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SICE Annual Conference

作者： Naoya Wajima Satoru Takahashi Masaya Itoh Yutaka Satoh Shun'ichi Kaneko Department of Intelligent Mechanical Systems Engineering Kagawa University Kagawa Japan Hitachi Research Laboratory Hitachi and Limited Ibaraki Japan National Institute for Advanced Industrial Science and Technology Ibaraki Japan Graduate School of Information Science and Technology Hokkaido University Hokkaido Japan

Technique of image processing to detect moving objects on time series images is important subject in the fields of environmental monitoring and rescue system which used a mobile robot. In the past, it is difficult to detect the moving objects by the effects of changes in brightness which caused by the sunlight and measure positions of the moving objects by the change of region of the moving objects. Then, we proposed a detection and tracking method of the moving objects considering the renewal of a background based on radial reach filter. However, the change of size of the moving objects on the image, that is, the movement in direction of an optical axis was not considered. Then, we propose a method which compares the features of pixels between the images in the change of size of moving object for calculation of motion vectors. Through the experiment using the real images, this paper shows validity of proposed method

关键词： Robustness Object detection Filters Mobile robots Electronic mail Image processing Robot vision systems Cameras Graphical user interfaces Monitoring

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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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Multi-Modal Human Verification Using Face and Speech

Multi-Modal Human Verification Using Face and Speech

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IEEE International Conference on Computer Vision systems (ICVS)

作者： Changhan Park Joonki Paik Taewoong Choi Soonhyob Kim Youngouk Kim J. Namkung Image Processing and Intelligent Systems Laboratory Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University Seoul South Korea Multimedia Signal Processing Laboratory Kwangwoon University Seoul South Korea Precision Machinery Center Korea Electronics and Technology Institute Puchon Gyeonggi South Korea Intelligent Image Communication Laboratory Department of Computer Engineering Kwangwoon University Seoul South Korea

In this paper, we propose a personal verification method using both face and speech to improve the rate of single biometric verification. False acceptance rate (FAR) and false rejection rate (FRR) have been a fundamental bottleneck of real-time personal verification. The proposed multimodal biometric method is to improve both verification rate and reliability in real-time by overcoming technical limitations of single biometric verification methods. The proposed method uses principal component analysis (PCA) for face recognition and hidden markov model (HMM) for speech recognition. It also uses fuzzy logic for the final decision of personal verification. Based on experimental results, the proposed system can reduce FAR down to 0.0001%, which provides that the proposed method overcomes the limitation of single biometric system and provides stable personal verification in real-time.

关键词： Humans Speech Face detection Face recognition Biometrics Principal component analysis Feature extraction Hidden Markov models Image edge detection Laboratories

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The ice thickness sensor based on electric conduction characteristic of air, ice and water

The ice thickness sensor based on electric conduction charac...

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9th World Multi-Conference on Systemics, Cybernetics and Informatics, WMSCI 2005

作者： Qin, Jianmin Han, Zhennan Dou, Yinke Cui, Huaibei Chi, Huanying Key Laboratory of Advanced Transducers and Intelligent Control Systems Ministry of Education Taiyuan University of Technology Taiyuan 030024 Shanxi China Shanxi Institute of Comprehensive Professional Technic Taiyuan 030006 Shanxi China

ISBN: (纸本)9806560612

It is a new testing technology that ice thickness is measured by making use of electric conductivity in water and in ice. The electric conductivity in water gradually decrease from strong to weak during the state of water changing from liquid into solid. Bases on this characteristics, a new sensor structure for measuring thickness of ice layer and its testing method are developed in the paper, and its application to hydrologic gauging is also briefly introduced.

关键词： Electric conductivity

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Developing and improving transportation systems: The structure and operation of IEEE intelligent transportation systems society

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IEEE Transactions on intelligent Transportation systems 2005年第3期6卷 261-264页

作者： Wang, Fei-Yue Herget, Charles Zeng, Daniel IEEE ITSS Chinese Academy of Sciences Institute of Automation Beijing 100080 China University of Arizona Department of Systems and Industrial Engineering Tucson AZ 85721 United States IEEE ITSS Herget Associates Alameda CA 94501 United States IEEE ITSS University of Arizona Department of Management Information Systems Tucson AZ 85721 United States Program for Advanced Research in Complex Systems University of Arizona Tucson Key Laboratory of Complex Systems and Intelligence Science Chinese Academy of Sciences ITS Department of the IEEE Intelligent Systems IEEE ITS Society IEEE SMC Board of Governors Herget Associates Alameda CA IEEE Standards ITS US Department of Transportation Department of Management Information Systems University of Arizona INFORMS AAAI and ACM IEEE ITS Society Technical Activities of the Chinese Association for Science and Technology United States

This editorial introduces the structure and operation of the IEEE intelligent Transportation systems Society (ITSS). A brief history of the ITSS is presented, along with its mission, organizational structure, and a re... 详细信息

关键词： Transportation

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A MEMS micro force sensor for drosophila flight characterization

A MEMS micro force sensor for drosophila flight characteriza...

