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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Chung-Hao Chen Yi Yao David Page Besma Abidi Andreas Koschan Mongi Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering and Computer Science University of Tennessee Knoxville TN USA GE Global Research Center Niskayuna NY USA

Camera handoff is a crucial step to generate a continuously tracked and consistently labeled trajectory of the object of interest in multi-camera surveillance systems. Most existing camera handoff algorithms concentrate on data association, namely consistent labeling, where images of the same object are matched across different cameras. However, most real-time object tracking systems see a decrease in the system's frame rate as the number of tracked objects increases. To address this issue, we propose to incorporate an adaptive resource management mechanism into camera handoff. In so doing, cameras¿ resources can be dynamically allocated to multiple objects according to their priorities and hence the required minimum frame rate can be maintained. Experimental results illustrate that the proposed camera handoff algorithm is capable of maintaining a constant frame rate and of achieving a substantially improved handoff success rate by approximately 20% in comparison with the algorithm presented by Khan and Shah.

关键词： Resource management Surveillance Labeling Real time systems Intelligent robots USA Councils Videoconference Robot vision systems Smart cameras Robot kinematics

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Dynamic acyclic motion from a planar contact-stance to another

Dynamic acyclic motion from a planar contact-stance to anoth...

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2008 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Mario Arbulu Kazuhito Yokoi Abderrahmane Kheddar Carlos Balaguer Department of Systems and Automation Engineering Roboticslab Universidad Carlos III de Madrid Madrid Spain Japanese-French Robotics Laboratory JRL AIST AIST CNRS Tsukuba Japan

ISBN: (纸本)9781424420575

This paper addresses the problem of generating dynamic motion for a humanoid between two predefined postures. The humanoid robot starts its motion from a statically stable configuration to another known statically stable configuration when it is necessary to make step; that is, the center of mass (COM) is inside the support polygon at the initial and the goal configurations. A dynamic motion generation method is proposed in order to generate the whole-body robot motion. Zero moment point preview control is used for maintaining dynamic stability while the robot is taking the step and suitable splines are used for generating the hands, neck and foot motion because it is a free motion on the field of gravity; the screw theory is applied under Lie groups for kinematics and dynamics humanoid modeling, which allows smooth and natural humanoid motion. Successful results on the HRP-2 humanoid robot are shown and discussed.

关键词： Foot Joints Robots Dynamics Leg Jacobian matrices Knee

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Modeling Realistic Tool-Tissue Interactions with Haptic Feedback: A Learning-based Method

Modeling Realistic Tool-Tissue Interactions with Haptic Feed...

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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator systems (HAPTICS)

作者： Zachary Pezzementi Daniel Ursu Sarthak Misra Allison M. Okamura Engineering Research Center for Computer-Integrated Surgical Systems Technology Laboratory for Computational Science and Robotics Johns Hopkins University USA Johns Hopkins University and NIH grant USA

Surgical simulators present a safe, practical, and ethical method for surgical training. In order to enhance realism and provide the user with an immersive training experience, simulators should have the capability to provide haptic feedback to the user. High-fidelity surgical simulators also require accurate modeling of the interaction between surgical instruments and organs. Linear elasticity- based models are commonly used to simulate tool-tissue interaction due to computational considerations, although real soft tissues exhibit nonlinear viscoelastic behavior. In this paper, we use a learning algorithm to train a linear 2D mass-spring-damper system that behaves similarly to a high-fidelity nonlinear finite element (FE) model. The spring parameters are. trained off-line using data from an FE simulation of brain tissue deformation using simultaneous perturbation stochastic approximation, a model-free optimization algorithm. The model is implemented in a real-time soft tissue simulator with haptic interaction provided through the PHANTOM Omni haptic device. Our model's response is significantly closer to the desired response of the FE model than that of a linear heuristic model.

关键词： Haptic interfaces Feedback Learning systems Computational modeling Surgery Brain modeling Biological tissues Deformable models Surgical instruments Viscosity

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Annual business and news:: Beginning the 31st year of the Journal of Guidance, Control, and Dynamics

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2008年第1期31卷 1-1页

作者： Schmidt, George T. Aeronautics and Astronautics Massachusetts Institute of Technology (MIT) AIAA Institute of Electrical and Electronics Engineers Russian Federation Academy of Navigation and Motion Control Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla(UMR) Lockheed Electronics Company Center for Space Research University of Texas Austin United States Wright Laboratory Eglin Air Force Base UMR AIAA Guidance Navigation and Control Technical Committee American Automatic Control Council Lockheed Martin Aeronautics Company Palmdale CA United States C4ISR and Unmanned Air Vehicle (UAV) Programs for Air Vehicle Sciences and Systems Accreditation Board Engineering and Technology Inc./Aeronautical National Technical Committee on Guidance Navigation and Control Department of Mechanical and Aerospace Engineering University at Buffalo State University of New York (SUNY) AIAA Technical Committee on GN and C Air Vehicles Directorate Air Force Research Laboratory (AFRL) Wright-Patterson Air Force Base Space Access and Hypersonic Vehicle Guidance and Control Group Control Science Center of Excellence AFRL AIAA Technical Committee on Guidance Navigation and Control Department of Mechanical and Aeronautical Engineering University of California (UC) Davis United States Boeing Company Modernized Flight Control System for the Apache Longbow AIAA Institute of Electrical and Electronics Engineers AHS Jet Propulsion Laboratory California Institute of Technology Boeing Company Flight Sciences and Advanced Design Group Guidance Navigation and Control (GN and C) Systems Engineer Distributed Space Systems NASA Goddard Space Flight Center (GSFC) AIAA GN and C Technical Committee Department of Aerospace Engineering and Engineering Mechanics University of Texas Austin United States Institute of Navigation American Astronautical Society AIAA Guidance Navigation (GN and C) and Control Technical Committee Department of Aerospace Engineering Iowa State University Iowa

