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检索条件"机构=Lab. for Automation and Robotics"

共 93 条记录，以下是41-50 订阅

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What is the basic semantic unit of chinese language? A computational approach based on topic models

What is the basic semantic unit of chinese language? A compu...

引用

12th Meeting on Mathematics of Language, MOL 12

作者： Zhao, Qi Qin, Zengchang Wan, Tao Intelligent Computing and Machine Learning Lab. School of Automation Science and Electrical Engineering Beihang University Beijing China Robotics Institute Carnegie Mellon University United States

ISBN: (纸本)9783642232107

Chinese language has been generally regarded as a Subject-Verb -Object (SVO) language and the basic semantic unit is the Chinese word that is usually consisted by two or more Chinese characters. However, word-centered structure of Chinese language has been controversial in linguistics. Some recent research in computational linguistics in Chinese language suggests that the character-based models perform better than the word-based models in some applications such word segmentation. In this paper, the word-based topic models and the character-based models are tested for modeling Chinese language, respectively. By empirical studies, we demonstrated the effectiveness of using Chinese characters as the basic semantic units. These two models have close performance in text classifications while the character-based model has a better quality in language modeling and a much smaller vocabulary. By testing on a bilingual corpus, three independent topic models based on Chinese words, Chinese characters and English words are trained and compared to each other. we verify the capability of topic models in modeling semantics by experiments across Chinese and English. The classification accuracy can also be boosted up by aggregating the classification results from the three independent topic models. © 2011 Springer-Verlag.

关键词： Computational linguistics

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Visual marker localization in robot-assisted stereotactic neurosurgery

Visual marker localization in robot-assisted stereotactic ne...

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2011 IEEE 5th International Conference on robotics, automation and Mechatronics, RAM 2011

作者： Li, Yanjie Meng, Cai Liu, Da Wang, Tianmiao Image Processing Center School of Astronautics Beihang University Beijing 100191 China Social Robotics Lab. Interactive Digital Media Institute National University of Singapore 119613 Singapore Singapore Institute of Robotics School of Mechanics Engineering and Automation Beihang University Beijing 100191 China

ISBN: (纸本)9781612842509

An approach is developed to automatically detect and locate the visual markers glued on the head in robot assisted stereotactic neurosurgery. This approach has four major steps. At first, one special marker, defined as "B" marker, is searched in the entire image. By this the search range can be decreased because the distance of markers between each other cannot exceed the patient's head. Secondly, in the local image the candidate markers are searched which are marker-like connected region. Their features are extracted and the false markers are discarded. Thirdly, the method will try to find the missing markers with epipolar constraint in binocular cameras if some markers are lost. Finally the markers' can be located in space with stereopsis. We use four markers that are glued to the skin of head in our experiment. The markers' features are extracted using 82 pairs of images and the approach is tested on 166 pairs of other images. The false marker rate is only 0.08%. The approach can be used in head motion tracking and automatic image registration in robot-assisted stereotactic neurosurgery. © 2011 IEEE.

关键词： Neurosurgery

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Homography-based ground area detection for indoor mobile robot using binocular cameras

Homography-based ground area detection for indoor mobile rob...

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2011 IEEE 5th International Conference on robotics, automation and Mechatronics, RAM 2011

作者： Ke, Peiqi Meng, Cai Li, Jihao Liu, Ying Image Processing Center School of Astronautics Beihang University Beijing 100191 China Social Robotics Lab. Interactive Digital Media Institute National University of Singapore 119613 Singapore Singapore Mechatronics Engineering Department School of Mechanical Engineering Beijing University of Science Technology Beijing 100083 China Industrial Robot and Production Automation Lab. School of Mechanical Engineering University of Science and Technology Beijing Beijing 100083 China

ISBN: (纸本)9781612842509

Drivable area detection is an important issue for mobile robot to work in indoor and outdoor environments with safety and security with respect to itself and environment. In this paper, we propose an approach to detect the ground area for indoor mobile robots with binocular cameras. At first, the ground induced homography between onboard binocular cameras is calibrated. In ground area detection, the right eye image is warped to left eye by the homography and subtracted by the left eye image. From the difference image the rough non-ground regions can be detected. Then the closed contours on the difference image and the left eye image are searched to segment them into regions. These corresponding regions are compared to judge whether they belong to ground plane. The conducted experiments show that the proposed method is valid in detecting ground area. © 2011 IEEE.

关键词： Mobile robots

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Simulation and control of a multi-DOF laparoscopic tele-surgery system in virtual reality

Simulation and control of a multi-DOF laparoscopic tele-surg...

