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检索条件"机构=Program for Robotics"

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Determination of surface mechanical properties using a hertzian contact and ultrasound sensor

Determination of surface mechanical properties using a hertz...

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IEEE International Ultrasonics Symposium

作者： Armendariz, J. Baltazar, A. Treesatayapun, C. Robotics and Advanced Manufacturing Program CINVESTAV Unidad-Saltillo Coahuila Mexico

ISBN: (纸本)9781457703829

Nondestructive monitoring of contact properties for biological and engineering materials is important in several engineering areas. Also, in robotics, manipulation of fragile objects requires precise determination of instantaneous contact area and forces with minimum intrusion. In this paper, a contact probe based on hertzian contact and ultrasonic energy transmission for characterization of surface properties is proposed. The probe is built from a solid semi-spherical head which is sonified from the top by an ultrasonic transducer with a center frequency of 1 MHz. Force range was 0-23N and displacements as small as 0.05 millimeters were reached with a proposed automatic control system. A quasi-static spring model to describe the interfacial properties at contact is studied. The results indicate that due to its high sensitivity, the probe could be used for measurements of surface mechanical response. © 2010 IEEE.

关键词： Probes

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Development of an estimated force feedback controller based on hertzian contact and ultrasound

Development of an estimated force feedback controller based ...

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2010 8th IEEE International Workshop on Robotic and Sensors Environments, ROSE 2010

作者： Armendariz, Jorge Treesatayapun, Chidentree Baltazar, Arturo Robotics and Advanced Manufacturing Program CINVESTAV Unidad-Saltillo Coahuila Mexico

ISBN: (纸本)9781424471461

In this paper, the design of a novel force controller which combines a neuro-fuzzy algorithm and a new contact ultrasonic probe is proposed. The fuzzy rules emulated network (FREN) has a control algorithm structure based on fuzzy IFTHEN rules. The contact probe is integrated in a Cartesian robotic system with the FREN force control. The contact probe is equipped with a 1 MHz frequency ultrasonic transducer. The probe is constructed by a semi-spherical head and an ultrasonic transducer located at the top of the head. The contact between the probe and the medium is modeled by Hertz theory. The experimental results show that the proposed system exhibits high sensitivity for touching contact, instantaneous contact and reaction force estimation. To test the system, experiments were conducted in elastic and elastic-plastic materials. The results indicate that the proposed system is able to effectively control the contact force. © 2010 IEEE.

关键词： Ultrasonic transducers

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Study of classification of failure states for Small Unmanned Ground Vehicle by response surface methodology

Study of classification of failure states for Small Unmanned...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Young Kook Kim Dooyeol Koh Sang Hoon Lee Soohyun Kim Robotics Program Korea Advanced Institute of Science and Technology Daejeon South Korea Division of Mechanical Engineering School of Mechanical AeroSpace and Systems Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea 5th Research and Development Institute-2 Agency for Defense Development Daejeon South Korea

ISBN: (纸本)9781457707223

SUGV(Small Unmanned Ground Vehicle) used for human rescue and military operation is need to overcome the environment that tough terrains such as a hole or high obstacles. As far as the survival of the vehicle and the preserving ability of the information in the vehicle are concerned, it is essential to have an approach for recognizing unattainable driving states. However, despite the fact that the study of obstacle avoidance and stabilization of SUGV is focused on, it is hardly found out ways of classifying unattainable driving states with the sensors mounted on the SUGV unit. In order to overcome the problem, this paper proposes a practical way for classifying SUGV Failure State(SFS) with the meaningful parameters by statistical method, response surface methodology(RSM).