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Postural Stability Evaluation of Spatial Wheeled Mobile Robots with Flexible Suspension over Rough Terrains

Postural Stability Evaluation of Spatial Wheeled Mobile Robo...

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2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Pages 1-476

作者： Khalil Alipour S. Ali A. Moosavian Yousef Bahramzadeh Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechaniacl Engineering K. N. Toosi University of Technology Tehran Iran P.O. Box 19395-1999

ISBN: (纸本)9781424424948;9781424424955

The mobility requirements on a rough terrain make a suspended wheeled mobile robot (SWMR) with multiple dexterous manipulators an appropriate choice. In this study, dynamics and stability appraisal of such systems will be discussed. First, based on Newton-Euler's formulation for a chain of rigid bodies, the closed-form dynamics model of such complicated systems in three dimensional maneuvers is developed. To this end, a sixteen degree-of-freedom SWMR is considered as a benchmark system. The studied platform contains both sprung and unsprung elements. The presented approach can take into account and add any kind of tire friction model. Next, using the obtained dynamics, the tip-over stability of such systems will be investigated. To this end, the new dynamic tip-over Moment-Height Stability (MHS) measure will be extended for suspended wheeled mobile robotic systems. Proposing the concept of virtual structure, the obtained spatial model of SWMR has been employed to evaluate the behavior of the system on rough terrain in terms of its stability. Therefore the presented model and the MHS measure can be employed for stable planning and model-based control of autonomous SWMR during object manipulation tasks. In addition, the obtained simulation model provides an inexpensive tool for designers of such systems to examine the behaviors of them and optimize their various characteristics.

关键词： Wheeled Mobile Robots Dynamics Modeling Postural Stability MHS Measure

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Result representation of Rao-Blackwellized particle filtering for SLAM

Result representation of Rao-Blackwellized particle filterin...

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International Conference on Control, Automation and systems ( ICCAS)

作者： Nosan Kwak Beom-Hee Lee Kazuhito Yokoi Joint Japanese-French Robotics Laboratory Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Japan School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea

Recently, particle filters have been applying to many robotic problems including the simultaneous localization and mapping (SLAM). Specifically, SLAM approaches employing Rao-Blackwellized particle filter (RBPF) have shown good results. However, no research is conducted to analyze representation of the results of particle filtering. After finishing the particle filtering, the results such as a map and a path are stored in the separate particles. In most cases, the result of the particle that has the highest importance weight is represented as the result. However, this approach does not give the best result all the time. Thus, We provide the analysis of final representation of particle filtering. In this paper, we compares several methods to derive the final representation of the result after finishing RBPF-SLAM. According to the result, combining data of each particle provides the better result with high probability than using just data of a particle such as the highest weighted particle representation.

关键词： Filtering Simultaneous localization and mapping Particle filters Intelligent robots robotics and automation Service robots Electronic mail Finishing Diversity reception Automatic control

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Joint-action for humans and industrial robots for assembly tasks

Joint-action for humans and industrial robots for assembly t...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Claus Lenz Suraj Nair Markus Rickert Alois Knoll Wolgang Rosel Jurgen Gast Alexander Bannat Frank Wallhoff Robotics and Embedded Systems Laboratory Department of Computer Science Technische Universitat Munchen Munchen Germany Machine Tools and Industrial Management Department of Mechanical Engineering Technische Universitat Munchen Munchen Germany Human Machine Communication Department of Electrical Engineering and Information Technologies Technische Universitat Munchen Munchen Germany

This paper presents a concept of a smart working environment designed to allow true joint-actions of humans and industrial robots. The proposed system perceives its environment with multiple sensor modalities and acts in it with an industrial robot manipulator to assemble capital goods together with a human worker. In combination with the reactive behavior of the robot, safe collaboration between the human and the robot is possible. Furthermore, the system anticipates human behavior, based on knowledge databases and decision processes, ensuring an effective collaboration between the human and robot. As a proof of concept, we introduce a use case where an arm is assembled and mounted on a robotpsilas body.