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International Conference on Control, Instrumentation, and automation

作者： Farshid Alambeigi Saeed Behzadipour Gholamreza Vossoughi Farzam Farahmand Sharif University of Technology and a research assistant at Robotic Surgery lab. Research Center for Science and Technology In Medicine (RCSTIM) Tehran University of Medical Sciences Tehran Iran Center of Excellence in Design Robotics and Automation (CEDRA) at Sharif University of Technology Tehran Iran Robotic Surgery Lab at Research Center for Science and Technology in Medicine (RCSTIM) Tehran University of Medical Sciences Tehran Iran

A tele-surgery system with force feedback is completely modeled in the MATlab.Simulink software. The virtual rapid robot prototyping is used to import the SolidWorks models of the master and slave robots to MATlab.SimMechanics. This method provides us with the 3D vision of the robot performance in the virtual reality environment. Each robot has 4- DOF in motion and is equipped with a 6-DOF force/torque sensor. A proper damping controller is designed in order to provide the sense of real surgery. This method uses the differences between the measured forces in master and slave sensors in order to generate the velocity command for the master actuators. To model the behavior of the surgeon hand in the real operation, a variable force/torque is applied to the tool handle and the reaction of the system is studied in the virtual reality environment. It can be claimed from the results that this method acceptably provides the situation of a real surgery for a multi-DOF robotic surgery system.

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A novel genetic approach to epipolar geometry estimation

A novel genetic approach to epipolar geometry estimation

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2010 International Conference on Image Processing, Computer Vision, and Pattern Recognition, IPCV 2010

作者： Chiesa, S. Taraglio, S. AI Laboratory Department of Computer Science and Automation Roma Tre University Rome Italy Robotics Lab. ENEA Rome Italy

ISBN: (纸本)9781601321541

A novel genetic approach to epipolar geometry estimation is presented. The individual genetically evolved in the algorithm encodes the rototranslation performed by a camera between two views of a scene, thus the fundamental matrix. The fitness function is designed to minimise the error between points and epipolar lines and to maximise the number of inliers. Results on synthetic and real images are reported and compared with data in literature.

关键词： Genetic algorithms

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The challenges of integrating an industrial robot on a mobile platform

The challenges of integrating an industrial robot on a mobil...

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2010 IEEE International Conference on automation and Logistics, ICAL 2010

作者： Zhang, Biao Martinez, Carlos Wang, Jianjun Fuhlbrigge, Thomas Eakins, William Chen, Heping Robotics and Automation Lab. ABB Corporate Research Center ABB Inc. 5 Waterside Crossing Windsor CT 06095 United States

ISBN: (纸本)9781424483754

This paper provides a description of a uniquely mounted industrial robot. The described configuration includes an IRB6620 industrial robot with a tool changer and multiple tools that are installed on a highly customized truck chassis. Industrial robots are typically anchored to a shop floor which would normally limit the operational range of industrial robotics and require that all parts and materials be delivered to the robot. While this is normal and practical in instances where systems are structured to handle high volume part demand, it inherently limits the rapid mobility of a system. Such mobility would also be limited by the typical supply requirements of industrial equipment, such as process data communication, power, fluids, and compressed air or other gasses. However, new market requests have emerged for industrial robotics that prompted this particular in-house development of a mobile and uniquely self sufficient robotic arm platform. This wheeled vehicular platform is able to travel any reasonably navigable terrain, including off road, and is reliant solely on its own generated power or otherwise carried supplies. This paper presents the prototype development of such a platform that is self sufficient for electrical power, as well as compressed air from on board sources. This installation has been successfully developed to carry out various demonstration tasks by use of interchangeable tooling. This solution provides a mobile platform for an industrial robot which could be used in any location as long it is accessible to the mobile platform. © 2010 IEEE.

关键词： Industrial robots

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The research of tension optimal estimation and stair-climbing ability of transformation wheelchair robot

The research of tension optimal estimation and stair-climbin...

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作者： Teng, Yun Wang, Ting Yao, Chen Li, Xiaofan Graduate School of the Chinese Academy of Sciences Beijing 100049 China State Key Robotics Lab. Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

ISBN: (纸本)9787894631046

To meet the rapid increasing demand of the equipment assisting the disabled and the old, a novel style transmuting track wheelchair robot is developed. It has the characteristic that the track tension can be determined dynamically. Compared to traditional method that keeps track tension constantly, dynamically determining tension can reduce power consumption obviously. Based on the fact that modeling track tension is complex, a fuzzy logic decision making method is developed to estimate the proportion of various factors that have effect on track tension. Combining with least square method, we get track tension optimal estimation algorithm. Considering the low speed characteristic of the wheelchair as climbing stairs and the track tension got by estimation algorithm, the paper develops a statics model of the wheelchair for the starting stage of stair-climbing. Simulation results prove that the wheelchair can climb stairs stably when it takes advantage of tension estimation algorithm.

