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Fast solvers and Sylvester equations: Both sides now

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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Development of a Bioinstrumentation System in the Interaction between a Human and a Robot

Development of a Bioinstrumentation System in the Interactio...

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2006 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Kazuko Itoh Hiroyasu Miwa Yuko Nukariya Massimiliano Zecca Hideaki Takanobu Stefano Roccella Maria Chiara Carrozza Paolo Dario Atsuo Takanishi ROBOCASA Tokyo Japan Department of Mechanical Engineering Waseda University Tokyo Japan Humanoid Robotics Institute (HRI) Waseda University Tokyo Japan Digital Human Research Center National Institute of Advanced Industrial Science and Technology (AIST) Tokyo Japan Graduate School of Science and Engineering Waseda University Tokyo Japan Department of Mechanical Systems Engineering Kogakuin University Tokyo Japan ASMeW Waseda University Tokyo Japan Scuola Superiore Sant Anna ARTS Laboratory Italy Scuola Superiore Sant' Anna ARTS Lab Pontedera Italy Advanced Research Institute for Science and Engineering Waseda University Tokyo Japan Tokyo Japan

Personal robots, which are expected to become popular in the future, are required to be active in joint work and community life with humans. Such robots must have no bad physical or psychical effect on humans. The psychical effect of a robot on humans has been subjectively measured using questionnaires. However, it has not been objectively measured yet. Human emotion and the consciousness direction can be measured by physiological parameters and body motion, respectively. Therefore, the bioinstrumentation system WB-1 was developed in order to objectively measure the psychical effect of a robot on a human. It can measure physiological parameters such as respiration, heart rate, perspiration and pulse wave, and arm motion. Analyzing human stress in the interaction with a robot from electrocardiogram, the robot could generate a motion for decreasing the stress

关键词： Human robot interaction Robot kinematics Humanoid robots Service robots Psychology Biomedical measurements Biomedical engineering Orbital robotics Intelligent robots Motion measurement

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Design of an autonomous amphibious robot for surf zone operation: Part I mechanical design for multi-mode mobility

Design of an autonomous amphibious robot for surf zone opera...

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Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005

作者： Boxerbaum, Alexander S. Werk, Philip Quinn, Roger D. Vaidyanathan, Ravi Biologically Inspired Robotics Laboratory Department of Mechanical and Acrospace Engineering Case Western Reserve University Autonomous Robotics and Systems Laboratory Department of Systems Engineering Naval Postgraduate School

The capability of autonomous and semiautonomous platforms to fraction in the shallow water surf zone is critical for a wide range of military and civilian operations. Of particular importance is die ability to transition between locomotion modes in aquatic and terrestrial settings. The study of animal locomotion mechanisms can provide specific inspiration to address these demands. In this work, we summarize on-going efferts to create an autonomous, highly mobile amphibious robot A water-resistant amphibious prototype design, based on the biologically-inspired Whegs™ platform, has been completed. Through, extensive field-testing, mechanisms have been Isolated to improve the implementation of die Whegs™ concept and make it more suited for amphibious operation. Specific design improvements include wheel-leg propellers enabling swimming locomotion, an active, compliant, water resistant, non-backdrtvable body joint, and improved feet for advanced mobility. These design innovations will allow Whegs™ IV to navigate on rough terrain and underwater, and accomplish tasks with little or no low-level control, thus greatly simplifying autonomous control system implementation. Complementary work is presently underway for autonomous control. We believe these results will lay the foundation for the development of a generation of amphibious robots with an unprecedented versatility and mobility. © 2005 IEEE.

关键词： Mobile robots

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The efficiency of supplement schema for IBVS algorithms

The efficiency of supplement schema for IBVS algorithms

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IEEE International Symposium on Industrial Electronics 2005, ISIE 2005

作者： Bonković, Mirjana Stipaniçev, Darko Ştula, Maja Laboratory for Robotics and Intelligent Systems Faculty of Electrical Engineering Mechanical Engineering and Naval Architecture University of Split

ISBN: (纸本)0780387384

In, this, paper, we, propose, a, special, geometric, feature, parameter, supplement, schema, for, IBVS, systems, in, which, the, servoing, is, based, on, the, point, to, point, correspondences., The, proposed, algorithm, with, special, feature, parameters, is, compared, with, the, "classic", feature, parameters, algorithm., Simulation, results, show, that, supplement,schema,improves,the,convergence,rate,and,the,stability,of,the,visual, servoing,system., © 2005 IEEE.

关键词： Servomechanisms

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Analysis of Optimal Sets of Survivable Paths in Undirected Simple Graph Applicable for Optical Networks

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Electronic Notes in Discrete Mathematics 2005年 22卷 1-5页

作者： Bogdanowicz, Z.R. Intelligent Systems and Robotics Laboratory Armament Research Development and Engineering Center Picatinny NJ 07806 United States

In this work we introduce and describe optimal sets of survivable paths defined on an undirected simple graph G. An optimal set of survivable paths in G corresponds to a set of mesh-restored lightpaths in an optical network that minimizes the number of optical channels. We present several fundamental properties of optimal sets of survivable paths in G.

关键词： Network Survivability Routing Shortest paths

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A combinational approach to the fusion, de-noising and enhancement of dual-energy x-ray luggage images

A combinational approach to the fusion, de-noising and enhan...