关键词： Response surface methodology Equations Vehicles Mathematical model Robot sensing systems

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Reports of the AAAI 2011 conference workshops

Reports of the AAAI 2011 conference workshops

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作者： Agmon, Noa Agrawal, Vikas Aha, David W. Aloimonos, Yiannis Buckley, Donagh Doshi, Prashant Geib, Christopher Grasso, Floriana Green, Nancy Johnston, Benjamin Kaliski, Burt Kiekintveld, Christopher Law, Edith Lieberman, Henry Mengshoel, Ole J. Metzler, Ted Modayil, Joseph Oard, Douglas W. Onder, Nilufer O'Sullivan, Barry Pastra, Katerina Precup, Doina Ramachandran, Sowmya Reed, Chris Sariel-Talay, Sanem Selker, Ted Shastri, Lokendra Singh, Satinder Smith, Stephen F. Srivastava, Siddharth Sukthankar, Gita Uthus, David C. Williams, Mary-Anne Department of Computer Science University of Texas at Austin United States Center for Knowledge Driven Information Systems Infosys Labs India Adaptive Systems Section Naval Research Laboratory Washington DC United States Department of Computer Science University of Maryland College Park United States EMC's Center of Excellence in Ireland Research Europe at EMC Ireland Department of Computer Science University of Georgia United States School of Informatics University of Edinburgh United Kingdom Department of Computer Science University of Liverpool United Kingdom Department of Computer Science University of North Carolina Greensboro United States Faculty of Engineering and Information Technology University of Technology Sydney Australia VeriSign Inc. United States Department of Computer Science University of Texas at El Paso United States Machine Learning Department Carnegie Mellon University United States Massachusetts Institute of Technology Media Laboratory United States Carnegie Mellon University's Silicon Valley Campus United States Darrell W. Hughes Program for Religion and Science Dialogue Oklahoma City University United States Department of Computing Science University of Alberta Canada College of Information Studies Institute for Advanced Computer Studies University of Maryland College Park United States Department of Computer Science Michigan Technological University United States Department of Computer Science University College Cork Ireland Cognitive Systems Research Insitute Athens Greece School of Computer Science McGill University Canada Stottler Henke Inc. United States School of Computing University of Dundee United Kingdom Department of Computer Engineering Istanbul Technical University Turkey Convergence Lab Infosys Technologies Ltd. United States Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor United States Robotics Institute Carnegie Mellon University United States University of Wisconsin

The AAAI-11 workshop program was held Sunday and Monday, August 7-18, 2011, at the Hyatt Regency San Francisco in San Francisco, California USA. The AAAI-11 workshop program included 15 workshops covering a wide range of topics in artificial intelligence. The titles of the workshops were Activity Context Representation: Techniques and Languages;Analyzing Microtext;Applied Adversarial Reasoning and Risk Modeling;Artificial Intelligence and Smarter Living: The Conquest of Complexity;Artifiicial Intelligence for Data Center Management and Cloud Computing;Automated Action Planning for Autonomous Mobile Robots;Computational Models of Natural Argument;Generalized Planning;Human Computation;Human-Robot Interaction in Elder Care;Interactive Decision Theory and Game Theory, 2010;Language-Action Tools for Cognitive Artificial Agents: Integrating Vision, Action, and Language;Lifelong Learning from Sensorimotor Experience;Plan, Activity, and Intent Recognition;and Scalable Integration of Analytics and Visualization. This article presents short summaries of those events. Copyright © 2012, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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3D video stabilization for humanoid eyes using vision and inertial sensors inspired by human VOR

3D video stabilization for humanoid eyes using vision and in...

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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Ryu, Yeon Geol Roh, Hyun Chul Chung, Myung Jin Daejeon 305-701 Korea Republic of Robotics Program KAIST Daejeon 305-701 Korea Republic of

ISBN: (纸本)9781424493173

This paper proposes a new 3D video stabilization for humanoid eyes using vision and inertial sensors. Most existing video stabilization methods based on 2D motion model work well where scenes are far from the camera or can be modeled as a plane. But these 2D video stabilizations may fail to stabilize unstable videos because a humanoid robot operates in the real 3D world. And so far 3D video stabilization approaches cannot be directly applied to humanoid robot eyes because they use an off-line optimization method. In order to solve above problems, we propose 3D video stabilization based on a spatially-varying warping technique that uses sparse reconstructed 3D data. And we integrate the proposed 3D video stabilization into a hardware stabilization device for humanoid eyes inspired by human VOR in order to compensate large and rapid unwanted motions. The experimental results showed that the proposed 3D video stabilization system can be a potential candidate for humanoid eyes. © 2010 IEEE.