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IEEE International Conference on Robotics and Biomimetics

作者： Yun Sun C.F. Graetzel S.N. Fry B.J. Nelson Advanced Micro and Nanosystems Laboratory University of Toronto Canada Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Switzerland Institute of Neuroinformatics University of Zürich Switzerland

This paper reports a MEMS micro force sensor with a novel configuration of differential tri-plate comb drives suitable for bulk micromachining. A high-yield fabrication process using DRIE on SOI wafers is utilized to construct the high aspect ratio devices. The sensor has a high sensitivity, good linearity, and a large bandwidth, which are required for characterizing flight behavior of fruit flies (Drosophila). The technique allows for the instantaneous measurements of flight forces, which result from a combination of aerodynamic and inertial forces generated by the wings. The potential impact of this research extends beyond gathering flight data on Drosophila melanogaster by demonstrating how MEMS technology can be used to provide valuable tools for biomechanical investigations

关键词： Micromechanical devices Force sensors Force measurement Insects Biological system modeling intelligent robots intelligent systems Turning Organisms Biomechanics

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Three Characterizations of 3D Reconstruction Uncertainty with Bounded Error

Three Characterizations of 3D Reconstruction Uncertainty wit...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： B. Telle O. Stasse K. Yokoi T. Ueshiba F. Tomita AIST/ISRI 3D Vision Group Intelligent Systems Research Institute (ISRI) National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan AIST/IS-CNRS/STIC Joint Japanese-French Robotics Laboratory (JRL) Intelligent Systems Research Institute (ISRI) National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan

Considering a stereoscopic visual system, this paper deals with the error involved by a 3D reconstruction process. If image pixels are seen as surfaces instead of points, interval analysis provides bounding boxes in which the reconstructed 3D point lies with certainty. This paper presents a method which refine this bounding box and gives a tighter approximation of the error. Using bisection, and a reprojection test in the image planes, the space in which the 3D reconstructed point may be located is given as an octree. This is achieved through the resolution of a set inversion problem using the SIVIA algorithm. For a lighter manipulation of the result, an englobing ellipsoid is deduced from this approximation. Finally the three models are tested on a recognition process for a humanoid robot.

关键词： Uncertainty Image reconstruction Cameras Ellipsoids Robot vision systems intelligent robots Testing Gaussian distribution Shape Service robots

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WACL: supporting telecommunications using - wearable active camera with laser pointer

WACL: supporting telecommunications using - wearable active ...

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International Symposium on Wearable Computers

作者： N. Sakata T. Kurata T. Kato M. Kourogi H. Kuzuoka Institute of Engineering Mechanics University of Tsukuba Japan Human Interface Technology Laboratory University of Washington USA Institute of Advanced Industrial Science and Technology AIST Intelligent Systems Institute AIST Japan Department of Computer and Communication Sciences Wakayama University Japan

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Automating vehicle operations in next-generation spacecraft: Human factors issues

Automating vehicle operations in next-generation spacecraft:...

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AIAA Space 2005 Conference and Exposition

作者： McCann, Robert S. McCandless, Jeffrey Hilty, Bruce NASA Ames Research Center Moffett Field CA 94035 NASA Johnson Space Center Houston TX Intelligent Spacecraft Interface Systems Laboratory Human Factors Research and Technology Division Mail Stop 262-4 Moffett Field CA 94035 Human Factors Research and Technology Development Division Mail Stop 262-4 Moffett Field CA 94035 Advanced Operations and Development Division Mail Code DV NASA Johnson Space Center Houston TX 77058

ISBN: (纸本)1563477386

NASA is designing a new space transportation system to replace the aging shuttles, return humans to the moon, and enable human exploration of more remote destinations. One of the fundamental requirements driving the design of this new system is that, due to speed-of-light limitations, many time-critical mission operations will have to be performed onboard the vehicle without real-time assistance from the ground. To meet this requirement, many mission management activities will involve real-time collaborations between crewmembers and onboard automation. We describe several human factors challenges that must be overcome to enable effective onboard human-machine teaming, including deciding on an appropriate functional allocation between human and machine, and developing and validating user interfaces to coordinate human and machine activities. We illustrate these principles with a concept for mixed initiative fault management on a next generation spacecraft.

关键词： Spacecraft

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Pivoting Manipulation of a Large Object: A Study of Application using Humanoid Platform

Pivoting Manipulation of a Large Object: A Study of Applicat...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： E. Yoshida P. Blazevic V. Hugel AIST/IS-CNRS/STIC Joint French-Japanese Robotics Laboratory (JRL) Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan AIST/IS-CNRS/STIC Joint French-Japanese Robotics Laboratory (JRL) LRV-Versailles Robotics Laboratory Velizy-Villacoublay France

Pivoting manipulation can be an alternative to pushing operation when the floor is not flat enough, or when the object to manipulate is too heavy. The technique of pivoting is used by humans to move large and bulky furniture from one place to another. The decomposition of the task of pivoting has already been studied, in particular with the use of two fingers of a robotic arm. This work intends to apply the technique of pivoting using an humanoid platform. The robot should be able to pivot the object and to walk with it to displace it to a specific remote location. The research achievements proposed here take place in a more long term objective aimed at improving the dexterity and the autonomy of humanoid robots. As a matter of fact, such robots should be able to handle objects and move around in the environment in an autonomous way. This paper describes the algorithm designed to perform the displacement of a large object using the pivoting technique. It also presents the results of the dynamic simulation and the results of the real hardware experiment of the HRP-2 platform performing the task.

关键词： Humanoid robots Legged locomotion intelligent robots Humans Hardware intelligent systems Fingers Algorithm design and analysis Prototypes Manipulators

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