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Operating characteristics of a passive, bidirectional overrunning clutch for rotary joints of robots

Operating characteristics of a passive, bidirectional overru...

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XXII International Symposium on Information, Communication and Automation Technologies, ICAT

作者： Torsten Siedel Dusko Lukac Tim Geppert Christian Benckendorff Manfred Hild Neurorobotics Research Laboratory Humboldt-Universität zu Berlin Berlin Germany Department of Robotics and Mechatronics Rheinische Fachhochschule Köln gGmbH Cologne Germany SONY Computer Science Laboratory Paris France

For the development of robots the mode of assembly and the effectiveness of their joints are of elementary significance. To enable powerful movements, strong torques are required which, when employing electromechanical actuators, are generated by high-capacity motors in combination with adequate speed transformations. Furthermore, such drive systems have to withstand even very high external loads which can be caused by uncontrolled motions, e.g., by stumbling of a humanoid robot. In particular the gears have therefore to be of robust construction. Likewise, the energy efficiency of the drive systems plays a decisive role for the perseverance of robots. The latter underlies a negative impact especially by frictional losses of highly transforming gears. In the present publication a novel design of a clutch is described. It has been developed with the goal to equally meet the requirements both of high energy efficiency and capacitance of robots. Apart from its configuration, this paper mainly deals with the technical performance of the new clutch, especially in combination with the actuator used.

关键词： Torque Shafts Servomotors Temperature measurement Robot sensing systems DC motors

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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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Fusion of CSP-derived features and Time-Domain Parameters for mind robotics control

Fusion of CSP-derived features and Time-Domain Parameters fo...

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Asian Control Conference

作者： Shuzhi Sam Ge Xinyang Li Yaozhang Pan Social Robotics Laboratory Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore Social Robotics Laboratory Interactive Digital Media Institute and NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore Institute for Infocomm Research Agency for Science Technology and Research Singapore

In this paper, fusion of Common Spatial Pattern (CSP) analysis derived features and Time-Domain Parameters (TDP) is investigated for two-class motion imagery classification: left hand movement and right hand movement imagery. This fusion method is aiming at improving the performance of Brain-computer Interface (BCI) systems in translating human thoughts into command to control certain robots, e.g. rehabilitation robots. In the BCI system applied in this paper, a Human-Friendly Interactive Bear Robot is implemented, whose bear-like appearance and interactive actions can alleviate the frustration and anxiety on the part of the user in the experiment. Moreover, off-line experiments are conducted to demonstrate the efficiency of the fusion method using both well-known open-source data and data obtained by the BCI system mentioned before.

关键词： Robots Electroencephalography Accuracy Feature extraction Brain modeling Covariance matrix Algorithm design and analysis

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E-wobble: An electronic wobble board for ankle and toe rehabilitation

E-wobble: An electronic wobble board for ankle and toe rehab...

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IEEE International Workshop on Medical Measurement and Applications (MEMEA)

作者： Ali Karime Hussein Al-Osman Wail Gueaieb Jihad Mohamad Alja'am Abdulmotaleb El Saddik Multimedia Communication Research Laboratory (MCRLab) University of Ottawa Ottawa ONT Canada Machine Intelligence Robotics and Mechatronics (MIRaM) University of Ottawa Canada Department of Computer Science and Engineering Qatar University Doha Qatar

Foot-drop is a common symptom among post stroke patients. It is characterized by the inability of a person to raise his/her foot at the ankle and to drag the toes during swing. To overcome such disability, long-term rehabilitation is crucial. However, such treatment might not be accessible to many people, especially those living far from the cities where most of the rehabilitation centers are located. In this paper, we present our interactive rehabilitation system called “E-Wobble” that consists of a modified version of a wobble board mounted with sensors and actuators. The proposed system aims to help patients with foot-drop symptoms so they can train their ankles and toes from home. The E-Wobble tangible interface is associated with a 2D golf game that motivates the patients to spend more time exercising while having fun.

关键词： Games Sensors Robots Accelerometers Foot Actuators Training

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WORKSHOP: The role of expectations in intuitive human-robot interaction

WORKSHOP: The role of expectations in intuitive human-robot ...

