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International Conference on Control, Automation and Systems

作者： Yun-Ki Kim Seung-Hwan Choi Hyun-Woo Kim Jang-Myung Lee Department of Electrical Engineering Pusan National University Department of Interdisciplinary Program in Robotics Pusan National University

ISBN: (纸本)9781467322478

In this paper, PDR system's Improved performance and height estimation are introduced using a low-cost IMU. The personal navigation systems typically have used GPS. But the area where GPS signals are blocked should not be used such as indoor environments. To compensate for this, one of a technique is used PDR system. The location of a pedestrian estimates using only PDR system of the IMU. First of all, in order to estimate the location, a low-cost sensor corrected and manufactured the module. The step is detected using acceleration information by moving of the pedestrian through the module. A step length can be estimated using the detected step. The position estimation and heading will be estimated by the acceleration sensor and gyro sensor. Finally, information of the acceleration sensor and barometer applied to the KF (Kalman Filter) to estimate the height. This paper was tested in a real-environment based on the proposed algorithm. As the result, excellent performance was confirmed within the average distance error within 1% and the position error within 4% in the location estimate. And the results of height estimate, average standard error is confirmed improved performance as max 0.15m in case of using Kalman Filter.

关键词： IMU Pedestrian dead-reckoning Step estimation PDR System Height Estimation

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A mobile robot platform based on spring loaded casters for physical interaction

A mobile robot platform based on spring loaded casters for p...

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20th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2011

作者： Kwon, Oh-Hun Song, Hyunsoo Kwon, Dong-Soo Robotics Program KAIST Korea Republic of Department of Mechanical Engineering KAIST Korea Republic of

ISBN: (纸本)9781457715716

As the number of mobile robot applications increases, research related to physical contact between humans and robots is becoming an important issues in the service robot domain. In this paper, a mobile robot platform based on spring loaded casters is proposed as solution to problems in the service robot domain. A simple dynamic equation in two dimensions was computed and the dynamic characteristics according to variation of the elastic coefficient were analyzed. In order to detect force from a human, a linear equation was formulated by regression of the driving data. With the estimated force, an impedance model is applied to the controller for compliance. Through this process, it is shown that the proposed mobile robot platform is capable of a compliant reaction to external force through of its posture, similar to unstable mobile platform, though the mobile platform has the static stability. © 2011 IEEE.

关键词： Robot applications

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High endurance, micro aerial surveillance and reconnaisance robot

High endurance, micro aerial surveillance and reconnaisance ...

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2011 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2011

作者： Ratti, Jayant Vachtsevanos, George Robotics Program School of Electrical and Computer Engineering United States School of Electrical and Computer Engineering United States

ISBN: (纸本)9781612844824

Micro Aerial Vehicles (MAVs) have gained a significant amount of research lately, with a number of universities and industry sponsors paving the way with micro flying robots to perform Intelligence, Surveillance and Reconnaissance (ISR) Missions. However, much of the work done in flapping wing MAVs till date has not shown performance improvements over their VTOL, rotary-wing counterparts. Research and development over the years has shown that insects and birds have unmatched flying capabilities in the Low Reynolds Number Regime. Their phenomenal flight performance is attributed to among others the highly energy efficient actuation systems & their power to weight ratios, efficient aerodynamics & wing configurations, novel & high-speed flight-control and processing. The paper proposes and illustrates the developments thus far towards the design of a novel, high endurance, flapping wing micro aerial robot for surveillance and reconnaissance. The entire design and development efforts, including aerodynamics, actuation-mechanisms, flight controls, embedded controls & processing and finally flight testing is abridged and presented herein. © 2011 IEEE.

关键词： Aerodynamics

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Autonomous Homing based on Laser-Camera Fusion System

Autonomous Homing based on Laser-Camera Fusion System

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IEEE/RSJ International Conference on Intelligent robotics and Systems

作者： Dong-Geol Choi Inwook Shim Yunsu Bok Tae Hyun Oh In So Kweon is a Ph.D. student of Robotics program KAIST Daejeon South Korea. is a Ph. D. student of Division of Future Vehicle KAIST Daejeon South Korea. is a postdoctoral researcher of Department of Electrical Engineering KAIST Daejeon South Korea. is a master student of Department of Electrical Engineering KAIST Daejeon South Korea. is a professor of Department of Electrical Engineering KAIST Daejeon South Korea.

