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IEEE Conference on Technologies for Homeland Security

作者： William Agassounon William Spears Robert Welsh Dimitri Zarzhitsky Diana Spears Textron Defense Systems Advanced Solutions Cente Autonomy and Communications Group Wilmington MA USA Department of Computer Science Robotics Laboratory University of Wurzburg Laramie WY USA

ISBN: (纸本)9781424441785

The research work presented herein is part of a large effort in R&D of a physics-based approach to develop networks of mobile sensing agents for monitoring, tracking, reporting and responding to hazardous conditions such as those resulting from the release of a WMD. We present the development of an efficient and robust distributed collaborative search algorithm for a team of unmanned robots that must locate the emitter of a toxic plume in an urban setting. We aim to provide a scientific, yet practical, approach to the design and analysis of rapidly deployable, scalable, adaptive, cost-effective groups of autonomous robots to replace or complement humans in the hazardous task of localizing the source of toxic chemical, biological or radiological plumes. In our approach, the robot group coordination and control are based on a physics-based framework called physicomimetics, and the collaborative search algorithm, called fluxotaxis, is based on fluid mechanics.

关键词： Collaboration Robot kinematics Robot sensing systems Lattices Mobile robots Robustness Multirobot systems Navigation Distributed control Collaborative work

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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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robotics as a tool for immersive, hands-on freshmen engineering instruction

Robotics as a tool for immersive, hands-on freshmen engineer...

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2008 ASEE Annual Conference and Exposition

作者： Mataric, Maja Fasola, Juan Feil-Seifer, David University of Southern California Department of Computer Science and Neuroscience University of Southern California USC Center for Robotics and Embedded Systems USC Robotics Research Lab. USC Viterbi School of Engineering Computer Science Department University of Southern California Computer Science Department University of Southern California Interaction Lab.

Hands-on experience plays a key role in undergraduate engineering education. It is a recognized tool for recruitment and retention, as well as for encouraging participation in class and in research outside of the classroom. However, early undergraduate engineering education, especially during the freshman year, is often focused on foundational theory, and delivered through lecture format, rather than hands-on projects. We have developed and taught a semesterlong class at the University of Southern California Viterbi School of Engineering (VSoE) that uses robotics as a pedagogical tool for engaging students in engineering, and illustrating general engineering principles and techniques in a hands-on manner. The model for the new course is to combine lectures on principles and applications of engineering from professors from a variety of VSoE departments with lab experience, wherein students work with robots in order to directly apply those principles and scratch the surface of some applications. Our goal is to create a curriculum where, with little to no prior experience with either programming or robotics, freshmen interested in engineering can explore both the breadth of engineering, and glimpse the depth of a single domain through engaging hands-on projects. Unlike most other robotics courses, especially introductory ones that use simple robot platforms such as LEGO robots, ours features highly sophisticated mobile and humanoid robots, allowing the students to develop engaging and sophisticated-appearing behavior. The semester culminated in a public exhibition of team projects at a local science museum. We will use the experiences of the students and instructors of this new course to study the impact of hands-on engineering, team-work, and open challenges on encouraging retention in engineering beyond the first year, for recruitment and retention of traditionally under-represented student groups. © American Society for Engineering Education, 2008.

关键词： Teaching

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Balancing exploration and exploitation in motion planning

Balancing exploration and exploitation in motion planning

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IEEE International Conference on robotics and Automation (ICRA)

作者： Markus Rickert Oliver Brock Alois Knoll Robotics and Embedded Systems Lab Department of Computer Science Technische Universitat Munchen Germany Robotics and Biology Laboratory Department of Computer Science University of Massachusetts Amherst USA

Computationally efficient motion planning must avoid exhaustive exploration of configuration space. We argue that this can be accomplished most effectively by carefully balancing exploration and exploitation. Exploration seeks to understand configuration space, irrespective of the planning problem, while exploitation acts to solve the problem given the available information obtained by exploration. We present an exploring/exploiting tree (EET) planner that balances its exploration and exploitation behavior. The planner acquires workspace information and subsequently uses this information for exploitation in configuration space. If exploitation fails in difficult regions, the planner gradually shifts its behavior towards exploration. We present experimental results demonstrating that adaptive balancing of exploration and exploitation leads to significant performance improvements compared to other state-of-the-art sampling-based planners.

关键词： Space exploration robotics and automation Motion planning Computational efficiency computer science Orbital robotics State-space methods Sampling methods USA Councils embedded system

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Camera handoff with adaptive resource management for multi-camera multi-target surveillance

Camera handoff with adaptive resource management for multi-c...

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IEEE 5th International Conference on Advanced Video and Signal Based Surveillance, AVSS 2008

作者： Chen, Chung-Hao Yi, Yao Page, David Abidi, Besma Koschan, Andreas Abidi, Mongi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering and Computer Science University of Tennessee Knoxville TN 37996 United States GE Global Research Center Niskayuna NY 12309 United States

ISBN: (纸本)9780769533414

Camera handoff is a crucial step to generate a continuously tracked and consistently labeled trajectory of the object of interest in multi-camera surveillance systems. Most existing camera handoff algorithms concentrate on data association, namely consistent labeling, where images of the same object are matched across different cameras. However, most real-time object tracking systems see a decrease in the system's frame rate as the number of tracked objects increases. To address this issue, we propose to incorporate an adaptive resource management mechanism into camera handoff. In so doing, cameras' resources can be dynamically allocated to multiple objects according to their priorities and hence the required minimum frame rate can be maintained. Experimental results illustrate that the proposed camera handoff algorithm is capable of maintaining a constant frame rate and of achieving a substantially improved handoff success rate by approximately 20% in comparison with the algorithm presented by Khan and Shah. © 2008 IEEE.

