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2008 ASEE Annual Conference and Exposition

作者： Ciaraldi, Michael Cobb, Eben Cyganski, David Gennert, Michael Demetroiu, Michael Looft, Fred Michalson, William Miller, Bradley Rong, Yiming Schachterle, Lance Stafford, Kenneth Tryggvason, Gretar Van De Ven, James Worcester Polytechnic Institute Worcester Polytechnic Institute 100 Institute Rd. Worcester MA 01609 United States Department of Computer Science Department of Mechanical Engineering Department of Electrical and Computer Engineering Robotics Engineering Program Robotics Resource Center Department of Mechanical Engineering Department of English

In the spring of 2007, Worcester Polytechnic Institute introduced a BS degree program in robotics Engineering. The degree program is a collaborative effort, involving faculty from the departments of Computer Science, Electrical and Computer Engineering and Mechanical Engineering. The motivation for establishing the program is two-fold: needs of the rapidly growing robotics industry and student interest as demonstrated by numerous high school robotics competitions. The program relies in part on already existing courses, but the core curriculum consists of five new "unified robotics engineering" courses. Although robotics Engineering is not recognized as a distinct engineering field by ABET, the program is designed to be accreditable under the "General Engineering" ABET criteria. While the program is less than a year old, there is already significant student interest. © American Society for Engineering Education, 2008.

关键词： Engineering education

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Target-adjusted model for Kernel-based tracker

Target-adjusted model for Kernel-based tracker

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作者： Choe, Jeehyun Goya Seok, Joon-Hong Kim, Jeong-Jung Lee, Ju-Jang Robotics Program Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon Korea Republic of

ISBN: (纸本)9784990288037

Kernel-based tracker shows robust performances in various object tracking technologies. Due to its robustness and accuracy, Kernel-based tracker using Mean-shift algorithm is regarded as one of the best ways to apply in object tracking technology in computer vision fields. However, it has a drawback. It fails tracking when faced with a speedy object moving beyond its window size within one image frame interval time. These failures are reduced with the use of Target-adjusted kernel models proposed in this paper. These models are designed to reflect the previously known target information. Same to the conventional kernel model in kernel-based object tracker, this model also contains the target information of both the color and the distance. Experimental results show that the time required for the calculations in tracking process is lessened so that causing lesser failures by applying this Target-adjusted model. Building a Target-adjusted model requires the previously known color data of the target. The model is designed to focus on the colors in the target object by using look-up tables. These look-up tables enable to reduce the size of the color bins in a model so that unnecessary trivial computations can be regarded. ©ISAROB 2009.

关键词： Color

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Virtual Door-Based Coverage Path Planning for Mobile Robot

Virtual Door-Based Coverage Path Planning for Mobile Robot

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12th International FIRA RoboWorld Congress

作者： Myung, Hyun Jeon, Hae-min Jeong, Woo-Yeon Bang, Seok-Won Department of Civil and Environmental and Engineering KAIST Daejeon 305-701 Yuseong-gu South Korea Samsung Advanced Institute of Technology Samsung Electronics Co. Ltd. Giheung Yongin 449-712 South Korea Robotics Institute Carnegie Mellon Univ. Pittsburgh PA 15213 5000 Forbes Avenue United States KIUSS(KAIST Institute for Urban Space and Systems) Robotics Program South Korea

ISBN: (纸本)9783642039829

This paper presents a novel coverage path planning method in indoor environment for a mobile robot such as cleaning robot. Overall region is divided into several sub-regions based on the virtually extracted doors. The algorithm is inspired from the usual way of dividing an indoor environment into sub-regions, i.e., rooms based on the identification of doors. The virtual door algorithm extracts the virtual doors by combining a Generalized Voronoi Diagram (GVD) and a configuration space eroded by the half of the door size. The region to region cleaning algorithm is also proposed based on the closing and opening operations of virtual doors. The performance of the proposed algorithm has been tested on various real indoor environments using a commercially available cleaning robot.

关键词： Virtual Door Coverage Path Planning Mobile Robot

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Mobility for a special configuration of a shape-shifting robot in urban terrain

Mobility for a special configuration of a shape-shifting rob...

