Laboratories Association for Computational Linguistics

This paper provides an update to the January 2006 letter on "ambient intelligence", describing this year's achievements and the latest demonstration systems. The Ambient Intelligence Project (also known by the code name project Mushroom) aims to bridge the boundaries between technological fields and thus cover the entire field of communication science.

关键词： Human computer interaction

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Reach and Grasp for an Anthropomorphic Robotic System based on Sensorimotor Learning

Reach and Grasp for an Anthropomorphic Robotic System based ...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： S. Eskiizmirliler M.A. Maier L. Zollo L. Manfredi G. Teti C. Laschi Sorbonne Universite Campus Pierre et Marie Curie Paris ÃŽle-de-France FR INSERM-U742 Paris France Inserm U742 Paris France Université Pierre et Marie Paris France Campus Bio-Medico University Laboratory of Biomedical Robotics & EMC Roma Italy IMT Alti Studi Lucca PhD School in Biorobotics Science and Engineering Lucca Italy ARTS Lab-Advanced Robotics Technology and Systems Laboratory Scuola Superiore Sant'' Anna Pontedera Italy Scuola Superiore Sant'Anna (SSSA) ARTS Lab – Advanced Robotics Technology and Systems Laboratory Pontedera Italy

In this article, we present a neurobiologically inspired multinetwork architecture based on knowledge of cortico-cortical connectivity and its application on an anthropomorphic head-arm-hand robotic system to provide reach-and-grasp kinematics based on multimodal sensorimotor learning. The system incorporates artificial neural network modules (matching units) trained by the locally weighted projection regression (LWPR) algorithm that enables progressive learning from simple to more complex sensorimotor tasks. We report the actual performance of the system by comparing the simulation with the experimental results obtained by the implementation on the real world artefact

关键词： Anthropomorphism Robot sensing systems

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