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International Conference on Advanced robotics (ICAR)

作者： Dmitry A. Sinyukov Taşkın Padır Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA

Motorized wheelchairs are systems with changing parameters: rolling friction which depends on the ground surface, center of gravity and even the total mass of the system may vary. This affects the performance of PID controllers normally used for wheelchair velocity control. This paper presents an adaptive controller with online parameter estimation for the motion control of a semi-autonomous robotic wheelchair platform. The proposed controller accepts a second-order trajectory as an input rather then the desired velocity at each moment in time. Mathematical and computer models are developed for the wheelchair and the controller. Four simulation experiments with different initial conditions are demonstrated and analyzed in this work based on a custom developed MATLAB/Simulink ® framework for wheelchair dynamic modeling and visualization. Advantages and limitations of the proposed approach are discussed.

关键词： Wheelchairs Adaptation models Mobile robots Mathematical model Wheels Friction

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Towards personalized smart wheelchairs: Lessons learned from discovery interviews

Towards personalized smart wheelchairs: Lessons learned from...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Taşkın Padır Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA

We posit that it is necessary to investigate the personalization of smart wheelchairs in three aspects interfaces for interaction, controllers for action (top-level, middle-level, and low-level), and feedback in interaction. Our team has been selected as an Innovation Corps (I-Corps) Team by the National Science Foundation to pursue customer discovery research to explore the commercial viability of smart wheelchairs. Through the process, our team has performed more than 110 interviews with powered wheelchair users, manufacturers, therapists, policy makers, and non-profit organization staff. Our findings revealed that the acceptability of fully autonomous systems by the users is still challenging and highly-dependent on the severity of the disability. Furthermore, the cost, ease-of-use and personalization are the most important factors in commercializing smart wheelchair technologies.

关键词： Wheelchairs Interviews Mobile robots Robot sensing systems Navigation Conferences

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programmable skins based on core-shell microsphere/nanotube/polymer composites

Programmable skins based on core-shell microsphere/nanotube/...

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2015 MRS Spring Meeting

作者： Panchapakesan, Balaji Onal, Cagdas Loomis, James Systems Laboratory Department of Mechanical Engineering Worcester Polytechnic Institute WorcesterMA01609 United States Soft Robotics Laboratory Department of Mechanical Engineering Robotics Engineering Program Worcester Polytechnic Institute WorcesterMA01609 United States Department of Mechanical Engineering Massachusetts Institute of Technology CambridgeMA02139 United States

ISBN: (纸本)9781510826533

In this paper, we describe unique thermally responsive polymer system based on nanotube-elastomers dispersed with core-shell expanding microspheres (phase-change material). Upon thermal or infrared stimuli, liquid hydrocarbon cores encapsulated within the microspheres vaporize, expanding the surrounding shells and stretching the matrix. Microsphere transfonnation resulted in visible dimensional changes associated with macroscopic volume increase (>500%), reduction in density (>80%), and increase in elastic modulus (>675%). Additionally, electrically conductive nanotubes allowed for expansion dependent electrical responses. We present our new findings on expansion dependent superhydrophobicity in these materials and present some outlook and comparison of our stimuli responsive polymers with other material systems for future origami based applications. © Materials Research Society 2015.

关键词： Microspheres

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Rich feature hierarchies from omni-directional RGB-DI information for pedestrian detection

Rich feature hierarchies from omni-directional RGB-DI inform...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Seokju Lee Sungsik Huh Donggeun Yoo In So Kweon David Hyunchul Shim Department of the Robotics Program Korea Advanced Institute of Science and Technology Daejeon Korea

In this paper, we propose an omni-directional pedestrian detection method from color, depth, and laser intensity (RGB-DI) information by fusing two different sensors, catadioptric camera and 3D LiDAR scanner. Our method is based on the use of Regions with Convolutional Neural Network (R-CNN) features, which is known as the state-of-the-art object detection method at this moment. The problem of R-CNN is that it takes long computation times over omni-directional searches. By fusing two sensors, we reduced the number of candidate regions and the whole computation time under half, and achieved better performances in the outdoor environment.

