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IEEE European Test Symposium (ETS)

作者： U. Ingelsson S.K. Goel E. Larsson E.J. Marinissen Department of Computer Science Embedded Systems Laboratory Linköpings Universitet Linköping Sweden Philips Research Labs IC Design – Digital Design & Test Eindhoven The Netherlands

Complex SOCs are increasingly tested in a modular fashion, which enables us to record the yield-per-module. In this paper, we consider the yield-per-module as the pass probability of the module's manufacturing test. We use it to exploit the abort-on-fail feature of ATEs, in order to reduce the expected test application time. We present a model for expected test application time, which obtains increasing accuracy due to decreasing granularity of the abortable test unit. For a given SOC, with a modular test architecture consisting of wrappers and disjunct TAMs, and for given pass probabilities per module test, we schedule the tests on each TAM such that the expected test application time is minimized. We describe two heuristic scheduling approaches, one without and one with preemption. Experimental results for the ITC'02 SOC test benchmarks demonstrate the effectiveness of our approach, as we achieve up to 97% reduction of the expected test application time, without any modification of the SOC or ATE.

关键词： Integrated circuit testing Circuit testing Job shop scheduling System testing Costs Pulp manufacturing Semiconductor device testing Benchmark testing Semiconductor device manufacture Application specific integrated circuits

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Hands-off assistive robotics for post-stroke arm rehabilitation

Hands-off assistive robotics for post-stroke arm rehabilitat...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： J. Eriksson M.J. Mataric C.J. Winstein Robotics Research Laboratories Department of Computer Science University of Southern California Los Angeles CA USA Motor Behavior and Neurorehabilitation Laboratory Department of Biokinesiology and Physical Therapy University of Southern California Los Angeles CA USA

This paper describes an autonomous assistive mobile robot that aids stroke patient rehabilitation by providing monitoring, encouragement, and reminders. The robot navigates autonomously, monitors the patient's arm activity, and helps the patient remember to follow a rehabilitation program. Our experiments show that patients post-stroke are positive about this approach and that increasingly active and animated robot behavior is positively received by stroke survivors.

关键词： Rehabilitation robotics Mobile robots Medical treatment Patient monitoring Robot sensing systems Laboratories computer science Patient rehabilitation Navigation Animation

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Modeling of human driving behavior based on piecewise linear model

Modeling of human driving behavior based on piecewise linear...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Jong-Hae Kim S. Okuma Young-Woo Kim Don-Ha Hwang Min-Huei Kim Dong-Hee Kim Department of Electrical Engineering and Computer Science Graduate School of Engineering University of Nagoya Japan Space Robotics Research Center Toyota Technological Institute Nagoya Japan Industry Applications Research Laboratory Korea Electrotechnology Research Institute Changwon South Korea Department of Electrical & Automation Engineering Yeungnam College of Science and Technology Daegu South Korea Department of Electrical Engineering Yeungnam University Kyungbuk South Korea

This paper presents the development of the modeling strategy of the human driving behavior based on the expression as Piecewise Linear (PWL) model focusing on the driver’s stopping maneuver. The driving data are collected by using the three-dimensional driving simulator based on CAVE, which provides stereoscopic immersive vision. In our modeling, the relationship between the driver’s sensory information and the operation of the driver such as braking amount is expressed by PWL model, which is a class of Hybrid Dynamical System (HDS). The identification problem for the PWL model is formulated as the Mixed Integer Linear Programming (MILP) by transforming the switching conditions into binary variables. From the obtained results, it is found that the driver appropriately switches the ‘control low’ according to the sensory information. These results enable us to capture not only the physical meaning of the driving skill, but also the decision-making aspect (switching conditions) in the driver’s stopping maneuver.

关键词： Humans Piecewise linear techniques Hidden Markov models Decision making computer science Space technology robotics and automation Switches Automatic control Service robots

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PERFORMANCE-DERIVED BEHAVIOR VOCABULARIES: DATA-DRIVEN ACQUISITION OF SKILLS FROM MOTION

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International Journal of Humanoid robotics 2004年第2期1卷 237-288页

作者： JENKINS, ODEST CHADWICKE MATARIĆ, MAJA J. Robotics Research Laboratory Center for Robotics and Embedded Systems Computer Science Department University of Southern California 941 West 37th Place SAL 228 Los AngelesCA90089 United States Robotics Research Laboratory Center for Robotics and Embedded Systems Computer Science Department University of Southern California 941 West 37th Place SAL 228 Los AngelesCA90089 United States

Control for and interaction with humanoid robots is often restrictive due to limitations of the robot platform and the high dimensionality of controlling systems with many degrees of freedom. We focus on the problem of providing a "skill-level interface" for a humanoid robot. Such an interface serves as (i) a modular foundation for structuring task-oriented control, (ii) a parsimonious abstraction of motor-level control (e.g. PD-servo control), and (iii) a means for grounding interactions between humans and robots through common skill vocabularies. Our approach to constructing skill-level interfaces is two-fold. First, we propose a representation for a skill-level interface as a "behavior vocabulary," a repertoire of modular exemplar-based memory models expressing kinematic motion. A module in such a vocabulary encodes a flow field (or gradient field) in joint angle space that describes the "flow" of kinematic motion for a particular skill-level behavior, enabling prediction from a given kinematic configuration. Second, we propose a data-driven method for deriving behavior vocabularies from time-series data of human motion using spatio-temporal dimension reduction and clustering. Results from evaluating an implementation of our methodology are presented along with the application of derived behavior vocabularies as predictors towards on-line humanoid trajectory formation and off-line motion synthesis. © 2004 World Scientific Publishing Company

关键词： Kinematics

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Online simultaneous localization and mapping in dynamic environments

Online simultaneous localization and mapping in dynamic envi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： D. Wolf G.S. Sukhatme Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Department of Computer Science University of Southern California Los Angeles CA USA

We propose an on-line algorithm for simultaneous localization and mapping of dynamic environments. Our algorithm is capable of differentiating static and dynamic parts of the environment and representing them appropriately on the map. Our approach is based on maintaining two occupancy grids. One grid models the static parts of the environment, and the other models the dynamic parts of the environment. The union of the two provides a complete description of the environment over time. We also maintain a third map containing information about static landmarks detected in the environment. These landmarks provide the robot with localization. Results in simulation and with physical robots show the efficiency of our approach and show how the differentiation of dynamic and static entities in the environment and SLAM can be mutually beneficial.

