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检索条件"机构=Robotics Engineering Program"

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Probabilistic voxel mapping using stereo matching confidence

Probabilistic voxel mapping using stereo matching confidence

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Sijong Kim Seunguk Ahn Myung Jin Chung Department of Electrical Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea Robotics Program Korea Advanced Institute of Science and Technology Daejeon South Korea

ISBN: (纸本)9781457707223

There has been meaningful research into the development of 3D world modeling techniques that are important requisite for intelligent vehicle navigation. In this paper we describe a 3D probabilistic voxel mapping process using stereo matching confidence. Proposed 3D probabilistic voxel map is more reliable representation than general voxel map that just contains the occupancy information. To get the matching confidence value, we evaluate stereo matching costs and its propagation. We test the proposed method in large-scale outdoor environment.

关键词： Three dimensional displays Stereo vision Probabilistic logic Solid modeling Uncertainty Computational modeling Intelligent vehicles

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Vision-based direction determination of a mobile robot in indoor environment

Vision-based direction determination of a mobile robot in in...

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Inaugural IEEE-IES Digital EcoSystems and Technologies Conference, DEST

作者： Yeoun Jae Kim Minho Park Dong-Hyun Lee Joon-Yong Lee Ju-Jang Lee Robotics Program Korea Advanced Institute of Science and Technology Daejeon South Korea Department of Electrical Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea

In this paper, a vision based direction determination of a mobile robot in indoor environment is defined to detect the robot direction normal to the surrounding wall in indoor environment. For this purpose, we propose the direction determination algorithm using the Hough transformation and horizontal line search with vision information. Our proposal shows that this scheme can be used in any indoor environment where there are horizontal line structures (corner, any notice on the wall). In order to verify the proposed algorithm, we perform the experiments by the mobile robot utilizing a webcam as a vision sensor. The experimental results show that this method is verified for navigation of a mobile robot in indoor environment since its longitudinal pathway direction can be determined automatically.

关键词： Mobile robots Cameras Robot vision systems Image edge detection Indoor environments

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Fast SLAM using polar scan matching and particle weight based occupancy grid map for mobile robot

Fast SLAM using polar scan matching and particle weight base...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Hyun Chul Roh Chang Hun Sung Min Tae Kang Myung Jin Chung Robotics Program Korea Advanced Institute of Science and Technology Daejeon South Korea Department of Electrical Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea

ISBN: (纸本)9781457707223

Simultaneous Localization and Mapping is the one of essential techniques for mobile robot navigation. In this paper, we propose a fast SLAM method that uses particle weight based occupancy grid map, and also works well with in indoor environment. In addition, in the prediction step, our method that uses the polar scan matching and wheel odometry information improves the accuracy of prediction pose. In order to evaluate our proposed method, we use a simulation and the 2-wheeled mobile robot that is able to move in large-scale indoor environment. The experimental results show that our method is suitable for fast and accurate mapping and localization algorithm for mobile robot.

关键词： Simultaneous localization and mapping Mobile robots Robot kinematics Indoor environments Particle filters Service robots

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Reports of the AAAI 2011 conference workshops

Reports of the AAAI 2011 conference workshops

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作者： Agmon, Noa Agrawal, Vikas Aha, David W. Aloimonos, Yiannis Buckley, Donagh Doshi, Prashant Geib, Christopher Grasso, Floriana Green, Nancy Johnston, Benjamin Kaliski, Burt Kiekintveld, Christopher Law, Edith Lieberman, Henry Mengshoel, Ole J. Metzler, Ted Modayil, Joseph Oard, Douglas W. Onder, Nilufer O'Sullivan, Barry Pastra, Katerina Precup, Doina Ramachandran, Sowmya Reed, Chris Sariel-Talay, Sanem Selker, Ted Shastri, Lokendra Singh, Satinder Smith, Stephen F. Srivastava, Siddharth Sukthankar, Gita Uthus, David C. Williams, Mary-Anne Department of Computer Science University of Texas at Austin United States Center for Knowledge Driven Information Systems Infosys Labs India Adaptive Systems Section Naval Research Laboratory Washington DC United States Department of Computer Science University of Maryland College Park United States EMC's Center of Excellence in Ireland Research Europe at EMC Ireland Department of Computer Science University of Georgia United States School of Informatics University of Edinburgh United Kingdom Department of Computer Science University of Liverpool United Kingdom Department of Computer Science University of North Carolina Greensboro United States Faculty of Engineering and Information Technology University of Technology Sydney Australia VeriSign Inc. United States Department of Computer Science University of Texas at El Paso United States Machine Learning Department Carnegie Mellon University United States Massachusetts Institute of Technology Media Laboratory United States Carnegie Mellon University's Silicon Valley Campus United States Darrell W. Hughes Program for Religion and Science Dialogue Oklahoma City University United States Department of Computing Science University of Alberta Canada College of Information Studies Institute for Advanced Computer Studies University of Maryland College Park United States Department of Computer Science Michigan Technological University United States Department of Computer Science University College Cork Ireland Cognitive Systems Research Insitute Athens Greece School of Computer Science McGill University Canada Stottler Henke Inc. United States School of Computing University of Dundee United Kingdom Department of Computer Engineering Istanbul Technical University Turkey Convergence Lab Infosys Technologies Ltd. United States Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor United States Robotics Institute Carnegie Mellon University United States University of Wisconsin

