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American Control Conference

作者： Yanan Li Keng Peng Tee Rui Yan Dilip Kumar Limbu Shuzhi Sam Ge Institute for Infocomm Research (I2R) Agency for Science Technology and Research (A*STAR) Singapore 138632 Department of Electrical and Computer Engineering and the Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 117576

ISBN: (纸本)9781479917730

In this paper, a framework of human-robot shared control is developed based on finding the solution to an optimization problem. Human dynamics are taken into account in the analysis of the coupled human-robot system, and objectives of both human and robot are considered. Approximate dynamic programming is employed to solve the optimization problem in the presence of unknown human and robot dynamics. The validity of the proposed method is verified through simulation studies.

关键词： dynamic programming Robot Human robot dynamics Approximate

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Planning for serendipity

Planning for serendipity

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： T. Chakraborti G. Briggs K. Talamadupula Yu Zhang M. Scheutz D. Smith S. Kambhampati Department of Computer Science Arizona State University Tempe AZ USA HRI Laboratory Tufts University Medford MA USA Cognitive Learning Department at IBM Thomas J. Watson Research Center NY USA Tufts University Medford MA US Autonomous Systems & Robotics Intelligent Systems Division NASA Ames Research Center NY USA

Recently there has been a lot of focus on human robot co-habitation issues that are often orthogonal to many aspects of human-robot teaming;e.g. on producing socially acceptable behaviors of robots and de-conflicting plans of robots and humans in shared environments. However, an interesting offshoot of these settings that has largely been overlooked is the problem of planning for serendipity - i.e. planning for stigmergic collaboration without explicit commitments on agents in co-habitation. In this paper we formalize this notion of planning for serendipity for the first time, and provide an Integer Programming based solution for this problem. Further, we illustrate the different modes of this planning technique on a typical Urban Search and Rescue scenario and show a real-life implementation of the ideas on the Nao Robot interacting with a human colleague.

关键词： Planning Robot kinematics Collaboration Context Robot sensing systems Handover

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Transient Electronics: Dry Transient Electronic systems by Use of Materials that Sublime (Adv. Funct. Mater. 12/2017)

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Advanced Functional Materials 2017年第12期27卷

作者： Bong Hoon Kim Jae‐Hwan Kim Luana Persano Suk‐Won Hwang Seungmin Lee Jungyup Lee Yongjoon Yu Yongseon Kang Sang M. Won Jahyun Koo Youn Kyoung Cho Gyum Hur Anthony Banks Jun‐Kyul Song Phillip Won Young Min Song Kyung‐In Jang Daeshik Kang Chi Hwan Lee Dario Pisignano John A. Rogers Departments of Materials Science and Engineering Biomedical Engineering Chemistry Neurological Surgery Mechanical Engineering Electrical Engineering and Computer Science Simpson Querrey Institute and Feinberg Medical School Center for Bio‐Integrated Electronics Northwestern University Evanston IL 60208 USA Department of Materials Science and Engineering Frederick Seitz Materials Research Laboratory University of Illinois at Urbana‐Champaign Urbana IL 61801 USA NEST Istituto Nanoscienze‐CNR Piazza S. Silvestro 12 I‐56127 Pisa Italy KU‐KIST Graduate School of Converging Science and Technology Korea University Seoul 02841 Republic of Korea School of Electrical Engineering and Computer Science Gwangju Institute of Science and Technology (GIST) Gwangju 61005 Republic of Korea Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea Department of Mechanical Engineering Ajou University Suwon 443–749 Republic of Korea Weldon School of Biomedical Engineering School of Mechanical Engineering The Center for Implantable Devices and Birck Nanotechnology Center Purdue University West Lafayette IN 47907 USA Dipartimento di Matematica e Fisica “Ennio De Giorgi” Università del Salento Via Arnesano I‐73100 Lecce Italy

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Control Strategies for a Humanoid Robot to Drive and then Egress a Utility Vehicle for Remote Approach

Control Strategies for a Humanoid Robot to Drive and then Eg...

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IEEE-RAS International Conference on Humanoid Robots

作者： Hyobin Jeong Jaesung Oh Mingeuk Kim Kyungdon Joo In So Kweon Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory School of Mechanical Aerospace & Systems Engineering Department of Electrical Engineering Korea Advanced Institute of Science and Technology Department of Electrical Engineering KAIST

ISBN: (纸本)9781479968862

This paper proposes strategies for the driving and egress of a vehicle with a humanoid robot. To drive the vehicle, the RANSAC method was used to detect obstacles, and the Wagon model was used to control the steering and velocity of the vehicle with only a limited number of sensors which were installed on the humanoid robot. Additionally, a manual teleoperating method was used with the lane projection technique. For the egress motion, gain override and the Cartesian position/force control technique were used to interact with the vehicle structure. To overcome the disadvantages of a highly geared manipulator, a special technique was used that included modelled friction compensation and a non-complementary switching mode. DRC-HUBO+ used the proposed method to perform a vehicle driving and egress task in the DRC finals 2015.

关键词： Humanoid robots EGRESS vehicle Vehicle driving Automobile driving UTILITY VEHICLES control strategy friction compensation DRIVES Steering

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Utilizing Graphics Processing Units for rapid facial recognition using video input

Utilizing Graphics Processing Units for rapid facial recogni...