ISBN: (纸本)9781467317375

Building maps of unknown environments is a critical factor for autonomous navigation and homing, and this problem is especially challenging in large-scale environments. Recently, sensor fusion systems such as combinations of cameras and laser sensors have become popular in the effort to ensure a general level of performance in this task. In this paper, we present a new homing method in a large-scale environment using a laser-camera fusion system. Instead of fusing data to form a single map builder, we adaptively select sensor data to handle environments which contain ambiguity. For autonomous homing, we propose a new mapping strategy for building a hybrid map and a return strategy for selecting the next target waypoints efficiently. The experimental results demonstrate that the proposed algorithm enables the autonomous homing of a robot in a large-scale indoor environments in real time.

关键词： Laser-Camera Fusion System mapping a return homing Homing behavior MAPPING(MATHEMATICAL) Laser sensors Unknown environments autonomous navigation Level of Performance Sensor fusion Sensor Data task performance Cameras key factors mapping Fusion reactions Fusion, biological

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Fault Detection and Isolation for Nonlinear Systems via HOSM Multiple-Observer *

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IFAC Proceedings Volumes 2012年第20期45卷 534-539页

作者： H. Ríos C. Edwards J. Davila L. Fridman National Autonomous University of Mexico Program of PhD in Electrical Engineering Engineering Faculty C.P. 04510 Mexico D.F Control and Instrumentation Research Group Department of Engineering University of Leicester University Road Leicester LE1 7RH UK National Polytechnic Institute Section of Graduate Studies and Research ESIME-UPT C.P. 07340 Mexico D.F Department of Automatic Control CINVESTAV-IPN Mexico D.F. AP-14-740 on leave on National Autonomous University of Mexico Engineering Department of Control and Robotics Division of Electrical Engineering Engineering Faculty C.P. 04510 Mexico D.F

The fault detection and isolation problem is studied for a class of nonlinear systems. Under structural conditions, a bank of High-Order Sliding-Mode observers is proposed. The value of the equivalent output injection is used for detecting and isolating particular faults in the system. The proposed method provides finite-time isolation of actuator and plant faults. Simulation results support the proposed approach.

关键词： High-order Sliding-Mode Observers Fault Detection Fault Isolation

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A machine learning approach to falling detection and avoidance for biped robots

A machine learning approach to falling detection and avoidan...

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50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011

作者： Kim, Jeong-Jung Kim, Yeoun-Jae Lee, Ju-Jang Department of Electrical Engineering KAIST Daejeon Korea Republic of Robotics Program KAIST Daejeon Korea Republic of

ISBN: (纸本)9784907764395

A falling avoidance of biped robots is an important research topic to use the robot in a human life environment. In this paper, we propose a machine learning approach to falling detection and avoidacne for biped robots. Support Vector Machine (SVM) is used as the machine learning algorithm and it detects the falling state of the robot based on acceleration value of torso and center of pressure value of the robot. When the falling is detected, the reaction module produces gait for extending areas of supporting polygon of the robot. The main contribution of the paper is falling detection of the biped robot based on the sensor data and machine learning algorithm without explicit dynamic parameters of the robot and predefined threshold value. © 2011 SICE.

关键词： Robots

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Hierarchical on-line boosting based background subtraction

Hierarchical on-line boosting based background subtraction

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2011 17th Korea-Japan Joint Workshop on Frontiers of Computer Vision, FCV 2011

作者： Lee, Yongcheol Jung, Jiyoung Kweon, In-So Robotics Program KAIST Daejeon Korea Republic of Department of Electrical Engineering KAIST Daejeon Korea Republic of

ISBN: (纸本)9781612846774

This paper presents a real-time background subtraction method which handles illumination changes and dynamic backgrounds such as flapping flags and waving trees. Previous approaches based on Gaussian mixture models usually generates models pixelwise, which makes it difficult to operate in realtime due to computational complexity. Moreover, pixelwise models tend to fail in sudden illumination changes or in dynamic backgrounds. In order to solve this problem, we propose an on-line boosting based background subtraction algorithm. Our approach divides the background area into overlapping patches instead of pixels, and learn classifiers with those patches. The main contribution of this paper is to propose a novel training process for classifiers which use block based Opponent Color Local Binary Pattern (OCLBP). Experimental results show that in environments containing illumination changes and/or dynamic backgrounds, our on-line boosting method using block based OCLBP outperforms previous on-line boosting methods or Gaussian mixture model based methods for robust background subtraction. © 2011 IEEE.