关键词： Anthropomorphic robots

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Development of a laboratory kit for robotics Engineering Education

Development of a laboratory kit for Robotics Engineering Edu...

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2010 AAAI Spring Symposium

作者： Fischer, Gregory S. Michalson, William R. Padir, Taskin Pollice, Gary Worcester Polytechnic Institute Robotics Engineering Program 100 Institute Road Worcester MA 01609 United States

ISBN: (纸本)9781577354574

This paper discusses the development of a sequence of undergraduate courses forming the core curriculum in the robotics Engineering (RBE) B.S. program at Worcester Polytechnic Institute (WPI). The laboratory robotics kit developed for the junior-level courses is presented in detail. The platform is designed to be modular and cost-effective and it is suitable for laboratory based robotics education. The system is ideal not only for undergraduate coursework but also may be adapted for graduate and undergraduate research as well as for exposing K-12 students to STEM. © 2010.

关键词： Students

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Reports of the AAAI 2010 spring symposia

Reports of the AAAI 2010 spring symposia

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作者： Barkowsky, Thomas Bertel, Sven Broz, Frank Chaudhri, Vinay K. Eagle, Nathan Genesereth, Michael Halpin, Harry Hamner, Emily Hoffmann, Gabe Hölscher, Christoph Horvitz, Eric Lauwers, Tom McGuinness, Deborah L. Michalowski, Marek Mower, Emily Shipley, Thomas F. Stubbs, Kristen Vogl, Roland Williams, Mary-Anne Cognitive Systems Group University of Bremen Research Center SFB/TR 8 Spatial Cognition Germany Human Factors Division Beckman Institute for Advanced Science and Technology University of Illinois Urbana-Champaign IL United States Adaptive Systems Research Group Computer Science Department University of Hertfordshire United Kingdom Artificial Intelligence Center at SRI International United States Txteagle Inc. MIT Media Laboratory United States Computer Science Department Stanford University United States University of Edinburgh United Kingdom Robotics Institute Carnegie Mellon University United States Palo Alto Research Center United States Center for Cognitive Science University of Freiburg Germany CREATE lab Carnegie Mellon Robotics Institute United States Rensselaer Polytechnic Institute United States University of Southern California United States Department of Psychology Temple University Spatial Intelligence and Learning Center United States IRobot Corporation United States Stanford Program in Law Science and Technology Stanford University Law School United States Innovation and Enterprise Research Laboratory University of Technology Sydney Australia

The Association for the Advancement of Artificial Intelligence, in cooperation with Stanford University's Department of Computer Science, presented the 2010 Spring Symposium Series Monday through Wednesday, March 22-24, 2010, at Stanford University. The titles of the seven symposia were Artificial Intelligence for Development;Cognitive Shape Processing;Educational robotics and Beyond: Design and Evaluation;Embedded Reasoning: Intelligence in Embedded Systems;Intelligent Information Privacy Management;It's All in the Timing: Representing and Reasoning about Time in Interactive Behavior;and Linked Data Meets Artificial Intelligence. Copyright © 2010.

关键词： Embedded systems

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Model-based estimation of active knee stiffness

Model-based estimation of active knee stiffness

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Serge Pfeifer Michael Hardegger Heike Vallery Renate List Mauro Foresti Robert Riener Eric J. Perreault Sensory-Motor Systems Laboratory Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland Sensory-Motor Systems Lab Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland & Spinal Cord Injury Center Medical Faculty Balgrist University Hospital Zurich Switzerland Institute for Biomechanics ETH Zurich Zurich Switzerland Institute for Surgical Technology & Biomechanics University of Bern Bern Switzerland Department of Biomed. Eng. and Department of Phys. Med. and Rehab. Northwestern University Chicago IL USA Sensory Motor Performance Program Rehabilitation Institute of Chicago Chicago IL USA

