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第三十四届中国控制会议

作者： Zhong-Liang Tang Shuzhi Sam Ge Wei He Center for Robotics and School of Computer Science and Engineering University of Electronic Science and Technology of China Social Robotics Lab Interactive Digital Media Institute National University of Singapore Center for Robotics and School of Automation Engineering University of Electronic Science and Technology of China

ISBN: (纸本)9781467374439

Driven by the needs of safe human-robot interaction, this paper presents control designs for tracking control of robot system with uncertain manipulator dynamics and joint actuator dynamics subject to constrained task space. The integral Barrier Lyapunov Functional(i BLF) is employed to guarantee the constraint satisfaction, in which a conservative mapping of original constraint into new constraints on tracking errors is removed. Neural Networks(NN) are adopted to approximate the unknown packaged terms in desired control. Appropriate adapting parameters are constructed to estimate the unknown bounds on NN approximation. It is proved that the task space vector of end-effector converge to a small neighborhood around a desired trajectory without violating the predefined constrained region. Simulation results are provided to illustrate the performance of proposed control.

关键词： Robot,Constrained Task Space,Safe Interaction,Neural Networks,Barrier Lyapunov Function

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One-time password implementation on lego Mindstorms NXT

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Telkomnika (Telecommunication Computing Electronics and Control) 2014年第3期12卷 689-694页

作者： Prasetio, Barlian Henryranu Nurwarsito, Heru Kurniawan, Wijaya Computer System and Robotics Lab Program of Information Technology and Computer Science University of Brawijaya Jl. Veteran Malang Indonesia Computer Networking Lab Program of Information Technology and Computer Science University of Brawijaya Jl. Veteran Malang Indonesia

One of the factors that affect the security of a network or system is user authentication, so that at times it can be said to be no longer safe. Brute force attacks on password systems are a dominant (static) potential way to penetrate network security or user authentication systems. One way to overcome these drawbacks is to use the One Time Password (OTP) algorithm. OTP is a password security system using dynamic passwords. The password will be valid for one session only. In this research, the author will analyse the reliability of the OTP algorithm by applying it to a LEGO Mindstorms robot. The robot will be designed as part of a system where the user will be safe to enter the default password, and then the system will change the password every session. The results of the questionnaire showed that 79% of users felt more secure, but more than 60% said it was difficult to do.

关键词： Authentication

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The shared control dynamic window approach for non-holonomic semi-autonomous robots 45

The shared control dynamic window approach for non-holonomic...

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Joint Conference of ISR 2014 - 45th International Symposium on robotics and Robotik 2014 - 8th German Conference on robotics, ISR/ROBOTIK 2014

作者： Iñigo-Blasco, Pablo Díaz-Del-Río, Fernando Díaz, Saturnino Vicente Muñiz, Daniel Cagigas Robotics and Computer Technology Lab Univ. of Seville Spain

ISBN: (纸本)9783800736010

A shared control method, called Shared Control Dynamic Window Approach, is presented. It is inspired in the Dynamic Window Approach (DWA) for autonomous mobile robots. It takes user commands by means of the control interface and provide the most suitable and kinodinamically feasible trajectory that guarantees obstacle avoidance. It provides navigation assistance to drive vehicles in unstructured environments and other scenarios where dynamic constraints play an important role . In order to keep an intuitive control for the user, the intrusiveness of the method varies gradually and proportionally with the danger of collision. Preliminary experiments with users driving vehicles in a simulated world validate the method. Its implementation is public under General Public License. © VDE VERLAG GMBH Berlin Offenbach.

关键词： Robots

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Mobile robot motion planning based on cloud computing stereo vision processing 45

Mobile robot motion planning based on cloud computing stereo...

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Joint Conference of ISR 2014 - 45th International Symposium on robotics and Robotik 2014 - 8th German Conference on robotics, ISR/ROBOTIK 2014

作者： Salmerón-García, Javier Iñigo-Blasco, Pablo Díaz-Del-Río, Fernando Cagigas-Muñiz, Daniel Robotics and Computer Technology Lab Univ. of Seville Spain

ISBN: (纸本)9783800736010

Nowadays, the limitations of robot embedded hardware (which cannot be upgraded easily) make difficult to perform computationally complex tasks such as those of high level artificial vision. However, instead of disposing these "out -dated" embedded systems, Cloud technologies for computation offloading can be used. In this paper we present and analyze an example of computation offloading in the context of artifical vision: point cloud extraction for stereo images. A prototype prepared for exploiting the cloud's unique capabilities (such as elasticity) has been developed, and the inherent issues that appears are explained and addressed. © VDE VERLAG GMBH Berlin Offenbach.

