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IEEE Sensors Applications Symposium, SAS

作者： Karlo Griparic Tomislav Haus Damjan Miklic Stjepan Bogdan Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia

Interacting with a specific animal society by integrating autonomous robot/s into the society, has become a powerful method to influence the behaviour of animals and investigate collective behaviour of both, animal and robot societies. In order to interact with animals, artificial unit/s should be well integrated into their society. In the European project ASSISIbf, a network of static autonomous robots called CASUs (Combined Actuator Sensor Units) for interaction with young honeybees has been designed. In the proposed approach CASUs can affect honeybees using three types of physical stimuli: heat, vibration and light. To provide feedback signals necessary for controlling CASU interaction with honeybees, accurate and reliable measurements of the stimuli are necessary. This paper describes the mechanical and electronic design of CASUs, capable of emitting controllable heat, vibration and light stimulations. Each CASU is equipped with temperature sensors, 3-axis accelerometers, infrared proximity sensors and microcontroller for data processing. Preliminary experimental results with honeybee groups are presented.

关键词： Robot sensing systems Vibrations Temperature measurement Temperature sensors Animals Heating

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Task specific cooperative grasp planning for decentralized multi-robot systems

Task specific cooperative grasp planning for decentralized m...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Rajkumar Muthusamy Charalampos P. Bechlioulis Kostas J. Kyriakopoulos Ville Kyrki The authors are with the Intelligent Robotics Group Aalto University Finland Control Systems Laboratory National Technical University of Athens Zografou Greece

ISBN: (纸本)9781479969241

Grasp planning in multi-robot systems is usually studied in a centralized setting with all robots sharing common knowledge about the overall system. Relaxing this assumption would allow multiple mobile manipulators to cooperate even without strict and precise coordination. Moreover, most typical tasks for cooperative settings, such as transporting heavy objects, require certain forces/torques to be exerted along/around particular directions, for instance, compensating for the weight of the transported object. In this paper, we propose task specific multi-robot grasp planning strategies that allow decentralized planning. Each agent plans its own actions without precise information about the other's plans. The approach is based on analysing a task specific grasp quality metric in a probabilistic context, compensating thus for the incomplete knowledge. Results from simulation experiments demonstrate that task independent planning is clearly inferior when task characteristics are known and thus task specific quality measures should be used. Furthermore, the proposed decentralized planning approaches clearly outperform the baseline and show close to globally optimal performance.

关键词： Planning Robot kinematics Grasping Measurement Force Multi-robot systems

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Design of a general resilient robotic system based on axiomatic design theory

Design of a general resilient robotic system based on axioma...

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IEEE/ASME (AIM) International Conference on advanced intelligent Mechatronics

作者： Tan Zhang Dan Zhang Madan M. Gupta Wenjun Zhang Advanced Engineering Design Laboratory University of Saskatchewan Canada Robotics & Automation Laboratory University of Ontario Institute of Technology Canada Intelligent Systems Research Laboratory University of Saskatchewan Canada

Resilient robotic systems are a kind of robotic system that is able to recover their original function after partial damage of the system. This is achieved by making changes on the partially damaged robot. The general resilient robot, which makes sense by including active joints, passive joints, passive links, and passive adjustable links, was proposed in order to explore its resilience. The axiomatic design theory (ADT) is applied to develop the resilient robot. First, a general architecture of robots was proposed, which is characterized as under-actuated robot. Second, a docking system was developed, which is the key part of incorporating the proposed architecture in the design of the mechanical system of the resilient robot, and this thus enables the realization of the proposed architecture.

关键词： Joints Context Robot sensing systems Resilience Redundancy Connectors

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Sample Efficient Path Integral control under Uncertainty 15

Sample Efficient Path Integral Control under Uncertainty

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Annual Conference on Neural Information Processing systems

作者： Yunpeng Pan Evangelos A. Theodorou Michail Kontitsis Autonomous Control and Decision Systems Laboratory Institute for Robotics and Intelligent Machines School of Aerospace Engineering Georgia Institute of Technology Atlanta GA 30332

ISBN: (纸本)9781510825024

We present a data-driven optimal control framework that is derived using the path integral (PI) control approach. We find iterative control laws analytically without a priori policy parameterization based on probabilistic representation of the learned dynamics model. The proposed algorithm operates in a forward-backward manner which differentiate it from other PI-related methods that perform forward sampling to find optimal controls. Our method uses significantly less samples to find analytic control laws compared to other approaches within the PI control family that rely on extensive sampling from given dynamics models or trials on physical systems in a model-free fashion. In addition, the learned controllers can be generalized to new tasks without re-sampling based on the compositionality theory for the linearly-solvable optimal control framework. We provide experimental results on three different tasks and comparisons with state-of-the-art model-based methods to demonstrate the efficiency and generalizability of the proposed framework.