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2014 IEEE High Performance Extreme Computing Conference, HPEC 2014

作者： Gala, Charles Acharya, Raj Einfalt, Bruce Department of Computer Science and Engineering Pennsylvania State University State College Pennsylvania United States Embedded Systems and Technology Applied Research Laboratory State College Pennsylvania United States

ISBN: (纸本)9781479962334

We propose a facial recognition method that is implemented utilizing a Graphics Processing Unit (GPU) to accelerate the processing time for a single frame of an input video sequence. When working with live streaming data, the processing speed that a particular frame is processed is a significant factor. A fast processing speed is necessary so that a recognition method can keep up with the frame rate of the video sequence. GPU computing is an ideal method to accelerate recognition processing. By implementing components of a facial recognition method on a Tesla C2050 GPU, we achieve a method that runs up to six times faster than a pure CPU implementation of the method. We evaluate these implementations using live streaming data and find that the GPU implementation achieves a greater accuracy and performance over the CPU implementation. © 2014 IEEE.

关键词： Graphics processing unit

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous robotics systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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Emotion analysis of children's stories with context information

Emotion analysis of children's stories with context informat...

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Asia-Pacific Signal and Information Processing Association Annual Summit and Conference (APSIPA)

作者： Zhengchen Zhang Minghui Dong Shuzhi Sam Ge Human Language Technology Department Institute for Infocomm Research (I2R) A *STAR Singapore Robotics Institute University of Electronic Science and Technology of China Chengdu China Department of Electrical and Computer Engineering and Social Robotics Laboratory National University of Singapore Singapore

ISBN: (纸本)9781479942503

In this paper, we analyse the emotion of children's stories in sentence level by considering the context information. We demonstrate that the emotion of a sentence is not only dependent on its content, but also affected by its neighbours in a story. A Hidden Markov Model (HMM) based method is proposed to model the emotion sequence and to detect whether a sentence is neutral or not. We show the important features for emotion detection by studying a children's story corpus. An empirical evaluation is conducted to investigate the efficiency of the model. The results demonstrate that the proposed method can achieve competitive performance with the state-of-the-art methods, and it is affected more slightly by the training set than traditional classification methods. Classifier fusion is applied to combine different methods to achieve better results.

关键词： Hidden Markov models Training Accuracy Support vector machines Testing Feature extraction Context

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Utilizing Graphics Processing Units for rapid facial recognition using video input

Utilizing Graphics Processing Units for rapid facial recogni...

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IEEE Conference on High Performance Extreme Computing (HPEC)

作者： Charles Gala Raj Acharya Bruce Einfalt Department of Computer Science and Engineering Pennsylvania State University State College Pennsylvania USA Embedded Systems and Technology Applied Research Laboratory State College Pennsylvania USA

关键词： Graphics processing units Acceleration Video sequences Face recognition Runtime Tracking computer vision

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Social Adaptation of Robots for Modulating Self-Organization in Animal Societies

Social Adaptation of Robots for Modulating Self-Organization...

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IEEE International Conference on Self-Adaptive and Self-Organizing systems Workshops, SASOW

作者： Payam Zahadat Michael Bodi Ziad Salem Frank Bonnet Marcelo Elias De Oliveira Francesco Mondada Karlo Griparic Tomislav Haus Stjepan Bogdan Rob Mills Pedro Mariano Luis Correia Olga Kernbach Serge Kernbach Thomas Schmickl Artificial Life Laboratory of the Department of Zoology Karl-Franzens University Graz Austria Computer Engineering Department Aleppo University Syrian Arab Republic Rbotic Systems Laboratory Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Universidade de Lisboa Lisboa Lisboa PT Cybertronica Research Research Center of Advanced Robotics and Environmental Science Stuttgart Germany

The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.

关键词： Animals Heating Vibrations Robot sensing systems Hardware Biochemistry

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Predicting the Speed of a Wave Glider Autonomous Surface Vehicle from Wave Model Data

Predicting the Speed of a Wave Glider Autonomous Surface Veh...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Phillip Ngo Jnaneshwar Das Jonathan Ogle Jesse Thomas Will Anderson Ryan N. Smith School of Electrical Engineering and Computer Science Queensland University of Technology Brisbane QLD 4001 Australia Robotic Embedded Systems Laboratory University of Southern California Los Angeles CA USA Physics and Engineering Department Fort Lewis College Durango CO USA Liquid Robotics Inc. Sunnyvale CA USA

ISBN: (纸本)9781479969357

A key component of robotic path planning for monitoring dynamic events is reliable navigation to the right place at the right time. For persistent monitoring applications (e.g., over months), marine robots are beginning to make use of the environment for propulsion, instead of depending on traditional motors and propellers. These vehicles are able to realize dramatically higher endurance by exploiting wave and wind energy, however the path planning problem becomes difficult as the vehicle speed is no longer directly controllable. In this paper, we examine Gaussian process models to predict the speed of the Wave Glider autonomous surface vehicle from observable environmental parameters. Using training data from an on-board sensor, and wave parameter forecasts from the WAVEWATCH III model, our probabilistic regression models create an effective method for predicting Wave Glider speed for use in a variety of path planning applications.

关键词： Ground vehicles Path planning Vehicle speed speed Crucial components A wave

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