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Verena Hafner Manja Lohse Joachim Meyer Yukie Nagai Britta Wrede Department of Computer Science Cognitive Robotics Berlin Germany CoR-Laboratory and Applied Informatics Technical Faculty Bielefeld University Germany Department of Industrial Engineering and Management University of Negev Israel Department of Adaptive Machine Systems Graduate School of Engineering Osaka University Japan Head of CoR-Laboratory research group Hybrid Society Technical Faculty Bielefeld University Germany

Human interaction is highly intuitive: we infer reactions of our opponents mainly from what we have learned in years of experience and often assume that other people have the same knowledge about certain situations, abilities, and expectations as we do. In human-robot interaction (HRI) we cannot take for granted that this is equally true since HRI is asymmetrical. In other words, robots have different abilities, knowledge, and expectations than humans. They need to react appropriately to human expectations and behaviour. With this respect, scientific advances have been made to date for applications in entertainment and service robotics that largely depend on intuitive interaction. However, HRI today is often still unnatural, slow, and unsatisfactory for the human interlocutor. Both the sensorimotor interaction with environment and interlocutor, and the social aspects of the interaction still need to be researched and improved. Therefore, this full-day workshop aims to bring together researchers from different scientific fields to discuss these crosscutting issues and to exchange views on what are the preconditions and principles of intuitive interaction.

关键词： Educational institutions computer science Robot sensing systems Electronic mail Humans Industrial engineering

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Computational image analysis for determination of the oil palm fruit maturity

Computational image analysis for determination of the oil pa...

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IASTED International Conference on Computational Photography, CPhoto 2011

作者： Razali, Mohammad Hudzari Ismail, Wan Ishak Wan Harun, Mohammad Haniff B. Ramli, Abdul Rahman Sulaiman, Muhammad Nasir Intelligent System and Robotics Laboratory Institute of Advanced Technology 43400 Universiti Putra Malaysia Serdang Selangor Malaysia Department of Biological and Agriculture Engineering Faculty of Engineering 43400 Universiti Putra Malaysia Serdang Selangor Malaysia Department of Computer Science and Information Technology Faculty of Science Computer and Information Technology 43400 Universiti Putra Malaysia Serdang Selangor Malaysia Biological Research Division Malaysian Palm Oil Board No. 6 Persiaran Institusi Bandar Baru Bangi 43000 Kajang Selangor Malaysia Department of Agriculture Universiti Sultan Zainal Abidin Kampus Kota Kuala Terengganu 20400 Terengganu Malaysia

ISBN: (纸本)9780889868748

The experiment was conducted to determine the Hue optical properties of the three categories of Fresh Fruit Bunches (FFB) namely unripe, underripe and ripe. The Nikon Coolpix 4500 digital camera with tele-converter zooming and the Keyence machine vision were used to capture the FFB images with two different settings of natural environment and direct sunlight. The species of oil palm tree used for the experiments were Elaeis Oleifera and Elaeis Guineensis Jacq. The images from the Nikon digital camera were analysed for optical properties of Red, Green, Blue (RGB) and then convert to Hue value using developed graphical user interface (GUI). The Hue values will then be compared to the value obtained from Keyence machine vision. The images of oil palm FFB in plantation were captured with setting cameras parameter namely shutterspeed which set to 0.125 seconds, image sensor's sensitivity (ISO) was set to Normal and white balance were calibrated using the standard white calibration CR-A74. The lighting intensity under oil palm canopy was simultaneously recorded and monitored using Extech Light Meter Datalogger. Using Analysis of Variance (ANOVA), the ratio of test statistic of F with F critical for experiments under natural environment of oil palm plantation indicated the best differences of the hue optical properties among different maturity level of unripe, ripe and overripe FFB. Using the SAS programming for statistical analysis, the Hue and Red color values were found had significant effect to distinguish the maturity level (fm) of FFB with Pr > F are showed less than 0.01. The Green and Blue color values were not significant effect to differentiate the FFB maturity level which indicated the value of Pr > F showed 0.0243 and 0.9938 respectively. The Hue and Blue color values were not interaction with different lighting condition and the maturity level which indicated Pr > F for ml*fm showed 0.0668 and 0.1667 respectively. From the ANOVA analysis, the Hue is the best c

关键词： computer vision

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When to assist? - Modelling human behaviour for hybrid assembly systems

When to assist? - Modelling human behaviour for hybrid assem...