关键词： Image color analysis Cameras Sensors Three-dimensional displays Color Proposals Laser radar

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Fuzzy gaze control-based navigational assistance system for visually impaired people in a dynamic indoor environment

Fuzzy gaze control-based navigational assistance system for ...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Seung-Beom Han Deok-Hwa Kim Jong-Hwan Kim Robotics Program KAIST Daejeon Korea Department of Electrical Engineering KAIST Daejeon Korea

285 million people are estimated to be visually impaired worldwide. Visually impaired people typically use a white cane or a guide dog or both of them to walk down the street. However, such as a cane and/or a dog are not enough to secure them from being collided with obstacles in a dynamic environment. This paper proposes a navigational assistance system based on fuzzy integral-based gaze control for visually impaired people in a dynamic indoor environment. It largely consists of an RGB-D camera and a vibrotactile vest interface. The RGB-D camera detects static and dynamic obstacles and obtains obstacle information on their center positions, sizes, and velocities. The fuzzy integral-based gaze control for obstacle detection is proposed to reduce a blind spot of the camera and obtain more information of the environment. The vibrotactile vest interface notifies a direction to avoid the obstacle using a fuzzy integral-based imminent-obstacle selection algorithm. To confirm the performance of the proposed assistance system for visually impaired people, experiments are carried out in an indoor dynamic environment.

关键词： Cameras 5G mobile communication Navigation Heuristic algorithms Indoor environments Visualization Size measurement

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Feedforward augmented sliding mode motion control of antagonistic soft pneumatic actuators

Feedforward augmented sliding mode motion control of antagon...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Erik H. Skorina Ming Luo Selim Ozel Fuchen Chen Weijia Tao Cagdas D. Onal Mechanical Engineering Department and Robotics Engineering Program Worcester Polytechnic Institute MA USA

ISBN: (纸本)9781479969241

Soft pneumatic actuators provide many exciting properties, but controlling them without the use of bulky and expensive flow-control valves can be difficult and computationally expensive. We seek a solution to this problem by introducing an inexpensive and reliable muscle-like linear soft actuator used antagonistically to operate a rigid 1-DoF joint, resulting in a system that combines the advantages of rigid and soft robotics. Using this setup, we performed precise motion control using a sliding mode feedback controller as well as a sliding mode controller augmented by a feedforward term to modulate the state of solenoid valves that drive each actuator. We found that both controllers performed equivalently well in following a step function and in responding to a disturbance. The feedforward augmented controller performed significantly better when following dynamic trajectories over a range of frequencies and with the addition of an external force. The next step will be to modify our valve control scheme to allow for the determination of both the position and stiffness of the joint, better leveraging the advantages of soft pneumatic actuators.

关键词： Actuators Joints Valves Pulse width modulation Rubber Motion control Solenoids

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Detection and Segmentation of Underwater Archaeological Sites Surveyed with Stereo-Vision Platforms

Detection and Segmentation of Underwater Archaeological Site...

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Oceans MTS/IEEE Washington (Conference)

作者： Katherine A. Skinner Matthew Johnson-Roberson Robotics Program University of Michigan Department of Naval Architecture and Marine Engineering University of Michigan

ISBN: (纸本)9781467393744

This paper proposes a method for automating detection and segmentation of archaeological structures in underwater environments. Underwater archaeologists have recently taken advantage of robotic or diver-operated stereo-vision platforms to survey and map submerged archaeological sites. From the acquired stereo images, 3D reconstruction can be performed to produce high-resolution photo-mosaic maps that are metrically accurate and contain information about depth. Archaeologists can then use these maps to manually outline or sketch features of interest, such as building plans of a submerged city. These features often contain large rocks that serve as the foundation to buildings and are arranged in patterns and geometric shapes that are characteristic of human-made structures. Our proposed method first detects these large rocks based on texture and depth information. Next, we exploit the characteristic geometry of human-made structures to identify foundation rocks arranged along lines to form walls. Then we propose to optimize the outlines of these walls by using the gradient of depth to seek the local minimum of the height from the seafloor to identify the ground plane at the base of the rocks. Finally, we output contours as geo-referenced layers for geographic information system (GIS) and architectural planning software. Experiments are based on a 2010 stereo reconstruction survey of Pavlopetri, a submerged city off the coast of Greece. The results provide a proof-of-concept for automating extraction of archaeological structure in underwater environments to produce geo-referenced contours for further analysis by underwater archaeologists.

