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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Dong-Hyun Lee Vo Van Quang Sungho Jo Ju-Jang Lee Robotics Program KAIST Daejeon Korea School of Electrical Engineering and Computer Science KAIST Daejeon Korea KAIST School of Electrical Engineering and Computer Science Daejeon Korea

This paper proposes the online Support Vector Regression (SVR) based value function approximation method for Reinforcement Learning (RL). This approach conserves the Support Vector Machine (SVM)'s good property, the generalization which is a key issue of function approximation. Online SVR can do incremental learning and automatically track variation of environment with time-varying characteristics. Using the online SVR, we can obtain the fast and good estimation of value function and achieve RL objective efficiently. Throughout simulation tests, the feasibility and usefulness of the proposed approach is demonstrated by comparison with SARSA and Q-learning.

关键词： Function approximation Learning Support vector machines State estimation Electronic mail Quadratic programming Industrial electronics Computer science robotics and automation Testing

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Image Guidance for Spinal Facet Injections Using Tracked Ultrasound

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12th International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI2009)

作者： Moore, John Clarke, Colin Bainbridge, Daniel Wedlake, Chris Wiles, Andrew Pace, Danielle Peters, Terry Robarts Res Inst Imaging Res Lab London ON N6A 5C1 Canada Univ Western Ontario Div Anesthesia London ON Canada Canadian Surg Technol & Adv Robotics CSTAR London ON Canada Univ Western Ontario Biomed Engn Grad Program London ON Canada Univ Western Ontario Dept Med Biophys Dept Med Imaging London ON Canada

ISBN: (纸本)9783642042676

Anesthetic nerve blocks are a common therapy performed in hospitals around the world to alleviate acute and chronic pain. Tracking systems have shown considerable promise in other forms of therapy, but;little has been done to apply this technology in the field of anesthesia. We are developing a, guidance system for combining tracked needles with non-invasive ultrasound (US) and patient-specific geometric models. In experiments with phantoms two augmented reality (AR) guidance systems were compared to the exclusive rise of US for lumbar facet injection therapy. Anesthetists and anesthesia residents were able to place needles within 0.57mm of the intended targets using our AR systems compared to 5.77mm using US alone. A preliminary cadaver study demonstrated the system was able to accurately place radio opaque dye on targets. The combination of real time US with tracked tools and AR guidance has the potential to replace CT and fluoroscopic guidance, thus reducing radiation dose to patients and clinicians, as well as reducing health care costs.

关键词： Augmented reality

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Thumb-tip force estimation from sEMG and a musculoskeletal model for real-time finger prosthesis

Thumb-tip force estimation from sEMG and a musculoskeletal m...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Won-Il Park Sun-Cheol Kwon Hae-Dong Lee Jung Kim KAIST Robotics program Daejeon South Korea Department of Mechanical Engineering KAIST Daejeon South Korea BK21 Mechatronics Group Chungnam National University Daejeon South Korea

Due to the difficulties in measurement of muscle activities and the complex musculoskeletal structure, estimations of the thumb-tip force in real time have been a challenge for controlling artificial prosthesis naturally. This study describes an isometric thumb-tip force estimation technique based on phenomenological muscle model named Hill's model. The surface electromyogram(sEMG) signals of the muscles near surface were measured and converted to muscle activation information. The activations of deep muscles were inferred from the ratios of muscle activations from earlier study. The muscle length of each contributed muscle was obtained by using motion capture system and musculoskeletal modeling software packages. Once muscle forces were calculated, thumb-tip force was estimated based on mapping model from the muscle force to thumb-tip force. The proposed method was evaluated in comparisons with an artificial neural network (ANN) under four different thumb configurations to investigate the potential for estimations under conditions in which the thumb configuration changes. The results seem to be promising and the proposed method could be applied to predict finger-tip forces from non-invasive neurosignals with a real-time prosthesis control system.

关键词： Musculoskeletal system Fingers Prosthetics Muscles Force measurement Force control Artificial neural networks Thumb Software packages Real time systems

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Passivity-based synchronized visual feedback control for eye-to-hand systems

Passivity-based synchronized visual feedback control for eye...

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Annual Conference of Industrial Electronics Society

作者： Toshiyuki Murao Hiroyuki Kawai Masayuki Fujita Master Program of Innovation of Design and Engineering Advanced Institute of Industrial Technology Japan Department of Robotics Kanazawa Institute of Technology Ishikawa Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Japan

This paper investigates passivity based synchronized visual feedback control for eye-to-hand systems. Firstly the brief summary of the estimation and the control error systems is given with the basic representation of a relative rigid body motion. Secondly we construct the synchronized visual feedback system with an eye-to-hand configuration by combining a synchronization error system. Next, we derive the passivity of the synchronized visual feedback system. Based on passivity, stability analysis is discussed. Finally the validity of the proposed control law can be confirmed by the simulation results.

关键词： Feedback control Manipulators Control systems Cameras Robot vision systems Paper technology Motion control Error correction Intelligent robots Technological innovation

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Modeling the dynamics of the recovery process in robot therapy

Modeling the dynamics of the recovery process in robot thera...