关键词： Stairs

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Simulation Platform for Self-assembly Structures in MRI-guided Nanorobotic Drug Delivery Systems

Simulation Platform for Self-assembly Structures in MRI-guid...

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IEEE International Conference on robotics and automation (ICRA)

作者： Vartholomeos, Panagiotis Mavroidis, Constantinos Zenon Automation Technologies S.A. Greece Control Systems Lab. Department of Mechanical Engineering National Technical University of Athens Greece Bionano Robotics Laboratory Department of Mechanical and Industrial Engineering Northeastern University Boston MA 02115 United States

ISBN: (纸本)9781424450404

Magnetic Resonance Imaging (MRI) guided nanorobotic systems that could perform diagnostic, curative and reconstructive treatments in the human body at the cellular and sub-cellular level in a controllab.e manner have recently been proposed. The concept of a MRI-guided nanorobotic system is based on the use of a MRI scanner to induce the required external driving forces to guide magnetic nanocapsules to a specific target. However, the maximum magnetic gradient specifications of existing clinical MRI systems are not capable of driving superparamagnetic nanocapsules against the blood flow and therefore these MRIs do not allow for navigation. The present paper proposes a way to overcome this critical drawback through the formation of micron size agglomerations where their size can be regulated by external magnetic stimuli. This approach is investigated through modeling of the physics that govern the self-assembly of the nanoparticles. Additionally a computational tool has been developed that incorporates the derived models and performs simulation, visualization and post-processing analysis. Preliminary simulation results demonstrate that external magnetic field causes aggregation of nanoparticles while they flow in the vessel. This is a promising result -in accordance with similar experimental results- and encourages further investigation on the nanoparticle based self-assembly structures for use in nanorobotic drug delivery.

关键词： Magnetic resonance imaging

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Motion estimation for a mobile robot based on real-time stereo vision system

Motion estimation for a mobile robot based on real-time ster...

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2009 2nd International Congress on Image and Signal Processing, CISP'09

作者： Zhongli, Wang Xueshan, Gao Baochang, Zhang Hao, Wu State Key Lab. of Robotics and System Harbin Institute of Technology Harbin China School of Computer Science Beijing Institute of Technology Beijing China Intelligent Robotics Institute Beijing Institute of Technology Beijing China School of Automation Science and Electric Engineering Beihang University Beijing China

ISBN: (纸本)9781424441310

Vision-based motion estimation is a key technique in autonomously mobile robot. This paper presents an integrated method for motion estimation of the mobile robot based on floor plane extraction. The whole processes include floor plane extraction, pose estimation of the onboard stereo vision system and motion estimation of the mobile robot. First, based on disparity map obtained from the onboard real-time stereo vision system, a two-stage method is used for fast floor plane extraction. Then all the points belong to the floor plane are transformed from disparity space to Euclidean space, and a simple least squares method is employed to fit the floor plane. The fitting parameters of the floor plane are used for the pose estimation of the onboard stereo vision system. Finally, the motion of the mobile robot is estimated with the tracking results of the points on floor plane. The proposed motion estimation method is intended to be used in the motion control of a wheeled mobile robot. Experimental results in real environments are presented. ©2009 IEEE.

关键词： Mobile robots

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Evolutionary approaches to the linear machine layout problem

Evolutionary approaches to the linear machine layout problem

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作者： Mohagheghi, Salman Georgoulas, George Stylios, Chrystostomos Groumpos, Peter ABB Inc. US Corporate Research Center Raleigh NC 27606 United States Dept. of Computer Applications in Finance and Management TEI of Ionian Islands Lefkas Greece Dept. of Informatics and Communications Technology TEI of Epirus Kostakioi Artas Greece Lab. of Automation and Robotics Dept. of Electrical and Computer Eng. Patras Greece

ISBN: (纸本)9783902661432

Flexible Manufacturing Systems (FMSs) cope with multi-product, usually small sized production. In this research work we investigate the use of evolutionary methods to solve the linear or single-row layout problem, which is the most commonly implemented layout in FMSs. Three different approaches, based on Ant Colony Optimization, Genetic Algorithms and Particle Swarm Optimization are tested. The experimental results show that a near optimal solution can be found for all three methods, exploiting only a small portion of the feasible solution space, pinpointing once more the merit of using evolutionary algorithms to tackle difficult combinatorial problems. © 2009 IFAC.

关键词： Genetic algorithms

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