关键词： Optimal control PI control Curvilinear integral control law Generalization Uncertainty Frameworks Religious Missions

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The Liver Tumor Segmentation Benchmark (LiTS)

arXiv

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arXiv 2019年

作者： Bilic, Patrick Christ, Patrick Li, Hongwei Bran Vorontsov, Eugene Ben-Cohen, Avi Kaissis, Georgios Szeskin, Adi Jacobs, Colin Mamani, Gabriel Efrain Humpire Chartrand, Gabriel Lohöfer, Fabian Holch, Julian Walter Sommer, Wieland Hofmann, Felix Hostettler, Alexandre Lev-Cohain, Naama Drozdzal, Michal Amitai, Michal Marianne Vivanti, Refael Sosna, Jacob Ezhov, Ivan Sekuboyina, Anjany Navarro, Fernando Kofler, Florian Paetzold, Johannes C. Shit, Suprosanna Hu, Xiaobin Lipková, Jana Rempfler, Markus Piraud, Marie Kirschke, Jan Wiestler, Benedikt Zhang, Zhiheng Hülsemeyer, Christian Beetz, Marcel Ettlinger, Florian Antonelli, Michela Bae, Woong Bellver, Míriam Bi, Lei Chen, Hao Chlebus, Grzegorz Dam, Erik B. Dou, Qi Fu, Chi-Wing Georgescu, Bogdan Giró-I-Nieto, Xavier Gruen, Felix Han, Xu Heng, Pheng-Ann Hesser, Jürgen Moltz, Jan Hendrik Igel, Christian Isensee, Fabian Jäger, Paul Jia, Fucang Kaluva, Krishna Chaitanya Khened, Mahendra Kim, Ildoo Kim, Jae-Hun Kim, Sungwoong Kohl, Simon Konopczynski, Tomasz Kori, Avinash Krishnamurthi, Ganapathy Li, Fan Li, Hongchao Li, Junbo Li, Xiaomeng Lowengrub, John Ma, Jun Maier-Hein, Klaus Maninis, Kevis-Kokitsi Meine, Hans Merhof, Dorit Pai, Akshay Perslev, Mathias Petersen, Jens Pont-Tuset, Jordi Qi, Jin Qi, Xiaojuan Rippel, Oliver Roth, Karsten Sarasua, Ignacio Schenk, Andrea Shen, Zengming Torres, Jordi Wachinger, Christian Wang, Chunliang Weninger, Leon Wu, Jianrong Xu, Daguang Yang, Xiaoping Yu, Simon Chun-Ho Yuan, Yading Yue, Miao Zhang, Liping Cardoso, Jorge Bakas, Spyridon Braren, Rickmer Heinemann, Volker Pal, Christopher Tang, An Kadoury, Samuel Soler, Luc van Ginneken, Bram Greenspan, Hayit Joskowicz, Leo Menze, Bjoern Department of Informatics Technical University of Munich Germany Department of Quantitative Biomedicine University of Zurich Switzerland Ecole Polytechnique de Montréal Canada Department of Medical Imaging Radboud University Medical Center Nijmegen Netherlands Department of Biomedical Engineering Tel-Aviv University Israel Germany Pattern Analysis and Learning Group Department of Radiation Oncology Heidelberg University Hospital Heidelberg Germany Philips Research China Philips China Innovation Campus Shanghai China School of Biomedical Engineering & Imaging Sciences King0s College London London United Kingdom Institute for AI in Medicine Technical University of Munich Germany Department of Computer Science Guangdong University of Foreign Studies China Institute for diagnostic and interventional radiology Klinikum rechts der Isar Technical University of Munich Germany Institute for Diagnostic and Interventional Neuroradiology Klinikum Rechts der Isar Technical University of Munich Germany Department of Hepatobiliary Surgery The Affiliated Drum Tower Hospital Nanjing University Medical School China Department of Computing Imperial College London London United Kingdom Institute for Tissue Engineering and Regenerative Medicine Helmholtz Zentrum München Neuherberg Germany Brigham and Women's Hospital Harvard Medical School United States School of Computer Science and Engineering The Hebrew University of Jerusalem Israel University of Pennsylvania PA United States Pte. Ltd. Singapore Medical Imaging and Reconstruction Lab Department of Engineering Design Indian Institute of Technology Madras India Sensetime Shanghai China Department of Radiology Perelman School of Medicine University of Pennsylvania United States Department of Pathology and Laboratory Medicine Perelman School of Medicine University of Pennsylvania PA United States Co. Ltd China MontréalQC Canada Department of Radiology Radiation Oncology and Nuclear Medicine University of Montréal