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Joint 41st International Symposium on robotics, ISR 2010 and 6th German Conference on robotics 2010, ROBOTIK 2010

作者： Huber, Markus Knoll, Alois Brandt, Thomas Glasauer, Stefan Center for Sensorimotor Research Department for Clinical Neurosciences LMU Germany Robotics and Embedded Systems Lab Dept. of Computer Science TUM Germany

ISBN: (纸本)9781617387197

Over centuries the successful cooperation of foreman and assistant has been an important factor of efficiency, as the mutual understanding of each others actions and intentions facilitates a smooth work flow. Hence, a promising option in the field of automation is to develop models of intuitive and adaptive assistance. An artificial system equipped with such models could improve not only efficiency, but also acceptance and safety in human-robot interaction (HRI). As a first step towards this goal, we investigated the timing of the most common physical interaction occurring in HRI - the handing over of items. In an assembly experiment we measured the duration of the different steps. We found that a linear dependency sufficiently describes the relation between the complexity of each working step and its duration. The parameters of the linear model however largely differ between the individual subjects. This linear dependency was used to develop Kalman filters to predict durations and complexities of different assembly steps. We showed that after a short adapting phase we received an accuracy of 18.03%, comparing the predicted assembling duration to the measured duration. The model was integrated into an assistive robot system to demonstrate its robustness and low requirements of the sensory systems.

关键词： Human robot interaction

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Design of an actuated phantom to mimic the motion of cardiac landmarks for the study of image-guided intracardiac interventions

Design of an actuated phantom to mimic the motion of cardiac...

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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Von Sternberg, Nicholas Hedayati, Yousef Yeniaras, Erol Christoforou, Eftychios Tsekos, Nikolaos V. Medical Robotics Laboratory Department of Computer Science University of Houston Houston TX 77204 United States KIOS Research Center University of Cyprus Nicosia Cyprus

ISBN: (纸本)9781424493173

In order to be accepted by the clinical and technical community, a new medical tool needs a long duration of testing and validation period. Whereas animal trials are the current standard for evaluating new technologies just before experimenting on human, they are costly in terms of both money and time. For the early stages of a novel technological tool or an approach, the use of a cost-effective and reusable dynamic model would be highly effective. In this study we demonstrate the viability of a novel and specific MR compatible, computer controlled, and actuated phantom that can mimic the left ventricle (LV) for image guided and robot assisted transapical intracardiac surgeries in the beating heart. © 2010 IEEE.

关键词： Phantoms

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Position paper: Bayesian reasoning for software testing

Position paper: Bayesian reasoning for software testing

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FSE/SDP Workshop on the Future of Software Engineering research, FoSER 2010

作者： Namin, Akbar Siami Sridharan, Mohan Advanced Empirical Software Testing and Analysis Research Group Department of Computer Science Texas Tech University Lubbock TX United States Stochastic Estimation and Autonomous Robotics Laboratory Department of Computer Science Texas Tech University Lubbock TX United States

ISBN: (纸本)9781450304276

Despite significant advances in software testing research, the ability to produce reliable software products for a variety of critical applications remains an open problem. The key challenge has been the fact that each program or soft-ware product is unique, and existing methods are predominantly not capable of adapting to the observations made during program analysis. This paper makes the following claim: Bayesian reasoning methods provide an ideal research paradigm for achieving reliable and effcient software testing and program analysis. A brief overview of some popular Bayesian reasoning methods is provided, along with a justification of why they are applicable to software testing. Furthermore, some practical challenges to the widespread use of Bayesian methods are discussed, along with possible solutions to these challenges. Copyright 2010 ACM.

关键词： Software testing

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When to assist? - A human model for hybrid assembly systems

When to assist? - A human model for hybrid assembly systems

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4th International Conference on Cognitive systems, CogSys 2010

作者： Huber, Markus Radrich, Helmuth Wendt, Cornelia Glasauer, Stefan Knoll, Alois Färber, Berthold Brandt, Thomas Center for Sensorimotor Research Clinical Neurosciences Ludwig-Maximilians-Universität München Germany Robotics and Embedded Systems Lab. Department of Computer Science Technische Universität München Germany Human Factors Institute Universität der Bundeswehr München Germany

Over centuries it has been common usage that the cooperation of foreman and assistant increases the working efficiency. This is due to the mutual understanding of each others actions and intentions. Hence, an important first step for automation in this field is to develop models of this natural and adaptive assistance. An artificial system equipped with such models would enable higher acceptance, passive safety and efficiency. Towards this goal we investigated the most common physical interaction occurring in human-robot cooperation - the handing over of items. In experiments, the timing and interplay of different modalities during a typical assembly task were analysed. A first model to predict timings and motor programs has been develop [1][2].

关键词： Efficiency

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