关键词： Robot programming

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Learning multiple collaborative tasks with a mixture of Interaction Primitives

Learning multiple collaborative tasks with a mixture of Inte...

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2015 IEEE International Conference on robotics and Automation, ICRA 2015

作者： Ewerton, Marco Neumann, Gerhard Lioutikov, Rudolf Amor, Heni Ben Peters, Jan Maeda, Guilherme Intelligent Autonomous Systems Lab Department of Computer Science Technische Universität Darmstadt Hochschulstr. 10 Darmstadt64289 Germany Institute of Robotics and Intelligent Machines Georgia Institute of Technology 801 Atlantic Drive AtlantaGA30332-0280 United States Max Planck Institute for Intelligent Systems Spemannstr. 38 Tuebingen72076 Germany

ISBN: (纸本)9781479969234

Robots that interact with humans must learn to not only adapt to different human partners but also to new interactions. Such a form of learning can be achieved by demonstrations and imitation. A recently introduced method to learn interactions from demonstrations is the framework of Interaction Primitives. While this framework is limited to represent and generalize a single interaction pattern, in practice, interactions between a human and a robot can consist of many different patterns. To overcome this limitation this paper proposes a Mixture of Interaction Primitives to learn multiple interaction patterns from unlabeled demonstrations. Specifically the proposed method uses Gaussian Mixture Models of Interaction Primitives to model nonlinear correlations between the movements of the different agents. We validate our algorithm with two experiments involving interactive tasks between a human and a lightweight robotic arm. In the first, we compare our proposed method with conventional Interaction Primitives in a toy problem scenario where the robot and the human are not linearly correlated. In the second, we present a proof-of-concept experiment where the robot assists a human in assembling a box. © 2015 IEEE.

关键词： Demonstrations

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DWT-DCT based individuals identification using robust gait feature images

International Journal of Signal Processing, Image Processing...

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International Journal of Signal Processing, Image Processing and Pattern Recognition 2015年第4期8卷 113-124页

作者： Ibrahim Khalilullah, K.M. Hossain, Delowar Hamid, Ekramul Department of Computer Science and Engineering Bangladesh University of Business and Technology Dhaka Bangladesh Intelligent Robotics Lab Department of Electrical and Electronics System Engineering University of Toyama Japan Department of Computer Science and Engineering University of Rajshahi Rajshahi Bangladesh

Individual identification at a distance using gait features has newly gained growing interest from biometrics researchers. Most of the researchers have been shown that different covariate factors can affect different parts of the human body. In this paper, we propose a new approach that minimizes these difficulties, especially for carrying objects by combining static, dynamic, and part-based features. The Gait Features of the walking sequences are extracted by selecting only four sub bands of the Discrete Wavelet Transform (DWT) of the individual images. Moreover, Discrete Fourier Transform (DFT) and Discrete Cosine Transform (DCT) are implemented to extract lowest and middle frequency components that are used to create robust gait feature images (RGFIs). Then we select effective parts of the body from the Robust Gait Feature Images. After that, these parts of the body are trained using Principal Component Analysis (PCA) and Multiple Discriminant Analysis (MDA) to identify individuals. Experimental result shows promising performance in comparison with other methods. © 2015 SERSC.

关键词： Discrete cosine transforms

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Facial landmark localization and feature extraction for therapeutic face exercise classification

Communications in Computer and Information Science

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Communications in computer and Information Science 2014年 458卷 179-194页

作者： Lanz, Cornelia Olgay, Birant Sibel Denzler, Joachim Gross, Horst-Michael Neuroinformatics and Cognitive Robotics Lab Ilmenau University of Technology Ilmenau Germany Computer Vision Group Friedrich Schiller University Jena Jena Germany

