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IEEE Transactions on Haptics: Editorial

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

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Fuzzy Vergence Control for an Active Binocular Vision System

Fuzzy Vergence Control for an Active Binocular Vision System

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IEEE International Conference on Cybernetic Intelligent systems

作者： Nikolaos Kyriakoulis Antonios Gasteratos Spyridon G. Mouroutsos Laboratory of Robotics and Automation Department of Production and Management Engineering School of Engineering Democritus University of Thrace Laboratory of Special Engineering Department of Electrical and Computer Engineering School of Engineering Democritus University of Thrace

ISBN: (纸本)9781424429141

Vergence control in binocular vision systems involves the adjustment of the angle between the two cameras' axes so that they are both fixated at the same point of interest. Vergence enables stereo vision systems to perceive depth and to acquire obstacle maps. Vergence movement is directly related to the binocular fusion. Additionally, the decision for convergence or divergence is extracted either by motion affine models or by mathematical ones. In this paper, a new method for extracting the cameras' movement direction, for verge or diverge, is presented. The movement decision is performed by a fuzzy control system, the inputs of which are the zero-mean normalized cross correlation (ZNCC) and the depth estimations at each time step. The suggested system can be used in any active binocular system and is computationally inexpensive. Moreover, the proposed system is independent to a priori camera calibration.

关键词： Vergence angle Zero mean normalized cross correlation Fuzzy logic binocular convergence Fuzzy logic computer vision Binocular vision fuzzy control systems new methods camera calibration Diverge BINOCULARS Cameras

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Distributed coverage verification in sensor networks without location information

Distributed coverage verification in sensor networks without...

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IEEE Conference on Decision and Control

作者： Alireza Tahbaz-Salehi Ali Jadbabaie Department of Electrical and Systems Engineering and Department of Economics University of Pennsylvania Philadelphia PA USA General Robotics Automation Sensing and Perception (GRASP) Laboratory Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia PA USA

ISBN: (纸本)9781424431236

In this paper, we present a distributed algorithm for detecting coverage holes in a sensor network with no location information. We demonstrate how, in the absence of localization devices, simplicial complexes and tools from computational homology can be used in providing valuable information on the properties of the cover. In particular, we capture the combinatorial relationships among the sensors by the means of the Rips complex, which is the generalization of the proximity graph of the network to higher dimensions. Our approach is based on computation of a certain generator of the first homology of the Rips complex of the network. We formulate the problem of localizing coverage holes as an optimization problem to compute the sparsest generator of the first homology classes. We also demonstrate how subgradient methods can be used in solving this optimization problem in a distributed manner. Finally, non-trivial simulations are provided that illustrate the performance of our algorithm.

关键词： Distributed algorithms Linear programming computer networks Mobile communication Algorithm design and analysis systems engineering and theory robotics and automation Network topology Optimization methods Modeling

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From discrete to continuous and back: Abstractions and mesoscopic phenomena in cells

From discrete to continuous and back: Abstractions and mesos...

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International Workshop on Discrete Event systems, WODES

作者： Adam M. Halasz Julius A. Agung George Pappas Vijay Kumar Department of Mechanical Engineering and Applied Mechanics General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania Philadelphia PA USA Department of Electrical and Systems Engineering University of Pennsylvania General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania Philadelphia PA

We discuss the interplay between stochasticity and multistability in bio-molecular networks. The resulting cell-level stochastic behavior reflects the fundamentally discrete and random nature of the underlying molecular processes. These ideas are illustrated on the well studied example of the lac operon. We first describe the switching behavior predicted by a differential-equation based model and then show how cell-level stochastic behavior emerges. Finally we point out that the observed macroscopic behavior may not be enough to determine both the dynamic and stochastic parameters.

关键词： Discrete event systems Conferences

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Development of a stereo vision system for remotely operated robots: A control and video streaming architecture

Development of a stereo vision system for remotely operated ...

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IEEE International Symposium on Virtual Environments, Human-computer Interfaces and Measurement systems (VECIMS)

作者： A. Amanatiadis A. Gasteratos C. Georgoulas L. Kotoulas I. Andreadis Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

This paper describes the open and flexible architecture of a stereo vision system prototype, using open source software. The system is designed for teleoperated robots and includes a four degrees of freedom stereo head mechanism, a pair of high performance digital cameras, a head tracker and a head mounted display. All processes for the head control and video streaming are performed in Linux-based Real-time Operating systems using open source libraries under GPL license. Experimental results showed that our system is capable of satisfying the hard-real time requirements for the head control, with great precision, and a low latency for the stereo video streaming. The video streaming management is particularly sophisticated resulting in a flexible, efficient and reliable service.

关键词： Streaming media Robots computers Kernel Cameras Real time systems Stereo vision

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Multi-modal Task Apportionment in dynamic multi-factor systems

Multi-modal Task Apportionment in dynamic multi-factor syste...