The AAAI-11 workshop program was held Sunday and Monday, August 7-18, 2011, at the Hyatt Regency San Francisco in San Francisco, California USA. The AAAI-11 workshop program included 15 workshops covering a wide range of topics in artificial intelligence. The titles of the workshops were Activity Context Representation: Techniques and Languages;Analyzing Microtext;Applied Adversarial Reasoning and Risk Modeling;Artificial Intelligence and Smarter Living: The Conquest of Complexity;Artifiicial Intelligence for Data Center Management and Cloud Computing;Automated Action Planning for Autonomous Mobile Robots;Computational Models of Natural Argument;Generalized Planning;Human Computation;Human-Robot Interaction in Elder Care;Interactive Decision Theory and Game Theory, 2010;Language-Action Tools for Cognitive Artificial Agents: Integrating Vision, Action, and Language;Lifelong Learning from Sensorimotor Experience;Plan, Activity, and Intent Recognition;and Scalable Integration of Analytics and Visualization. This article presents short summaries of those events. Copyright © 2012, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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Planar marker-based localization of a robotic fish in a public aquarium

Planar marker-based localization of a robotic fish in a publ...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Donghwa Lee Donghoon Kim Hyun Myung Department of Civil and Environmental Engineering KAIST Daejeon South Korea Robotics Program KAIST Daejeon South Korea Korea Advanced Institute of Science and Technology Daejeon Daejeon KR

A robotic fish localization system in a public aquarium is presented in this paper. The system is built on the marker-based camera pose estimation method. A webcam, an ARM processor, and multiple planar markers are employed for real-time camera pose estimation. The camera is attached at the bottom of the head of the robotic fish. Since the camera and the fish body are connected rigidly, the pose estimation method gives the absolute 6 degree of freedom (DOF) location of the robotic fish. The experiments above ground and underwater validate the proposed localization system. Through the tests in a public aquarium with the integrated robotic fish system, the autonomous swimming was successfully demonstrated.

关键词： Cameras Robot vision systems Estimation Machine vision Transmission line matrix methods

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Dynamic Brain-Machine Interface: a novel paradigm for bidirectional interaction between brains and dynamical systems

Dynamic Brain-Machine Interface: a novel paradigm for bidire...

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

作者： Francois D. Szymanski Marianna Semprini Ferdinando A. Mussa-Ivaldi Luciano Fadiga Stefano Panzeri Alessandro Vato Robotics Brain and Cognitive Sciences Dept. Istituto Italiano di Tecnologia Physical Medicine & Rehabilitation Mechanical and Biomedical Engineering at Northwestern University and Sensory Motor Performance Program Rehabilitation Institute of Chicago Section of Human Physiology University of Ferrara

ISBN: (纸本)9781424441211

Brain-Machine Interfaces (BMIs) are systems which mediate communication between brains and artificial devices. Their long term goal is to restore motor functions, and this ultimately demands the development of a new generation of bidirectional brain-machine interfaces establishing a two-way brain-world communication channel, by both decoding motor commands from neural activity and providing feedback to the brain by electrical stimulation. Taking inspiration from how the spinal cord of vertebrates mediates communication between the brain and the limbs, here we present a model of a bidirectional brain-machine interface that interacts with a dynamical system by generating a control policy in the form of a force field. In our model, bidirectional communication takes place via two elements: (a) a motor interface decoding activities recorded from a motor cortical area, and (b) a sensory interface encoding the state of the controlled device into electrical stimuli delivered to a somatosensory area. We propose a specific mathematical model of the sensory and motor interfaces guiding a point mass moving in a viscous medium, and we demonstrate its performance by testing it on realistically simulated neural responses.