Knee joint impedance varies substantially during physiological gait. Quantifying this modulation is critical for the design of transfemoral prostheses that aim to mimic physiological limb behavior. Conventional methods for quantifying joint impedance typically involve perturbing the joint in a controlled manner, and describing impedance as the dynamic relationship between applied perturbations and corresponding joint torques. These experimental techniques, however, are difficult to apply during locomotion without impeding natural movements. In this paper, we propose a method to estimate the elastic component of knee joint impedance that depends on muscle activation, often referred to as active knee stiffness. The method estimates stiffness using a musculoskeletal model of the leg and a model for activation-dependent short-range muscle stiffness. Muscle forces are estimated from measurements including limb kinematics, kinetics and muscle electromyograms. For isometric validation, we compare model estimates to measurements involving joint perturbations; measured stiffness is 17% lower than model estimates for extension, and 42% lower for flexion torques. We show that sensitivity of stiffness estimates to common approaches for estimating muscle force is small in isometric conditions. We also make initial estimates of how knee stiffness is modulated during gait, illustrating how this approach may be used to obtain parameters relevant to the design of transfemoral prostheses.

关键词： Muscles Knee Joints Torque Force Load modeling Electromyography

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A robotics engineering M.S. degree

A robotics engineering M.S. degree

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2010 ASEE Annual Conference and Exposition

作者： Gennert, Michael Michalson, William Demetriou, Michael Computer Science Department Robotics Engineering Program Worcester Polytechnic Institute United States Worcester Polytechnic Institute United States

There is an increasing demand for creative scientific, engineering, and management talent to meet national needs. We believe that the best way to educate professionals for leadership roles is in a unified multi-disciplinary curriculum. This paper describes one such program, a Master of Science degree in robotics Engineering at Worcester Polytechnic Institute, whose goal is to prepare men and women for technical leadership in the robotics industry and research in robotics. The program, launched in fall 2009, develops competence in electro-mechanical-computational systems and an awareness of management systems. It constitutes a multi-disciplinary effort by faculty in Arts & Sciences (Mathematics and Computer Science), Engineering (Electrical & Computer Engineering and Mechanical Engineering), and Management. The program is organized around a technical coursework core with select science and engineering electives. Technical strength is supplemented by organizational and management principles embodied in context courses in Systems Engineering and Management. The program culminates in individual capstone projects that take the form of a thesis, directed research, or practicum with written report. In all cases, a public oral presentation is required. A B.S./M.S. option allows the program to be completed in a single additional year of work past the Bachelor's degree. By using existing courses where appropriate, we were able to start the program by developing only two new courses, Foundations of robotics and Robot Dynamics, supplemented by special topics, independent study, and other project work. We anticipate adding new courses as the program grows, additional faculty join the program, and as we introduce a Ph.D. in robotics Engineering. Initial response to the program by students and industry has been very positive, and the program shows great promise to contribute significantly to meeting future engineering workforce needs. © American Society for Engineering Education,

关键词： Curricula

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Improving market-based task allocation with optimal seed schedules

Improving market-based task allocation with optimal seed sch...

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11th International Conference on Intelligent Autonomous Systems, IAS 2010

作者： Korsah, G. Ayorkor Kannan, Balajee Fanaswala, Imran Dias, M. Bernardine Robotics Institute Carnegie Mellon University Pittsburgh PA United States Computer Science Program Carnegie Mellon University Doha Qatar

ISBN: (纸本)9781607506126

Task allocation impacts the performance efficiency of agent teams in significant ways. Due to their efficient and proven performance, Market-based task allocation approaches have grown in popularity for many such multi-agent domains. In addition, market-based approaches are very well suited to dynamic domains such as emergency response, in which the set of the tasks or the environment changes in real time. However, market-based approaches are not guaranteed to produce optimal solutions and researchers have investigated many techniques for improving their performance in different scenarios. Since many application domains have a significant static component coupled with dynamic elements, we explore the option of enhancing team performance in these domains by seeding market-based task allocation with optimal schedules pre-computed for the static tasks. We compare the performance of the TraderBots market-based algorithm with and without the seeded optimal schedules in simulation and on a team of robots. Our results demonstrate that seeding market-based allocation with optimal schedules can improve team performance, particularly when the proportion of static tasks is high. © 2010 IOS Press.

关键词： Multi agent systems

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