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2009 IEEE International Workshop on Safety, Security and Rescue robotics, SSRR 2009

作者： Li, Bin Ma, Shugen Wang, Minghui Liu, Tonglin State Key Laboratory of Robotics Shenyang Institute of Automation No.114 Nanta Street Shenyang Liaoning China Center for Promotion of the COE Program Ritsumeikan University 1-1-1 Nojihigashi Kusatsu-Shi Shiga-ken Japan

ISBN: (纸本)9781424456291

The work in the complicated environment requires the robot to possess the better mobility, which is the basis that the robot can complete the task successfully and ensure itself security. To improve the adaptability in the unstructured environments, the aim is the mobility of a special d-configuration of AMOEBA-I, and the cooperative turning and cooperative negotiation of the d-configuration is presented. The capability on the turning and traversing the channel are analyzed theoretically. Also the relationship between the climb height and the location of center of gravity is discussed. The maximum climb heights respectively in the normal negotiation method and cooperative negotiation are compared theoretically. Finally, the experiment in the indoor and outdoor relic environment verifies the mobility of the d-configuration, which satisfies the requirement that the robot can perform the task in the unstructured environments.

关键词： Robots

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Automatic detection of cancer chemotherapy-induced vomiting in musk shrews

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Appetite 2010年第3期54卷 651-651页

作者： D. Huang K. Meyers F. De La Torre C.C. Horn Carnegie Mellon University Robotics Institute Pittsburgh PA USA University of Pittsburgh Cancer Institute Biobehavioral Medicine in Oncology Program Pittsburgh PA USA University Pittsburgh Department Medicine: Div. Gastro. Hepatol. and Nutrition Department Anesthesiology Ctr. Neuroscience Pittsburgh PA USA

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A new steering law with designated direction escape (DDE) for control moment gyros

A new steering law with designated direction escape (DDE) fo...

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作者： Lee, Seung-Mok Rhee, Seung-Wu Dep. of Satellite System and Application University of Science and Technology 52 Eoeun-dong Yuseong-gu Daejeon 305-333 Korea Republic of Korea Aerospace Research Institute Korea Republic of Department of CEE Robotics Program KAIST Korea Republic of

In this letter we provide a steering law for redundant single-gimbal control moment gyros. The proposed steering law is an extended version of the singular direction avoidance (SDA) steering law based on the singular value decomposition (SVD). All internal singularities are escapable for any non-zero constant torque command using the proposed steering law. Copyright © 2009 The Institute of Electronics, Information and Communication Engineers.

关键词： Singular value decomposition

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Adaptive Integral Backstepping Controller for an autonomous rotorcraft

Adaptive Integral Backstepping Controller for an autonomous ...

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International Symposium on Mechatronics and Its Applications, ISMA

作者： Younes Al-Younes M. A. Jarrah Salah Sukkarieh Mechatronics Graduate Program American University of Sharjah UAE Australian Centre for Field Robotics The University of Sydney NSW AUS

in this paper, a new control approach is proposed using adaptive integral backstepping controller (AIBC) for controlling an autonomous rotorcraft. The recursive Lyapunov methodology in the backstepping technique will ensure the system stability, the integral action will increase the system robustness against disturbances and model uncertainties, and the adaptation law will estimate the modeling errors caused by assumptions in simplifying the complexity of the helicopter model. In addition, a Lyapunov-based velocity controller (LVC) is introduced to work side by side with the AIBC for hover and like-hover control. Simulation results show that the proposed algorithms are capable of controlling the nonlinear helicopter model, while showing robustness against disturbances and model uncertainties.

关键词： programmable control Adaptive control Backstepping Helicopters Control systems Uncertainty Velocity control Force control Torque control Angular velocity control

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Stochastic approach on a simplified OCC model for uncertainty and believability

Stochastic approach on a simplified OCC model for uncertaint...