关键词： Cerebrum DYNAMICAL SYSTEMS Bidirectional viscous medium Diencephalon control strategy Communication Research Motor Sensation Mathematical Model DECODING field theory (physics)

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Study of classification of failure states for Small Unmanned Ground Vehicle by response surface methodology

Study of classification of failure states for Small Unmanned...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Young Kook Kim Dooyeol Koh Sang Hoon Lee Soohyun Kim Robotics Program Korea Advanced Institute of Science and Technology Daejeon South Korea Division of Mechanical Engineering School of Mechanical AeroSpace and Systems Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea 5th Research and Development Institute-2 Agency for Defense Development Daejeon South Korea

ISBN: (纸本)9781457707223

SUGV(Small Unmanned Ground Vehicle) used for human rescue and military operation is need to overcome the environment that tough terrains such as a hole or high obstacles. As far as the survival of the vehicle and the preserving ability of the information in the vehicle are concerned, it is essential to have an approach for recognizing unattainable driving states. However, despite the fact that the study of obstacle avoidance and stabilization of SUGV is focused on, it is hardly found out ways of classifying unattainable driving states with the sensors mounted on the SUGV unit. In order to overcome the problem, this paper proposes a practical way for classifying SUGV Failure State(SFS) with the meaningful parameters by statistical method, response surface methodology(RSM).

关键词： Response surface methodology Equations Vehicles Mathematical model Robot sensing systems

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Development of a laboratory kit for robotics engineering Education

Development of a laboratory kit for Robotics Engineering Edu...

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2010 AAAI Spring Symposium

作者： Fischer, Gregory S. Michalson, William R. Padir, Taskin Pollice, Gary Worcester Polytechnic Institute Robotics Engineering Program 100 Institute Road Worcester MA 01609 United States

ISBN: (纸本)9781577354574

This paper discusses the development of a sequence of undergraduate courses forming the core curriculum in the robotics engineering (RBE) B.S. program at Worcester Polytechnic Institute (WPI). The laboratory robotics kit developed for the junior-level courses is presented in detail. The platform is designed to be modular and cost-effective and it is suitable for laboratory based robotics education. The system is ideal not only for undergraduate coursework but also may be adapted for graduate and undergraduate research as well as for exposing K-12 students to STEM. © 2010.

关键词： Students

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A robotics engineering M.S. degree

A robotics engineering M.S. degree

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2010 ASEE Annual Conference and Exposition

作者： Gennert, Michael Michalson, William Demetriou, Michael Computer Science Department Robotics Engineering Program Worcester Polytechnic Institute United States Worcester Polytechnic Institute United States

There is an increasing demand for creative scientific, engineering, and management talent to meet national needs. We believe that the best way to educate professionals for leadership roles is in a unified multi-disciplinary curriculum. This paper describes one such program, a Master of Science degree in robotics engineering at Worcester Polytechnic Institute, whose goal is to prepare men and women for technical leadership in the robotics industry and research in robotics. The program, launched in fall 2009, develops competence in electro-mechanical-computational systems and an awareness of management systems. It constitutes a multi-disciplinary effort by faculty in Arts & Sciences (Mathematics and Computer Science), engineering (Electrical & Computer engineering and Mechanical engineering), and Management. The program is organized around a technical coursework core with select science and engineering electives. Technical strength is supplemented by organizational and management principles embodied in context courses in Systems engineering and Management. The program culminates in individual capstone projects that take the form of a thesis, directed research, or practicum with written report. In all cases, a public oral presentation is required. A B.S./M.S. option allows the program to be completed in a single additional year of work past the Bachelor's degree. By using existing courses where appropriate, we were able to start the program by developing only two new courses, Foundations of robotics and Robot Dynamics, supplemented by special topics, independent study, and other project work. We anticipate adding new courses as the program grows, additional faculty join the program, and as we introduce a Ph.D. in robotics engineering. Initial response to the program by students and industry has been very positive, and the program shows great promise to contribute significantly to meeting future engineering workforce needs. © American Society for engineering Education,

关键词： Curricula

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A study on obstacle detection using 3D Hough transform with corner

A study on obstacle detection using 3D Hough transform with ...

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作者： Hwang, Sun Min Kim, Chi Yen Beak, Jun-Young Eom, Hyeon Seob Lee, Min Cheol Interdisciplinary Program in Robotics Pusan National University Busan Korea Republic of School of Mechanical Engineering Pusan National University Busan Korea Republic of

ISBN: (纸本)9784907764364

Collision avoidance is essential element for safe navigation of mobile robot. In mobile robot system, various sensors are used to recognize or detect objects which have possibility of collision against robot during driving. As inescapable fault of each sensor, many researchers have studied sensor fusion and compensation methods to overcome the problems. Most popular sensors used for mobile robot are laser and ultrasonic sensors. However it is difficult for these sensors to find obstacle in case of a slope road. For the slope environment, this paper studies vision method. Vision sensor can detect slope by using randomized Hough transform (RHT). This paper suggests a method of detecting an obstacle in a complicated space with slant using RHT and corner information. This paper proves to compare the result of presence RHT. © 2010 SICE.

关键词： Mobile robots

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