关键词： Cameras

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Universal web interfaces for robot control frameworks

Universal web interfaces for robot control frameworks

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2008 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Jan Koch Max Reichardt Karsten Berns Robotics Research Laboratory Department of Computer Science University of Kaiserslautern Kaiserslautern Germany

ISBN: (纸本)9781424420575

Developers and end-users have to interface robotic systems for control and feedback. Such systems are typically co-engineered with their graphical user interfaces. In the past, a vast community of researchers has addressed issues of generality, deployment, usability, and re-usability of user interfaces. However, the support for creating graphical user interfaces in recent robotic frameworks is limited. In particular, there is typically no support for Web-based teleoperation. In this work, we propose a new Java-based editor with a plugin architecture for GUI elements and communication ports. Special focus is laid on platform-independent design, easy extensibility, connectivity to different robotic frameworks, usability and deployment. The tool offers convenient creation of graphical user interfaces and can publish them over the Web - making them accessible from any Java-enabled Web browser.

关键词： Robots Graphical user interfaces Robot sensing systems Service robots Robot kinematics Servers Java

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Motives as Intrinsic Activation for Human-Robot Interaction

Motives as Intrinsic Activation for Human-Robot Interaction

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2008 IEEE/RSJ International Conference on Intelligent Robots and systems, Pages 526-1042

作者： Jochen Hirth Karsten Berns Robotics Research Laboratory Department of Computer Science University of Kaiserslautern Kaiserslautern Germany

ISBN: (纸本)9781424420575

For humanoid robots that should assist humans in their daily life the capability of an adequate interaction with human operators is a key feature. A key factor for human like interaction is the usage of non-verbal communication. Therefore robots must be able to have some kind of emotions. These emotions mainly depends on the achievement of the goals of the interaction. Psychologists point out that motives generate these kind of goals to humans. Because of this, this paper presents a motive model for the emotion-based architecture of the humanoid robot ROMAN. For the implementation of these motives a behavior-based approach is used. Furthermore some experiments concerning the functionality of the motives of interaction are presented and discussed.

关键词： Human machine interaction Humanoid robots Human Emotions Nonverbal Communication Psychologists

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

No abstract available

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Camera Handoff with Adaptive Resource Management for Multi-camera Multi-target Surveillance

Camera Handoff with Adaptive Resource Management for Multi-c...

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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Chung-Hao Chen Yi Yao David Page Besma Abidi Andreas Koschan Mongi Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering and Computer Science University of Tennessee Knoxville TN USA GE Global Research Center Niskayuna NY USA

Camera handoff is a crucial step to generate a continuously tracked and consistently labeled trajectory of the object of interest in multi-camera surveillance systems. Most existing camera handoff algorithms concentrate on data association, namely consistent labeling, where images of the same object are matched across different cameras. However, most real-time object tracking systems see a decrease in the system's frame rate as the number of tracked objects increases. To address this issue, we propose to incorporate an adaptive resource management mechanism into camera handoff. In so doing, cameras¿ resources can be dynamically allocated to multiple objects according to their priorities and hence the required minimum frame rate can be maintained. Experimental results illustrate that the proposed camera handoff algorithm is capable of maintaining a constant frame rate and of achieving a substantially improved handoff success rate by approximately 20% in comparison with the algorithm presented by Khan and Shah.

关键词： Resource management Surveillance Labeling Real time systems Intelligent robots USA Councils Videoconference Robot vision systems Smart cameras Robot kinematics

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Joint-action for humans and industrial robots for assembly tasks

Joint-action for humans and industrial robots for assembly t...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Claus Lenz Suraj Nair Markus Rickert Alois Knoll Wolgang Rosel Jurgen Gast Alexander Bannat Frank Wallhoff Robotics and Embedded Systems Laboratory Department of Computer Science Technische Universitat Munchen Munchen Germany Machine Tools and Industrial Management Department of Mechanical Engineering Technische Universitat Munchen Munchen Germany Human Machine Communication Department of Electrical Engineering and Information Technologies Technische Universitat Munchen Munchen Germany

This paper presents a concept of a smart working environment designed to allow true joint-actions of humans and industrial robots. The proposed system perceives its environment with multiple sensor modalities and acts in it with an industrial robot manipulator to assemble capital goods together with a human worker. In combination with the reactive behavior of the robot, safe collaboration between the human and the robot is possible. Furthermore, the system anticipates human behavior, based on knowledge databases and decision processes, ensuring an effective collaboration between the human and robot. As a proof of concept, we introduce a use case where an arm is assembled and mounted on a robotpsilas body.

关键词： Robots

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