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International Workshop on Virtual Rehabilitation

作者： Maura Casadio Vladimir Novakovic Pietro G. Morasso Vittorio Sanguineti Sensorimotor Performance Program Rehabilitation Institute of Chicago Chicago USA Department Informatics Systems Telematics University of Genoa Genoa Italy Department Robotics Brain and Cognitive Science Italian Institute of Technology Genoa Italy

The mechanisms of action of physical assistance in promoting motor recovery after stroke are poorly understood. To explicitly model this process might help understanding what determines recovery, and how to make it faster and more effective. Linear dynamical models are used to describe the dynamics of sensorimotor adaptation, and could be extended to characterize the process of recovery of motor functions in impaired subjects while they move with the assistance of a therapist, or a robot. To test the feasibility of this approach, here we focus on a robot therapy experiment which involves a hitting task. Nine chronic stroke survivors underwent 8 to 10 rehabilitation sessions. We used a linear dynamical model to describe the trial-by-trial dynamics of the recovery process, with robot-generated assistance as input and subject's motor performance as output. In all subjects, the model correctly reproduced the overall evolution of performance over sessions. A comparison of the estimated model parameters with the clinical scales (Fugl-Meyer arm portion and Ashworth) and their modifications indicated that the time constant of the recovery process is predictive of the retention of the recovery (assessed after three months from completion of the protocol). Moreover, we found that in subjects with little or no spasticity, recovery is mediated by motor error. In contrast, in subjects with high spasticity, recovery is more influenced by performance. Although preliminary, these results suggest that modeling the recovery process with dynamical models is feasible, and could serve as basis to devise dasiaoptimalpsila strategies for regulating assistance with the aim of maximizing recovery.

关键词： Medical treatment Robot sensing systems Rehabilitation robotics Cognitive robotics Humans Force control Robot control Protocols Control systems Error correction

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Probabilistic structure from sound

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Advanced robotics 2009年第12-13期23卷 1687-1702页

作者： Wang, Chieh-Chih Lin, Chi-Hao Hu, Jwu-Sheng Department of Computer Science and Information Engineering Graduate Institute of Networking and Multimedia National Taiwan University Taipei 10617 Taiwan Intelligent Robotics Program of Industrial Technology Research Institute Department of Electrical and Control Engineering National Chiao Tung University HsinChu 310 Taiwan

Auditory perception is one of the most important functions for robotics applications. Microphone arrays are widely used for auditory perception in which the spatial structure of microphones is usually known. In practice, microphone array calibration can be tedious and other devices or means are required. The structure from sound (SFS) approach addresses the problem of simultaneously localizing a set of microphones and a set of acoustic events that provides a great flexibility to calibrate different setups of microphone arrays. However, the existing method does not take measurement uncertainty into account and does not provide uncertainty estimates of the SFS results. In this paper, we propose a probabilistic structure from sound (PSFS) approach using the unscented transform in which the uncertainties of the PSFS results are also available. In addition, a probabilistic sound source localization approach using the PSFS results is provided to improve sound source localization accuracy. The ample results of simulation and experiments using low-cost, off-the-shelf microphones demonstrate the feasibility and performance of the proposed PSFS approach. © 2009 VSP.

关键词： Microphone array

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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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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Bin Li Shugen Ma Minghui Wang Tonglin Liu State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang Liaoning China Center of Promotion of the COE Program Ritsumeikan University Kusatsu Shiga Japan Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning CN

ISBN: (纸本)9781424456277

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： Mobile robots robotics and automation Earthquakes Robot sensing systems Turning Security Intelligent robots Gravity Typhoons Hurricanes

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Novel image analysis for trajectory of microtubules gliding on kinesins with Tip detection

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Journal of Biomechanical Science and Engineering 2009年第3期4卷 404-414页

作者： Sugita, Shukei Sakamoto, Naoya Ohashi, Toshiro Sato, Masaaki Department of Biomedical Engineering Graduate School of Biomedical Engineering Tohoku University 6-6-01 Aramaki-aza-Aoba Aoba Sendai 980-8579 Japan VCAD System Research Program RIKEN 2-1 Hirosawa Wako 351-0198 Japan Department of Bioengineering and Robotics Graduate School of Engineering Tohoku University 6-6-01 Aramaki-aza-Aoba Aoba Sendai 980-8579 Japan Division of Human Mechanical Systems and Design Graduate School of Engineering Hokkaido University N13 W8 Kita Sapporo 060-8628 Japan

Control of the gliding directions of kinesin-driven microtubules (MTs) in vitro has good feasibility for the development of nano-scale transport systems. A requirement for the control of transporters in these systems includes detecting the positions of gliding MTs;however, no studies have reported on the monitoring of the positions of gliding MTs. Here, we suggest an algorithm to detect tip coordinates of gliding MTs by binarization, skeletonization, and filtration of fluorescent images of MTs. The algorithm was first applied to artificially drawn segments with given lengths (10-80 pixels), widths (1-10 pixels), and curvature radii (20-120 pixels) to verify the effect of the sizes of MTs on accuracy of tip coordinates extracted by the algorithm, and error was estimated by referring to the true coordinates. The estimated errors were as small as 2 pixels in the width and were not affected by the length and the curvature radius, indicating that our algorithm is useful to extract the tips of MTs. The algorithm was subsequently applied to images of gliding MTs. Since distances from the trajectories of the MTs to the centers of gravity of the MTs (3.7 ± 2.1 pixels) were significantly larger than those to the tips (1.9 ± 0.5 pixels), the use of the tips as representative points of gliding MTs was verified. A detection method using tips of MTs, as suggested in this study, may be a useful technique for monitoring each MT in nanoscale transport systems.