关键词： Simultaneous localization and mapping embedded system Mobile robots Object detection computer science Robot localization Testing Performance evaluation Bayesian methods

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Constrained coverage for mobile sensor networks

Constrained coverage for mobile sensor networks

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IEEE International Conference on robotics and Automation (ICRA)

作者： S. Poduri G.S. Sukhatme Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Department of Computer Science University of Southern California Los Angeles CA USA

We consider the problem of self-deployment of a mobile sensor network. We are interested in a deployment strategy that maximizes the area coverage of the network with the constraint that each of the nodes has at least K neighbors, where K is a user-specified parameter. We propose an algorithm based on artificial potential fields which is distributed, scalable and does not require a prior map of the environment. Simulations establish that the resulting networks have the required degree with a high probability, are well connected and achieve good coverage. We present analytical results for the coverage achievable by uniform random and symmetrically tiled network configurations and use these to evaluate the performance of our algorithm.

关键词： Mobile robots Sensor systems Robot sensing systems embedded system Taxonomy Laboratories computer science Mobile computing Global Positioning System Fires

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Using a sensor network for distributed multi-robot task allocation

Using a sensor network for distributed multi-robot task allo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.A. Batalin G.S. Sukhatme Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Computer Science Department University of Southern California Los Angeles CA USA

We present a multi field distributed in-network task allocation (DINTA-MF) algorithm for online multi-robot task allocation (OMRTA) where tasks are allocated explicitly to robots by a pre-deployed, static sensor network. The idea of DINTA-MF is to compute several assignment fields in the sensor network and then distributively assign fields to different robots. Experimental results with a simulated alarm scenario show that our approach is able to compute solutions to the OMRTA problem in a distributed fashion and arguably in an optimal way. We compared DINTA-MF with a simpler implementation (DINTA), which uses one assignment field. The data show that DINTA-MF outperforms DINTA as the number of robots increases.

关键词： Robot sensing systems Navigation computer networks Mobile robots embedded system Distributed computing Wireless sensor networks Laboratories computer science Sensor systems

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Mobile robot navigation using a sensor network

Mobile robot navigation using a sensor network

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.A. Batalin G.S. Sukhatme M. Hattig Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Computer Science Department University of Southern California Los Angeles CA USA Open Source Robotics Intel Corporation Hillsboro OR USA

We describe an algorithm for robot navigation using a sensor network embedded in the environment. Sensor nodes act as signposts for the robot to follow, thus obviating the need for a map or localization on the part of the robot. Navigation directions are computed within the network (not on the robot) using value iteration. Using small low-power radios, the robot communicates with nodes in the network locally, and makes navigation decisions based on which node it is near. An algorithm based on processing of radio signal strength data was developed so the robot could successfully decide which node neighborhood it belonged to. Extensive experiments with a robot and a sensor network confirm the validity of the approach.

关键词： Mobile robots Robot sensing systems Orbital robotics Radio navigation embedded system Sensor phenomena and characterization computer networks Motion planning State-space methods Mobile communication

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A sensor system for the localisation of climbing robots

A sensor system for the localisation of climbing robots

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International Workshop on Robot Motion and Control (RoMoCo)

作者： C. Hillenbrand K. Berns Robotics Research Laboratory Department of Computer Science Technical University of Kaiserslautern Kaiserslautern Germany

This paper describes the development of a sensor system for the localization and navigation of climbing robots. Based on 3 angular velocity sensors, 3 accelerometers and a dead reckoning wheel, the position and the orientation of a climbing machine are determined. Also the electronic concept is introduced, which allows the calculation of position and orientation in real-time.

关键词： Sensor systems Climbing robots Inspection Robot sensing systems Concrete Service robots Mobile robots Navigation Wheels Cleaning

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Motion capture from inertial sensing for untethered humanoid teleoperation

Motion capture from inertial sensing for untethered humanoid...

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IEEE-RAS International Conference on Humanoid Robots

作者： N. Miller O.C. Jenkins M. Kallmann M.J. Mataric Department of Computer Science California State University Bakersfield CA USA Center of Robotics Embedded Systems Interaction Laboratory Los Angeles CA USA

We describe the design of a modular system for untethered real-time kinematic motion capture using sensors with inertial measuring units (IMU). Our system is comprised of a set of small and lightweight sensors. Each sensor provides its own global orientation (3 degrees of freedom) and is physically and computationally independent, requiring only external communication. Orientation information from sensors is communicated via wireless to host computer for processing. We present results of the real-time usage of our untethered motion capture system for teleoperating the NASA Robonaut. We also discuss potential applications for untethered motion capture with respect to humanoid robotics.

关键词： Real time systems Sensor systems Kinematics Sensor phenomena and characterization Measurement units Motion measurement Physics computing Wireless sensor networks Wireless communication NASA

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