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Chinese Control and Decision Conference, CCDC

作者： Hooman A. Samani C. Fua T. Chai S. S. Ge C. C. Hang Social Robotics Laboratory Interactive Digital Media Institute Department of Electrical and Computer Engineering National University of Singapore Singapore Key Laboratory of Process Industry Automation Ministry of Education and Research Center of Automation Northeastern University China

The problem of task apportionment for dynamic multi-factor systems is categorized in three different scenarios in this paper: admin, crew and factor based. The system is discussed based on the realistic manufacturing environments as an application platform in order to consider the robust Task Apportionment system for such a case but the proposed system can be generalized to any similar system. Both centralized and decentralized systems are considered and task allocation, re-allocation, exchange and execution as layers of task apportionment methods are designed and described in each system. The system may switch between modes according the feedback information of communication capabilities or uses different modes for each part of the platform.

关键词： Switches Resource management Manufacturing systems Manufacturing Dynamic scheduling Servers Robustness

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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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Fast Algorithm for Blind Estimation of Tip Shape for Atomic Force Microscope

Fast Algorithm for Blind Estimation of Tip Shape for Atomic ...

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IEEE Conference on Nanotechnology

作者： Shuai Yuan Ning Xi Zaili Dong Lei Miao Yuechao Wang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering Michigan State University USA

ISBN: (纸本)9781424421039

Imaging quality of nano scales produced by atomic force microscope (AFM) seriously depends on the shape of the probe tip. Commonly, the distortions will be induced when the probe tip scans material surfaces. This situation could hinder nano-observation and nano-operation. In order to obtain the actual observing image, one of the existing methods for solving this problem is the blind evaluation of the probe tips. Through this method, the shape of a probe tip can be described, and then the scanned image produced by the probe can be improved by the known tip shape. Since the traditional algorithm of tip blind evaluation is extremely time-consuming, a new algorithm that can significantly reduce the computational time, is presented in this paper. The experimental results demonstrate that the new algorithm is much more efficient compared to the existing methods.

关键词： Shape Probes Estimation Pixel Surface morphology Microscopy Atomic force microscopy

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Multi-Agent Based Adaptive Consensus Control for Multiple Manipulators with Kinematic Uncertainties

Multi-Agent Based Adaptive Consensus Control for Multiple Ma...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： Long Cheng Zeng-Guang Hou Min Tan Derong Liu An-Min Zou Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences China Department of Electrical and Computer Engineering University of Illinois Chicago USA Department of Mechanical Engineering University of Saskatchewan Canada

ISBN: (纸本)9781424422241

An adaptive control approach is proposed to deal with the multiple manipulators consensus problem based on the multi-agent theory. In the current multi-agent literature, agents were assumed to have determined models. However, the practical manipulator's kinematics contains uncertain parameters. By using the projection method, the adaptive updating law for uncertain kinematic parameters is derived. Then, the estimated manipulator Jacobian matrix can be obtained to design the decentralized controller. By the proposed controller, all the manipulators' end-effectors move towards the same configuration to achieve certain coordination tasks. In addition, performance of the control system is analyzed by the Lyapunov method, and the consensus error is proved to approach zero. Finally, the effectiveness of the proposed scheme is illustrated by simulations on a multiple PUMA 560 robots system.

关键词： Intelligent control Control systems USA Councils

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Dual Heuristic Programming Based Neurocontroller for Vibration Isolation Control

Dual Heuristic Programming Based Neurocontroller for Vibrati...

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IEEE International Conference on Networking, Sensing and Control

作者： Jia Ma Tao Yang Zeng-Guang Hou Min Tan Derong Liu Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China Department of Electrical and Computer Engineering University of Illinois Chicago IL USA

The dual heuristic programming (DHP) approach has a superior capability to solve approximate dynamic programming problems in the family of adaptive critic designs (ACDs). In this paper, a DHP based controller is developed for vibration isolation applications. In the specific case of an active-passive isolator, a multilayer feedforward neural network is pre- trained as a differentiable model of the plant for the adaptation of the critic and action networks. In addition, in order to avoid plunging in the local minima during the training process, pseudorandom signals, which represent the vibrations of the base, are applied to the vibration isolation system. This technique greatly improves the robustness of the DHP controller against unknown disturbances. Moreover, the "shadow critic" training strategy is adopted to improve the convergence rate of the training. Simulation results have shown that the developed DHP controller alleviates vibration disturbances more effectively and have better control performance in comparison with the passive isolator. Additionally, as compared with the one adapted on-line, the pre-trained model network leads the training to be more efficient. Therefore, it further demonstrates the effectiveness of the DHP controller designed with the pre-trained model network even in the presence of unmodeled uncertainties.

关键词： Neurocontrollers Vibration control Dynamic programming Isolators Multi-layer neural network Neural networks Feedforward neural networks Signal processing Robust control Convergence

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