关键词： Robots

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Integrating actuator fault and wheel slippage detections within FDI framework

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WSEAS Transactions on systems 2007年第2期6卷 298-303页

作者： Sidek, Naim Sarkar, Nilanjan Department of Mechanical Engineering Vanderbilt University Robotics and Autonomous Systems Laboratory 2301 Vanderbilt Place Nashville TN 37235-1592 United States

We have witnessed a significant advancement in the field of mobile robot applications in the past two decades. From performing mission critical tasks such as in planetary exploration to simply doing household chores, this type of robots requires availability, reliability and safety of its operations. Consequently, there is a growing demand for fault tolerant control system (FTCS) for mobile robots where one of it major component is the fault detection and isolation (FDI) module. In our FDI study, one of the challenges in designing the robot model is to create an accurate and robust dynamics model. In this paper, the environment structure, which is the dynamic change in the surface characteristics, will be included. We will utilize Local Neural Model (LNM) in our robot modeling process. Wheel slippage is an event happened when the robot wheels lose their full grasp of the surface. This may cause the robot to deviate from its desired trajectory. On the other hand, the fault on the robot actuator may also lead to similar behavior but need different solution. In this paper we will expand the functionality of FDI module to infer a real actuator fault and wheel slippage in which, the solutions for both events can be combined in a single, common controller.

关键词： Integrated control

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Evolutionary path planning and navigation of autonomous underwater vehicles

Evolutionary path planning and navigation of autonomous unde...

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2007 Mediterranean Conference on Control and Automation, MED

作者： Kanakakis, V. Tsourveloudis, N. Technical University of Crete Department of Production Engineering and Management Intelligent Systems and Robotics Laboratory 73100 Chania Crete Greece

ISBN: (纸本)142441282X

This paper presents a complete methodology for mission planning and navigation of Autonomous Underwater Vehicles (AUVs) in ocean environment. Path planning near the ocean floor is accomplished via genetic algorithms and B-Splines based on known data of the ocean floor. In addition, collision free navigation is achieved in unknown environments. Prior to vehicle's launch, a genetic algorithm based on ocean floor data and on mission restrictions calculates the optimal path. Once the path is calculated, the vehicle is navigated through the predefined path by a set of fuzzy controllers. A second evolutionary algorithm optimizes the membership functions of these controllers so as the vehicle has the minimum error through its course. Extensive simulations were performed in order to evaluate the methodology and the derived optimized controller. ©2007 IEEE.

关键词： Navigation

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Automated Global Feature Analyzer - A Driver for Tier-Scalable Reconnaissance

Automated Global Feature Analyzer - A Driver for Tier-Scalab...

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IEEE Conference on Aerospace

作者： Wolfgang Fink Ankur Datta James M. Dohm Mark A. Tarbell Farrah M. Jobling Roberto Furfaro Jeffrey S. Kargel Dirk Schulze-Makuch Victor R. Baker Visual and Autonomous Exploration Systems Research Laboratory Division of Physics Mathematics and Astronomy California Institute of Technology Pasadena CA USA Robotics Institute Carnegie Mellon University Pittsburgh PA USA Lunar and Planetary Laboratory University of Arizona Tucson Tucson AZ USA Department of Microbiology University of Colorado School of Medicine Aurora CO USA AeroSpace and Mechanical Engineering Department University of Arizona Tucson Tucson AZ USA Department of Hydrology and Water Resources University of Arizona Tucson Tucson AZ USA School of Earth and Environmental Sciences Washington State University Pullman WA USA Department of Hydrology and Water Resources University of Arizona Tucson AZ USA Lunar and Planetary Laboratory University of Arizona Tucson AZ USA

For the purposes of space flight, reconnaissance field geologists have trained to become astronauts. However, the initial forays to Mars and other planetary bodies have been done by purely robotic craft. Therefore, training and equipping a robotic craft with the sensory and cognitive capabilities of a field geologist to form a science craft is a necessary prerequisite. Numerous steps are necessary in order for a science craft to be able to map, analyze, and characterize a geologic field site, as well as effectively formulate working hypotheses. We report on the continued development of the integrated software system AGFA: automated global feature analyzer reg , originated by Fink at Caltech and his collaborators in 2001. AGFA is an automatic and feature-driven target characterization system that operates in an imaged operational area, such as a geologic field site on a remote planetary surface. AGFA performs automated target identification and detection through segmentation, providing for feature extraction, classification, and prioritization within mapped or imaged operational areas at different length scales and resolutions, depending on the vantage point (e.g., spaceborne, airborne, or ground). AGFA extracts features such as target size, color, albedo, vesicularity, and angularity. Based on the extracted features, AGFA summarizes the mapped operational area numerically and flags targets of "interest", i.e., targets that exhibit sufficient anomaly within the feature space. AGFA enables automated science analysis aboard robotic spacecraft, and, embedded in tier-scalable reconnaissance mission architectures, is a driver of future intelligent and autonomous robotic planetary exploration.

关键词： Reconnaissance Geology Orbital robotics robotics and automation Feature extraction Intelligent robots Robot sensing systems Cognitive robotics Mars Software systems

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