ISBN: (纸本)9783662449103

In this work, we examine landmark localization and feature extraction approaches for the unexplored topic of therapeutic facial exercise recognition. Our goal is to automatically discriminate nine therapeutic exercises that have been determined in cooperation with speech therapists. We use colour, 2.5D and 3D image data that was recorded using Microsoft’s Kinect. Our features comprise statistical descriptors of the face surface curvature as well as characteristic profiles that are derived from face landmarks. For the nine facial exercises, we yield an average recognition accuracy of about 91% in conjunction with manually labeled landmarks. Additionally, we introduce a combined method for automatic landmark localization and compare the results to landmark positions obtained from Active Appearance Model fitting as well as manual labeling. The combined localization method exhibits increased robustness in comparison to AAMs. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Feature extraction

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BioTIME 2.0: Expanding and Improving a Database of Biodiversity Time Series

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Global Ecology and Biogeography 2025年第5期34卷

作者： Maria Dornelas Laura H. Antão Amanda E. Bates Viviana Brambilla Jonathan M. Chase Cher F. Y. Chow Ada Fontrodona-Eslava Anne E. Magurran Inês S. Martins Faye Moyes Alban Sagouis Samuel Adu-Acheampong Daniel Acquah-Lamptey Dušan Adam Penelope A. Ajani Aitor Albaina Pablo Almaraz Jeongseop An Roger Sigismund Anderson Madelaine Jean Robertson Anderson Alexsander Z. Antunes Ivan Arismendi Linda Armbrecht Pedro Aros-Mardones Sreejith Kalpuzha Ashtamoorthy Narayanan Ayyappan Gal Badihi Joseph J. Bailey Andrew H. Baird Mark Edward Baird Sreekumar Vadakkethil Balakrishnan José António L. Barão-Nóbrega Adi Barash Miguel Barbosa Jos Barlow Claus Bässler Matthieu Beaumont Natalie Beenaerts Tiago Octavio Begot Wallace Beiroz Ricardo Beldade David M. Bell Alecia Bellgrove Jonathan Belmaker Lisandro Benedetti-Cecchi Cassandra E. Benkwitt Pamela Medina-van Berkum Brandon T. Bestelmeyer Matthew G. Betts Maxwell Kelvin Billah Anne D. Bjorkman Magdalena Błażewicz Christopher P. Bloch Shane A. Blowes Antonio Bode Juliano A. Bogoni Thomas Bolger Timothy C. Bonebrake Erik Bonsdorff Roberta Bottarin Luke N. Brokensha Rob W. Brooker Andrew J. Brooks Helge Bruelheide Thiago Almeida Bueno Claire Laguionie Mariana Lopes Campagnoli James Cant Erica Pellegrini Caramaschi Alexandre Caron Tadhg Carroll Tancredi Caruso Juan Carvajal-Quintero Giuseppe Castaldelli Edward Castañeda-Moya Pedro V. Castilho Sonia Zanini Cechin Shahar Chaikin Uchangi Manjunatha Chandrashekara Tory J. Chase Chaolun Allen Chen Jorge José Cherem Sei-Woong Choi Erica M. Christensen Alexander V. Christianini Jackson Wing Four Chu Peter Coad Carl Van Colen Lise Comte Elisabeth J. Cooper J. Hans C. Cornelissen Eddy Cosson Unai Cotano Luc Crevecoeur Shannan Kyle Crow Graeme S. Cumming Vanessa S. Daga Gabriella Damasceno Gergana N. Daskalova Claire H. Davies Robert A. Davis Frank P. Day Sussy De-La-Zerda Amy Elizabeth Deacon Indradatta de Castro-Arrazola Steven Degraer Kharran Deonarinesingh Juan C. Diaz-Ricaurte Christopher R. Dickman Tara Dirilgen Ciaran John Dolan J. Emmet Centre for Biological Diversity School of Biology University of St Andrews Fife UK MARE—Centro de Ciências do Mar e do Ambiente Faculdade de Ciências Universidade de Lisboa Lisboa Portugal Research Centre for Ecological Change Organismal and Evolutionary Biology Research Programme Faculty of Biological and Environmental Sciences University of Helsinki Helsinki Finland Department of Biology University of Victoria Victoria British Columbia Canada German Centre for Integrative Biodiversity Research (iDiv) Halle-Jena-Leipzig Leipzig Germany Department of Computer Science Martin Luther University Halle-Wittenberg Halle (Saale) Germany Leverhulme Centre for Anthropocene Biodiversity Department of Biology University of York York UK Department of Animal Biology and Conservation Science University of Ghana Accra Ghana Philipps Universität Marburg Marburg Germany Department of Forest Ecology Silva Tarouca Research Institute Brno Czech Republic School of Life Sciences University of Technology Sydney Sydney New South Wales Australia Zoology and Animal Cell Biology Department University of the Basque Country (UPV/EHU) Leioa Spain Grupo de Oceanografía de Ecosistemas Instituto de Ciencias Marinas de Andalucía CSIC Campus Universitario de Puerto Real Puerto Real Spain National Institute of Ecology Seocheon Republic of Korea African Regional Postgraduate Programme in Insect Science University of Ghana Accra Ghana Département de Biologie Université de Sherbrooke Sherbrooke Quebec Canada Núcleo de Conservação da Biodiversidade Instituto de Pesquisas Ambientais Secretaria de Meio Ambiente Infraestrutura e Logística do Estado de São Paulo São Paulo Brazil Department of Fisheries Wildlife and Conservation Sciences Oregon State University Corvallis Oregon USA Institute for Marine and Antarctic Studies Ecology & Biodiversity Centre University of Tasmania Hobart Tasmania Australia Graduate Program in Oceanography Department of Oceanography Faculty of Natural Scienc