关键词： Rocks Image segmentation Image reconstruction Dictionaries Training Three-dimensional displays Buildings

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User-adaptive fall detection for patients using wristband

User-adaptive fall detection for patients using wristband

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2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Young-Hoon Nho Jong Gwan Lim Dae-Eon Kim Dong-Soo Kwon Robotics Program and Human-Robot Interaction research center Korea Advanced Institute of Science and Technology Daejeon Republic of Korea Department of Information Engineering Computer Science and University of Trento Italy KAIST Human-Robot Interaction Research Center Daejeon Republic of Korea Department of Mechanical Engineering Human-Robot Interaction research center Daejeon Republic of Korea

Fall detection systems have been proposed to prevent additional injuries following fall accidents. This paper introduces an easily learnable fall detection system based on the data of an individual patient in a hospital room. The improvement of low performance using a single accelerometer at wrists and the inconvenience of sensor attached to a waist in the conventional approach was concentrated on by integrating heart rate signals to the conventional acceleration approach and changing the sensor location from a waist to wrists. As for the optimal heart rate feature selection, we proposed a four-feature vector combination (root mean square of successive differences, standard deviation of successive differences, normal to normal 50, normal to normal 20) with correlation and mutual information analysis in addition to mean absolute deviation selected as an accelerometer feature. To easily acquire and train the patients' fall data, our system was based on unsupervised learning approaches using Gaussian mixture models for optimal classifiers with the optimal cluster number decided by cluster validation index of square error sum. A 10-fold cross validation was applied for a final performance evaluation where each threshold for separating fall state from non-fall state was automatically decided in several comparison groups, which were created on the basis of fusion timing and used sensors. As a result, despite sensors attached to the wrist, the wearable inconvenience of the conventional is overcome using the feature-level fused approach between heart rates and accelerations with the accuracy up to 98.39 %, which is closest to 99.34 % of the case using a single accelerometer located at the waist.

关键词： Accelerometers Heart rate Wrist Training data Hospitals Robot sensing systems Unsupervised learning

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Low cost underwater acoustic localization

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Proceedings of Meetings on Acoustics 2017年第1期30卷

作者： Eduardo Alexander Iscar Ruland Atulya Shree Nicholas Goumas Matthew Johnson-Roberson 1Naval Architecture and Marine Engineering University of Michigan Ann Arbor Michigan 48109 USA eiscar@umich.edu mattjr@umich.edu 2Robotics Program University of Michigan Ann Arbor Michigan 48109 USA satulya@umich.edu 3University of Michigan Ann Arbor Michigan 48109 USA goumas@umich.edu

Over the course of the last decade, the cost of marine robotic platforms has significantly decreased. In part this has lowered the barriers to entry of exploring and monitoring larger areas of the earth’s oceans. However, these advances have been mostly focused on autonomous surface vehicles (ASVs) or shallow water autonomous underwater vehicles (AUVs). One of the main drivers for high cost in the deep water domain is the challenge of localizing such vehicles using acoustics. A low cost one-way travel time underwater ranging system is proposed to assist in localizing deep water submersibles. The system consists of location aware anchor buoys at the surface and underwater nodes. This paper presents a comparison of methods together with details on the physical implementation to allow its integration into a deep sea micro AUV currently in development. Additional simulation results show error reductions by a factor of three.

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A framework for unsupervised online human reaching motion recognition and early prediction

A framework for unsupervised online human reaching motion re...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Ruikun Luo D. Berenson Ruikun Luo and Dmitry Berenson are with the Robotics Engineering Program Worcester Polytechnic Institute Worcester MA US

This paper focuses on recognition and prediction of human reaching motion in industrial manipulation tasks. Several supervised learning methods have been proposed for this purpose, but we seek a method that can build models on-the-fly and adapt to new people and new motion styles as they emerge. Thus, unlike previous work, we propose an unsupervised online learning approach to the problem, which requires no offline training or manual categorization of trajectories. Our approach consists of a two-layer library of Gaussian Mixture Models that can be used both for recognition and prediction. We do not assume that the number of motion classes is known a priori, and thus the library grows if it cannot explain a new observed trajectory. Given an observed portion of a trajectory, the framework can predict the remainder of the trajectory by first determining what GMM it belongs to, and then using Gaussian Mixture Regression to predict the remainder of the trajectory. We tested our method on motion-capture data recorded during assembly tasks. Our results suggest that the proposed framework outperforms supervised methods in terms of both recognition and prediction. We also show the benefit of using our two-layer framework over simpler approaches.

关键词： Trajectory Libraries Hidden Markov models Prediction algorithms Training Robots Supervised learning

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