In this work, we report the set-up and results of the Liver Tumor Segmentation Benchmark (LiTS), which was organized in conjunction with the IEEE International Symposium on Biomedical Imaging (ISBI) 2017 and the International Conferences on Medical Image Computing and Computer-Assisted Intervention (MICCAI) 2017 and 2018. The image dataset is diverse and contains primary and secondary tumors with varied sizes and appearances with various lesion-to-background levels (hyper-/hypo-dense), created in collaboration with seven hospitals and research institutions. Seventy-five submitted liver and liver tumor segmentation algorithms were trained on a set of 131 computed tomography (CT) volumes and were tested on 70 unseen test images acquired from different patients. We found that not a single algorithm performed best for both liver and liver tumors in the three events. The best liver segmentation algorithm achieved a Dice score of 0.963, whereas, for tumor segmentation, the best algorithms achieved Dices scores of 0.674 (ISBI 2017), 0.702 (MICCAI 2017), and 0.739 (MICCAI 2018). Retrospectively, we performed additional analysis on liver tumor detection and revealed that not all top-performing segmentation algorithms worked well for tumor detection. The best liver tumor detection method achieved a lesion-wise recall of 0.458 (ISBI 2017), 0.515 (MICCAI 2017), and 0.554 (MICCAI 2018), indicating the need for further research. LiTS remains an active benchmark and resource for research, e.g., contributing the liver-related segmentation tasks in http://***/. In addition, both data and online evaluation are accessible via ***. © 2019, CC BY-NC-ND.

关键词： Deep learning

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IEEE International Conference on Mechatronics and Automation

作者： Ying Wu Qiang Huang Xuechao Chen Zhangguo Yu Libo Meng Gan Ma Peisen Zhang Weimin Zhang Intelligent Robotics Institute Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China

ISBN: (纸本)9781479970995

This paper introduces the similarity evaluation on humanoid facial expression. For the purpose of understanding easily, firstly, the process of designing humanoid robot's facial expressions is explored in brief. Then, a similarity function is proposed to evaluate the similarity of the robot facial motion compared with the human being quantitatively based on both the kinematics and dynamics factors, also including how to select the key value of parameter in similarity function. Finally, the effectiveness of the similarity function is confirmed by an experiment of facial expressions based on BHR-4 robot.

关键词： Joints Kinematics Dynamics Trajectory Humanoid robots Rhythm

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[email protected] : Analysis and results of evolving competitions for domestic and service robots

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Artificial Intelligence 2015年 229卷 258-281页

作者： Luca Iocchi Dirk Holz Javier Ruiz-del-Solar Komei Sugiura Tijn van der Zant Department of Computer Control and Management Engineering Sapienza University of Rome Italy Autonomous Intelligent Systems Group University of Bonn Germany Department of Electrical Engineering & Advanced Mining Technology Center Universidad de Chile Chile Information Services Platform Laboratory National Institute of Information and Communications Technology Japan Cognitive Robotics Laboratory University of Groningen The Netherlands

Scientific competitions are becoming more common in many research areas of artificial intelligence and robotics, since they provide a shared testbed for comparing different solutions and enable the exchange of research results. Moreover, they are interesting for general audiences and industries. Currently, many major research areas in artificial intelligence and robotics are organizing multiple-year competitions that are typically associated with scientific conferences. One important aspect of such competitions is that they are organized for many years. This introduces a temporal evolution that is interesting to analyze. However, the problem of evaluating a competition over many years remains unaddressed. We believe that this issue is critical to properly fuel changes over the years and measure the results of these decisions. Therefore, this article focuses on the analysis and the results of evolving competitions. In this article, we present the [email protected] competition, which is the largest worldwide competition for domestic service robots, and evaluate its progress over the past seven years. We show how the definition of a proper scoring system allows for desired functionalities to be related to tasks and how the resulting analysis fuels subsequent changes to achieve general and robust solutions implemented by the teams. Our results show not only the steadily increasing complexity of the tasks that [email protected] robots can solve but also the increased performance for all of the functionalities addressed in the competition. We believe that the methodology used in [email protected] for evaluating competition advances and for stimulating changes can be applied and extended to other robotic competitions as well as to multi-year research projects involving Artificial Intelligence and robotics.