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2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR 2005 - Workshops

作者： Chen, Zhiyu Zheng, Yue Abidi, Besma R. Page, David L. Abidi, Mongi A. Imaging Robotics and Intelligent Systems Laboratory Electrical and Computer Engineering Department University of Tennessee KnoxvilleTN37996 United States

ISBN: (纸本)0769526608

X-ray luggage inspection systems play an important role in ensuring air travelers' security. However, the false alarm rate of commercial systems can be as high as 20% due to less than perfect image processing algorithms. In an effort to reduce the false alarm rate, this paper proposes a combinational scheme to fuse, de-noise and enhance dual-energy X-ray images for better object classification and threat detection. The fusion step is based on the wavelet transform. Fused images generally reveal more detail information;however, background noise often gets amplified during the fusion process. This paper applies a background-subtraction-based noise reduction technique which is very efficient in removing background noise from fused X-ray images. The de-noised image is then processed using a new enhancement technique to reconstruct the final image. The final image not only contains complementary information from both source images, but is also background-noise-free and contrast-enhanced, therefore easier to segment automatically or be interpreted by screeners, thus reducing the false alarm rate in X-ray luggage inspection. © 2005 IEEE Computer Society. All rights reserved.

关键词： Wavelet transforms

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Autonomous gait generation using acceleration capability analysis

Autonomous gait generation using acceleration capability ana...

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作者： Harmeyer, Sean Bowling, Alan Robotics and Dynamic Systems Laboratory Department of Aerospace and Mechanical Engineering University of Notre Dame Notre Dame IN 46556 United States

ISBN: (纸本)0780389123

This paper presents a novel gait generation technique for legged robotic systems which utilizes the Dynamic Capability Equations. The method consists of calculating the acceleration capability early in the simulation to determine a specific configuration which easily allows a gait to be generated. This position is calculated to most effectively arrest any body center-of-mass momentum upon impact and allows the system to continue travelling in the desired direction without suffering detrimental effects from the impulse forces normally encountered when walking. © 2005 IEEE.

关键词： Gait analysis

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A design study of a cable-driven hexapod

A design study of a cable-driven hexapod

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作者： Go, Yanto Bowling, Alan Department of Aerospace and Mechanical Engineering Robotics and Dynamic Systems Laboratory University of Notre Dame Notre Dame IN 46556-0539 United States

ISBN: (纸本)0780389123

This article illustrates the use of dynamic performance analysis in the design of legged robots, specifically hexapods. This is accomplished by comparing the dynamic performance of a cable-driven hexapod to that of a more conventional design in which the actuators are mounted at the joints. By integrating the actuators into the torso and through the use of cable transmission, the mass and inertias of the legs are reduced in order to attain the high accelerations and backdrivability. The dynamic performance described herein is bounded by the actuator torque limits and the no-slip condition at the ground contact points. The result is a description of how well each hexapod can accelerate its torso without causing slippage at the ground contact points. Although somewhat mixed, the results show some advantage to the use of a cable-driven transmission. © 2005 IEEE.

关键词： Actuators

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Cooperative transport of extended payloads

Cooperative transport of extended payloads

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12th International Conference on Advanced robotics, 2005. ICAR '05

作者： Bouloubasis, Antonios K. McKee, Gerard T. Active Robotics Laboratory School of Systems Engineering University of Reading Reading RG6 6AY United Kingdom School of Systems Engineering University of Reading Reading RG6 6AY United Kingdom

ISBN: (纸本)0780391772

In this paper we present experimental results for the dual robot transport of an extended payload. Two robotic rovers that were designed specifically for the extended payload transport task are described. Each rover incorporates a 4-DOF robot arm incorporating three active joints (one of which is a gripper), a passive wrist, and a mobile base which employs a rocker-bogie design. A set of behaviours has been developed to support the performance of the task, integrating simple sensing with controls. We describe the behaviours and their integration within the overall task structure. The experimental results presented focus on the manipulation elements of the task, but incorporate a complete cycle of pick-up, traversal, and putdown. © 2005 IEEE.

关键词： robotics

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Characterization of bio-synthesized magnetic nanoparticles

Characterization of bio-synthesized magnetic nanoparticles

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Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005

作者： Love, Lonnie J. Yeary, Lucas W. Moon, J.W. Phelps, Tommy J. Rondinone, Adam J. IEEE Robotics and Energetic Systems Group Oak Ridge National Laboratory Environmental Science Division Oak Ridge National Laboratory Chemical Science Division Oak Ridge National Laboratory Engineering Science and Technology Division Oak Ridge National Laboratory

Magnetic nanoparticles have potential utility in a variety of applications ranging from ferrofluids to highly sensitive transduction mechanisms for monitoring and controlling biological activities at the molecular level. This paper describes a novel methodology for bacterial synthesis of a wide range of magnetite-based magnetic nanoparticles. First, this approach is highly scalable and low cost enabling production of large volumes of nanoparticles. Second, like the chemical co-precipitation technique, biologically synthesized materials have the ability to dope magnetite with a wide range of elements enabling fine control over magnetic and thermal properties of the particles. Third, unlike chemical co-precipitation techniques which restrict particle sizes below 20 nm, bacterial synthesis enables control of particle sizes from 10 nm to 100 nm. Finally, we show that some forms of the bio-synthesized materials have a significantly higher saturation magnetization than typical chemically synthesized materials. © 2005 IEEE.

关键词： Nanostructured materials

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