关键词： Local binary pattern

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Modeling of Visuospatial Perspectives Processing and Modulation of the Fronto-Parietal Network Activity during Action Imitation

Modeling of Visuospatial Perspectives Processing and Modulat...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Hyuk Oh Rodolphe J. Gentili James A. Reggia José L.Contreras-Vidal Neuroscience and Cognitive Science Program University of Maryland College Park MD 20742 USA Department of Kinesiology the Maryland Robotics Center and the Neuroscience and Cognitive Science Program University of Maryland College Park MD 20742 USA Department of Computer Science and the University of Maryland Institute for Advanced Computer Studies University of Maryland College Park MD 20742 USA Department of Electrical and Computer Engineering University of Houston Houston TX 77004 USA

ISBN: (纸本)9781424441198

It has been suggested that the human mirror neuron system (MNS) plays a critical role in action observation and imitation. However, the transformation of perspective between the observed (allocentric) and the imitated (egocentric) actions has received little attention. We expand a previously proposed biologically plausible MNS model by incorporating general spatial transformation capabilities that are assumed to be encoded by the intraparietal sulcus (IPS) and the superior parietal lobule (SPL) as well as investigating their interactions with the inferior frontal gyrus and the inferior parietal lobule. The results reveal that the IPS/SPL could process the frame of reference and the viewpoint transformations, and provide invariant visual representations for the temporo-parieto-frontal circuit. This allows the imitator to imitate the action performed by a demonstrator under various perspectives while replicating results from the literatures. Our results confirm and extend the importance of perspective transformation processing during action observation and imitation.

关键词： importance observation transformation

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Effect of human guidance and state space size on Interactive Reinforcement Learning

Effect of human guidance and state space size on Interactive...

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20th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2011

作者： Suay, Halit Bener Chernova, Sonia Robotics Engineering Program Worcester Polytechnic Institute 100 Institute Rd Worcester MA 01609 United States

ISBN: (纸本)9781457715716

The Interactive Reinforcement Learning algorithm enables a human user to train a robot by providing rewards in response to past actions and anticipatory guidance to guide the selection of future actions. Past work with software agents has shown that incorporating user guidance into the policy learning process through Interactive Reinforcement Learning significantly improves the policy learning time by reducing the number of states the agent explores. We present the first study of Interactive Reinforcement Learning in real-world robotic systems. We report on four experiments that study the effects that teacher guidance and state space size have on policy learning performance. We discuss modifications made to apply Interactive Reinforcement Learning to a real-world system and show that guidance significantly reduces the learning rate, and that its positive effects increase with state space size. © 2011 IEEE.

关键词： Learning algorithms

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Interval type-2 fuzzy logic controllers for flocking behavior

Interval type-2 fuzzy logic controllers for flocking behavio...

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5th IEEE International Conference on Digital Ecosystems and Technologies, DEST 2011

作者： Lee, Seung-Mok Myung, Hyun Department of Civil and Environmental Engineering Robotics Program Korea Advanced Institute of Science and Technology Daejeon Korea Republic of

ISBN: (纸本)9781457708725

This paper presents a novel interval type-2 fuzzy logic control architecture for flocking system when the system has noisy sensor measurements. The traditional type-1 fuzzy logic controller (FLC) using precise fuzzy sets cannot fully model and handle the uncertainties of sensor data. However, type-2 FLC using type-2 fuzzy sets with a footprint of uncertainty (FOU) produce better performances under noisy environments. In this paper, therefore, we present a control architecture for flocking behavior that is based on interval type-2 FLC to implement the flocking behaviors of separation, obstacle avoidance, and velocity matching. The type-2 based control system could cope with the uncertainties of noisy sensor measurements and resulted in good performances that outperformed the type-1 FLC. © 2011 IEEE.

关键词： Fuzzy sets

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