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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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Design concept and motion planning of a single-moduled autonomous pipeline exploration robot

Design concept and motion planning of a single-moduled auton...

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Annual Conference of Industrial Electronics Society

作者： Jong-Hoon Kim Gokarna Sharma S. S. Iyengar Robotics Research Laboratory Department of Computer Science Louisiana State University Baton Rouge LA USA

In this paper, we present the design concept and motion planning of a single-moduled fully autonomous mobile pipeline exploration robot that can be used for the inspection of Φ130~150mm pipelines. In this robot, the four straight wall-press caterpillar wheels are fixed 90 degrees apart in its circumstance and each wheel is operated by two DC motors integrated in it. The speed of each wheel is controlled independently to provide steering capability to go through 45 degree elbows, 90 degree elbows, T-branches, and Y-branches. The robot system has been developed and experimented in different pipeline layouts for the validation of its design concept and motion planning mechanism.

关键词： Pipelines Mobile robots Wheels Robot sensing systems Elbow Planning

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Exploring the uncanny valley with geminoid HI-1 in a real-world application

Exploring the uncanny valley with geminoid HI-1 in a real-wo...

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作者： Becker-Asano, Christian Ogawa, Kohei Nishio, Shuichi Ishiguro, Hiroshi Intelligent Robotics and Communications Laboratory Advanced Telecommunications Research Institute Intl. 2-2-2 Hikaridai Keihanna Science City Kyoto Japan Department of Adaptive Machine Systems Osaka University Osaka Japan

ISBN: (纸本)9789728939182

This paper presents a qualitative analysis of 24 interviews with visitors of the ARS Electronica festival in September 2009 in Linz, Austria, who interacted with the android robot Geminoid HI-1, while it was tele-operated by the first author. Only 37.5% of the interviewed visitors reported an uncanny feeling with 29% even enjoying the conversation. In five cases the interviewees' feelings even changed during the interaction with Geminoid HI-1. A number of possible improvements regarding Geminoid's bodily movements, facial expressivity, and ability to direct its gaze became apparent, which inform our future research with and development of android robots.

关键词： Human robot interaction

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Antagonistically actuated compliant joint: Torque and stiffness control

Antagonistically actuated compliant joint: Torque and stiffn...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： I. Sardellitti G. Palli N. G. Tsagarakis D. G. Caldwell Advanced Robotics Laboratory Italian Institute of Technology Genoa Italy Department of Electronics Computer Science and Systems University of Bologna Italy

The current research effort in the design of lightweight and safe robots is resulting in increased interest for the development of variable stiffness actuators. Antagonistic pneumatic muscle actuators (pMAs) have been proposed for this purpose, due to their inherent nonlinear spring behavior resulting from both air compressibility and their nonlinear force-length relation. This paper addresses the simultaneous torque and stiffness control of an antagonistically actuated joint with pneumatic muscles driven by compact, fast-switching solenoid valves. This strategy allows compensation of unmodeled joint dynamics while adjusting the joint stiffness depending on the task requirements. The proposed controller is based on a sliding mode force control applied to an average model of the valve-pneumatic muscle system. This was necessary to cope with both the well known model uncertainties of the pMA and the discontinuous on-off behavior of the solenoid valves. Preliminary experimental results verified the effectiveness of the proposed implementation.

关键词： Muscles Valves Joints Force Torque Robots Solenoids

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Towards marine bloom trajectory prediction for AUV mission planning

Towards marine bloom trajectory prediction for AUV mission p...

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2010 IEEE International Conference on robotics and Automation, ICRA 2010

作者： Das, Jnaneshwar Rajan, Kanna Frolov, Sergey Py, Frederic Ryan, John Caron, David A. Sukhatme, Gaurav S. Robotic Embedded Systems Laboratory Department of Computer Science University of Southern California United States Monterey Bay Aquarium Research Institute Moss Landing CA United States Dept. of Biological Sciences University of Southern California United States

ISBN: (纸本)9781424450381

This paper presents an oceanographic toolchain that can be used to generate multi-vehicle robotic surveys for large-scale dynamic features in the coastal ocean. Our science application targets Harmful Algal Blooms (HABs) which have significant societal impact to coastal communities yet are poorly understood ecologically. Bloom patches can be large spatially (in kms) and unpredictable in their extent. To understand their ecology, we need to be able to bring back water samples from the 'right' places and times for lab analysis. In doing so, we target hotspots representative of intense biogeochemical activity for such sampling. Our approach uses remote sensing data to detect such hotspots using ocean color as a proxy, and advectively projects these patches spatio-temporally using surface current data from HF Radar stations. Experiments with satellite and Radar data sets are promising for large, coherent blooms. We show how these predictions can be used to select an appropriate sampling trajectory for an AUV. ©2010 IEEE.

关键词： Remote sensing

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Editorial Special issue on approximate dynamic programming and reinforcement learning

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控制理论与应用（英文版） 2011年第3期 309-309页

作者： Silvia Ferrari Jagannathan Sarangapani Frank L. Lewis Laboratory for Intelligent Systems and Control(LISC)Department of Mechanical Engineering & Materials Science Box 90300 Duke University Durham NC 27708-0005 Department of Electrical & Computer Engineering University of Missouri-Rolla MO 65401 U.S.A. Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Ft. Worth Texas 76118-7115 U.S.A.

We are extremely pleased to present this special issue of the Journal of Control Theory and *** dynamic programming (ADP) is a general and effective approach for solving optimal control and estimation problems by adapting to uncertain environments over *** optimizes the sensing objectives accrued over a future time interval with respect to an adaptive control law,conditioned on prior knowledge of the system,its state,and uncertainties.A numerical search over the present value of the control minimizes a Hamilton-Jacobi-Bellman (HJB) equation providing a basis for real-time,approximate optimal control.

关键词： reinforcement learning dynamic programming optimal control effective approach prior knowledge Control Theory real-time control law problems special search future ADP basis

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