关键词： Robotic competitions Artificial intelligence and robotics Benchmarking

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Effects of the pectus excavatum on the spine in patients of pectus excavatum with scoliosis

Effects of the pectus excavatum on the spine in patients of ...

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第十一届全国生物力学学术会议暨第十三届全国生物流变学学术会议

作者： Weihong Zhong Jinduo Ye Jifu Liu Chunqiu Zhang Linwei Lü Chunyue Zhang Bolun Liu Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Military General Hospital of Beijing PLA

Objective:Pectus excavatum(PE)is the most frequently observed congenital deformity of the chest with a deep depression of the sternum in the anterior thoracic *** more than 20%of pectus excavatum patients were reported to have *** to now,no comprehensive analysis about the impact that pectus excavatum has on scoliosis has been performed,although previous research has involved correlation among scoli-

关键词： Effects of the pectus excavatum on the spine in patients of pectus excavatum with scoliosis

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Verification of Passive Power-Assist Device Using Humanoid Robot: Effect on Bending and Twisting Motion

Verification of Passive Power-Assist Device Using Humanoid R...

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IEEE-RAS International Conference on Humanoid Robots

作者： Yumeko Imamura Takayuki Tanaka Ko Ayusawa Eiichi Yoshida CNRS-AIST Joint Robotics Laboratory UMI3218/CRT Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology Graduate School of Information Science and Technology Hokkaido University

ISBN: (纸本)9781479968862

A passive power-assist supporter, called Smart Suit Lite, aims at reducing the lumbar load utilizing the tension of elastic belts. Its design method is based on a digital human model and motion measurements. This paper presents basic experiments using humanoid robot HRP-4 for verifying the design model of the suit. In the experiment, the joint torques of the robot and the elastic force of Smart Suit Lite were measured. We found that the decrease of the chest pitch torque during slow forward bending motion on the sagittal plane was consistent with simulation results. In addition, the effects for three-dimensional motion including chest pitching and yawing also indicated a similar tendency to the simulation. Because we performed quantitative evaluation of the effects by each part of the suit, these results are considered to provide useful information to the optimization of Smart Suit Lite.

关键词： Humanoid robots twisting motion Bending Design models Verification three dimensional motion Quantitative Evaluation design approach Torque simulating Robot Thorax Boxes tension

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DESYNCHRONIZATION OF TWO COUPLED LIMIT-CYCLE OSCILLATORS USING AN ASTROCYTE-INSPIRED controlLER

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International Journal of Biomathematics 2014年第1期7卷 1-23页

作者： GHAZAL MONTASERI MOHAMMAD JAVAD YAZDANPANAH Advanced Control Systems Laboratory School of Electrical and Computer EngineeringCollege of Engineering University of Tehran Tehran Iran Advanced Control Systems LaboratoryControl and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran

Astrocytes have potential to break synchrony between neurons. Authors＇ recent researches reveal that astrocytes vary the synchronization threshold and provide an appropriate feedback control in stabilizing neural activities. In this study, we propose an astrocyte-inspired controller for desynchronization of two coupled limit-cycle oscillators as a minimal network model. The design procedure consists of two parts. First, based on the astrocyte model, the structure of the dynamic controller is suggested. Then, to have an emcient controller, parameters of controller are tuned through an optimization algo- rithm. The proposed bio-inspired controller takes advantages of three important proper- ties：（1） the controller desynchronizes the oscillators without any undesirable effects （e.g. stopping, annihilating or starting divergent oscillations）; （2） it consumes little effort to preserve the desirable desynchronized state; and （3） the controller is robust with respect to parameters＇ variations. Simulation results reveal the ability of the proposed controller.

关键词： Astrocyte dynamic model bio-inspired controller coupled limit-cycle oscillators desynchronization optimization

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