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： Won Hwa Kim Jeong Woo Park Won Hyong Lee Woo Hyun Kim Myung Jin Chung Robotics Program KAIST Daejeon South Korea School of Electrical Engineering and Computer Science Division of Electrical Engineering KAIST Daejeon South Korea

ISBN: (纸本)9781424448081

As robots step into the human's daily lives, interaction and communication between human and robot is becoming essential. For this social interaction with humans, we propose an emotion generation model considering simplicity, believability and uncertainty. First, OCC model is simplified and then stochastic approach on emotion decision algorithm for believability and uncertainty is applied. The proposed model is implemented on a 3D robot expression simulator that can express emotions through its facial expression, gesture, led and so on. A demo of the model is provided as a result.

关键词： Stochastic processes Uncertainty Cognitive robotics Human robot interaction Intelligent robots Electronic mail Databases Atherosclerosis Humanoid robots Computational modeling

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Serpentine locomotion of a snake-like robot in water environment

Serpentine locomotion of a snake-like robot in water environ...

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2008 IEEE International Conference on robotics and Biomimetics, ROBIO 2008

作者： Zuo, Zhijian Wang, Zhifeng Li, Bin Ma, Shugen State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Organization for Promotion of the COE Program Ritsumeikan University 1-1-1 Noji-Higashi Kusatsu-Shi Shiga-ken 525-8577 Japan Graduate School of the Chinese Academy of Sciences Beijing 100039 China

ISBN: (纸本)9781424426799

Serpentine Locomotion is the most common and simplest locomotion form of a snake-like robot;its main characteristic is the wave-like undulation of the snake's body. In order to realize the noticeable features of the snake-like robot's serpentine locomotion in water, we have developed an amphibious snake-like robot which can adapt to terrestrial and underwater environments. After we derived the dynamic equation for the robot's underwater serpentine locomotion, the simulation based on the dynamic model was made using ADAMS, Finally we presented the influence of the robot's joint angle parameters on the underwater performance of the robot and made experiments to validate the result of ideas and simulations. © 2008 IEEE.

关键词： Serpentine

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Fusion of stereoscopic video and laparoscopic ultrasound for minimally invasive partial nephrectomy

Fusion of stereoscopic video and laparoscopic ultrasound for...

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Medical Imaging 2009: Visualization, Image-Guided Procedures, and Modeling

作者： Cheung, Carling L. Wedlake, Chris Moore John Pautler, Stephen E. Ahmad, Anis Peters, Terry M. Imaging Research Laboratories Robarts Research Institute Canada Biomedical Engineering Graduate Program The University of Western Ontario Canada Department of Medical Biophysics The University of Western Ontario Canada Divisions of Urology and Surgical Oncology Department of Surgery The University of Western Ontario Canada Canadian Surgical Technologies and Advanced Robotics London Ontario ON Canada

ISBN: (纸本)9780819475121

The development of an augmented reality environment that combines laparoscopic video and ultrasound imaging for image-guided minimally invasive abdominal surgical procedures, such as partial nephrectomy and radical prostatectomy, is an ongoing project in our laboratory. Our system overlays magnetically tracked ultrasound images onto endoscopic video to create a more intuitive visualization for mapping lesions intraoperatively and to give the ultrasound image context in 3D space. By presenting data in a common environment, this system will allow surgeons to visualize the multimodality information without having to switch between different images. A stereoscopic laparoscope from Visionsense Limited enhances our current system by providing surgeons with additional visual information through improved depth perception. In this paper, we develop and validate a calibration method that determines the transformation between the images from the stereoscopic laparoscope and the 3D locations of structures represented by a tracked laparoscopic ultrasound probe. We first calibrate the laparoscope with a checkerboard pattern and measure how accurate the transformation from image space to tracking space is. We then perform a target localization task using our fused environment. Our initial experience has demonstrated an RMS registration accuracy in 3D of 2.21mm for the laparoscope and 1.16mm for the ultrasound in a working volume of 0.125m3, indicating that magnetically tracked stereoscopic laparoscope and ultrasound images may be appropriately combined using magnetic tracking as long as steps are taken to ensure that the magnetic field generated by the system is not distorted by surrounding objects close to the working volume. © 2009 SPIE.

关键词： Laparoscopy

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