关键词： Pixels

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Band-limited guidance and control of large parafoils

Band-limited guidance and control of large parafoils

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作者： Carter, David Singh, Leena Wholey, Leonard Rasmussen, Scott Barrows, Tim George, Sean McConley, Marc Gibson, Chris Tavan, Steve Bagdonovich, Brian Draper Laboratory 555 Technology Square Cambridge MA 02459 United States US Army Natick Soldier Research Development and Engineering Center Natick MA 01760 United States Decision Systems Group MS 15 United States Aerospace Guidance and Control Group MS 70 United States Tactics Guidance and Control Group MS 77 United States Cognitive Robotics Group MS 77 United States Manned Space Systems Group MS 70 United States Vehicle and Robotics Group MS 23 United States Navigation and Localization Group MS 77 United States Tactical Systems Program Office MS 79 United States NSRDEC 15 Kansas Street United States

ISBN: (纸本)9781563479724

The Natick Soldier Research Development and Engineering Center has been leading an effort to develop precision guided airdrop systems to accommodate cargo weights from 1 pound to 42,000 pounds. This paper describes flight software developed by Draper Laboratory for one of the largest of these systems. Copyright © 2009 by The Charles Stark Draper Laboratory, Inc.

关键词： Precision engineering

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Biomimetic evolutionary analysis: Robotically-simulated vertebrates in a predator-prey ecology

Biomimetic evolutionary analysis: Robotically-simulated vert...

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IEEE Symposium on Artificial Life, ALIFE

作者： Nicole Doorly Kira Irving Gianna McArthur Keon Combie Virginia Engel Hassan Sakhtah Elise Stickles Hannah Rosenblum Andres Gutierrez Robert Root Chun Wai Liew John H. Long Mechanical and Aerospace Engineering Department Case Western Reserve University Cleveland OH USA Interdisciplinary Robotics Research Laboratory and the Cognitive Science Program Vassar College Poughkeepsie NY USA Neuroscience Institute Stanford University School of Medicine Stanford CA USA Neuroscience and Behavior Program Vassar College Poughkeepsie NY USA Memorial Sloan Kettering Cancer Care Center New York NY USA Department of Biology Vassar College Poughkeepsie NY USA Biochemistry Program Vassar College Poughkeepsie NY USA College of Medicine Howard University College of Medicine Washington D.C. USA School of Oceanography University of Washington Seattle WA USA Vassar College Poughkeepsie NY USA Department of Mathematics Lafayette College Easton PA USA Computer Science Department Lafayette College Easton PA USA Interdisciplinary Robotics Research Laboratory the Department of Biology and the Cognitive Science Program Vassar College Poughkeepsie NY USA

To test adaptation hypotheses about the evolution of animals, we need information about the behavior of phenotypically-variable individuals in a specific environment. To model behavior of ancient fish-like vertebrates, we previously combined evolutionary robotics and software simulations to create autonomous biomimetic swimmers in a simple aquatic environment competing and foraging for a single source of food. This system allowed us to test the hypothesis that selection for improved forage navigation drove the evolution of stiffer tails. In this paper, we extend our framework to evaluate more complex environments and hypotheses. Specifically, we test the hypothesis that predator-prey dynamics and the need for effective foraging strategies, operating simultaneously, were key selection pressures driving the evolution of morphological and sensory traits in early, fish-like vertebrates. Three evolvable traits were chosen because of their importance in propulsion and predator avoidance: (1) the number of vertebrae in the axial skeleton, (2) the trailing edge span of the caudal fin, and (3) the sensitivity of the sensory lateral line. To produce variable offspring, we used a genetic algorithm that rewarded parents with high fitness, allowing them to mate randomly and combine their mutated gametes. Offspring were then instantiated as autonomous embodied robots, the prey. These prey were chased by a non-evolving autonomous predator. Both kinds of robots were surface swimmers. The prey used a control architecture based on that of living fish: a two-layer subsumption architecture with predator escape over-riding steady swimming during foraging. The performance of six different prey robots in each generation was judged with a relative fitness function that rewarded a combination of high speed, rapid escape acceleration, escape responses, and the ability to stay away from the predator while at the same time staying close to the food source. This approach, which we call biomimet

关键词： Biomimetics Environmental factors Biological system modeling System testing Evolution (biology) Robot sensing systems Animals Navigation Tail Propulsion

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