Motivation Here, we make available a second version of the BioTIME database, which compiles records of abundance estimates for species in sample events of ecological assemblages through time. The updated version expands version 1.0 of the database by doubling the number of studies and includes substantial additional curation to the taxonomic accuracy of the records, as well as the metadata. Moreover, we now provide an R package (BioTIMEr) to facilitate use of the database. Main Types of Variables Included The database is composed of one main data table containing the abundance records and 11 metadata tables. The data are organised in a hierarchy of scales where 11,989,233 records are nested in 1,603,067 sample events, from 553,253 sampling locations, which are nested in 708 studies. A study is defined as a sampling methodology applied to an assemblage for a minimum of 2 years. Spatial Location and Grain Sampling locations in BioTIME are distributed across the planet, including marine, terrestrial and freshwater realms. Spatial grain size and extent vary across studies depending on sampling methodology. We recommend gridding of sampling locations into areas of consistent size. Time Period and Grain The earliest time series in BioTIME start in 1874, and the most recent records are from 2023. Temporal grain and duration vary across studies. We recommend doing sample-level rarefaction to ensure consistent sampling effort through time before calculating any diversity metric. Major Taxa and Level of Measurement The database includes any eukaryotic taxa, with a combined total of 56,400 taxa. Software Format csv and. SQL.

关键词： assemblage biodiversity community database ecoinformatics species taxa time

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The Shared Control Dynamic Window Approach for Non-Holonomic Semi-Autonomous Robots

The Shared Control Dynamic Window Approach for Non-Holonomic...

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ISR/Robotik 2014;41st International Symposium on robotics

作者： Pablo Inigo-Blasco Fernando Diaz-del-Rio Saturnino Vicente Diaz Daniel Cagigas Muniz Robotics and Computer Technology Lab Univ. of Seville Robotics and Computer Technology Lab Univ. of Seville Robotics and Computer Technology Lab Univ. of Seville

关键词： Control Interface user command vehicle windows windows window autonomous mobile robot Obstacle avoidance Control Methods Robot Danger Automobile driving Consumers

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Mobile robot motion planning based on Cloud Computing stereo vision processing

Mobile robot motion planning based on Cloud Computing stereo...

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ISR/Robotik 2014;41st International Symposium on robotics

作者： Javier Salmeron-Garcia Pablo Inigo-Blasco Fernando Diaz-del-Rio Daniel Cagigas-Muniz Robotics and Computer Technology Lab Univ. of Seville

Nowadays, the limitations of robot embedded hardware (which cannot be upgraded easily) make difficult to perform computationally complex tasks such as those of high level artificial vision. However, instead of disposing these "out-dated" embedded systems, Cloud technologies for computation offloading can be used. In this paper we present and analyze an example of computation offloading in the context of artifical vision: point cloud extraction for stereo images. A prototype prepared for exploiting the cloud's unique capabilities (such as elasticity) has been developed, and the inherent issues that appears are explained and addressed.

关键词： motion planning UNLOADING Stereoviews Clouds Cloud Computing Mobile robots embedded hardware elasticity robot vision Prosthesis arithmetic

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