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International Conference on Innovative Engineering Systems

作者： Muhammad Yaqoob Sardar Rushan Qaisrani Muhammad Waqas Yasar Ayaz Sohail Iqbal Sajid Nisar Robotics & Intelligent Systems Engineering (RISE) Lab Department of Robotics and Artificial Intelligence School of Mechanical & Manufacturing Engg (SMME) National University of Sciences and Technology (NUST) H-12 Campus Islamabad Pakistan. Department of Electrical Engineering School of Electrical Engg & Computer Sciences (SEECS) National University of Sciences and Technology (NUST) H-12 Campus Islamabad Pakistan.

ISBN: (纸本)9781467344401

Robotic manipulator is designed and analyzed at patient end which includes force and current sensors that allows the operator to get force, size and tactile feedback at the surgeon end. Three methods of feedback are used i.e. force sensors for exact force estimation, current sensing for tactile feedback and position estimation to replicate motion. The three mentioned methods are analyzed and developed on the PC. Graphs are obtained for objects of different strength and size by experiments on the gripper at the end of robotic manipulator. Master-Slave topology is used to attain some benefits over conventional control systems in term of ergonomics, accuracy and timing etc. Interactive GUI at master end shows us forces, size and motions at each joint of the slave unit. Gripper, yaw and pitch motion of robotic manipulator at slave or patient end is also controlled by surgeon using master controller.

关键词： Haptic Feedback force sensitive resistor (FSR) master-slave system programmable system on chip (PSoC)

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Image segmentation based on trickle-up and trickle-down visual pathway in primate

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Journal of Computational Information Systems 2012年第9期8卷 3757-3765页

作者： Hu, Dekun Yang, Simon X. Gregori, Stefano Li, Jianping Fu, Bo University of Electronic Science and Technology of China School of Computer Science and Engineering Jianshe Road Chengdu 610054 China University of Guelph School of Engineering Advanced Robotics and Intelligent Systems Lab. Guelph Ont. N1G 2W1 Canada

To locate the object accurately in a scene for further vision processing, a novel bio-inspired model for image segmentation is proposed, which closely follows the computation of trickle-up and trickle-down processing in primate visual pathways. The trickle-up stage is a parallel modular structure consisting of three segmenting operators implementing the function as the parvocellular, magnocellular and koniocelluar pathways. The computation model of trickle-down path, predicts incoming stimuli based on the prior knowledge of the scenes. The proposed approach is applied to several segmentation experiments of clustering conditions, the results demonstrate that the performance of the proposed approach surpasses those achieved by previous top-down or bottom-up schemes on figure-ground segmentation. © 2011 by Binary Information Press.

关键词： Image segmentation

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Robots for Humanity: User-Centered Design for Assistive Mobile Manipulation

Robots for Humanity: User-Centered Design for Assistive Mobi...

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IEEE/RSJ International Conference on Intelligent robotics and Systems

作者： Tiffany L. Chen Matei Ciocarlie Steve Cousins Phillip Grice Kelsey Hawkins Kaijen Hsiao Charles C. Kemp Chih-Hung King Daniel A. Lazewatsky Adam Leeper Hai Nguyen Andreas Paepcke Caroline Pantofaru William D. Smart Leila Takayama Healthcare Robotics Lab Georgia Institute of Technology Atlanta GA USA. Willow Garage Inc. Menlo Park CA USA. Media and Machines Laboratory Department of Computer Science and Engineering Washington University in St. Louis St. Louis MO USA.

ISBN: (纸本)9781467317375

The Robots for Humanity project aims to enable people with severe motor impairments to interact with their own bodies and their environment through the use of an assistive mobile manipulator, thereby improving their quality of life. Assistive mobile manipulators (AMMs) are mobile robots that physically manipulate the world in order to provide assistance to people with disabilities. They present an exciting frontier for assistive technology, as they can operate away from the user, have a large dexterous workspace (due to their mobility), and not directly encumber their users. The cornerstone of this project is an ongoing, interactive design process with a quadriplegic user, Henry Evans, and his wife and primary caregiver, Jane Evans. Henry has been enabled, through the use of a PR2 robot, to scratch his own face, shave, fetch a towel from his kitchen, and hand out Halloween candy to trick-or-treating children at a local mall.

关键词： AMM PR2 primary

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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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Accurate Evaluation of a Distance Function for Optimization-based Motion Planning

Accurate Evaluation of a Distance Function for Optimization-...

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IEEE/RSJ International Conference on Intelligent robotics and Systems

作者： Youngeun Lee Sébastien Lengagne Abderrahmane Kheddar Young J. Kim Department of Computer Science and Engineering at Ewha Womans University in Seoul Korea Karlsruhe Institute of Technology Institute for Anthropomatics Humanoids and Intelligence Systems Lab Adenauerring 2 76131 Karlsruhe Germany CNRS-AIST Joint Robotics Laboratory (JRL) UMI3218/CRT Tsukuba Japan and also with the CNRS-UM2 LIRMM Interactive Digital Human group Montpellier France.

ISBN: (纸本)9781467317375

We propose three novel methods to evaluate a distance function for robotic motion planning based on semi-infinite programming (SIP) framework;these methods include golden section search (GSS), conservative advancement (CA) and a hybrid of GSS and CA. The distance function can have a positive and a negative value, each of which corresponds to the Euclidean distance and penetration depth, respectively. In our approach, each robot's link is approximated and bounded by a capsule shape, and the distance between some selected link pairs is continuously evaluated along the joint's trajectory, provided by the SIP solver, and the global minimum distance is found. This distance is fed into the SIP solver, which subsequently suggests a new trajectory. This process is iterated until no negative distance is found anywhere in the links of the robot. We have implemented the three distance evaluation methods, and experimentally validated that the proposed methods effectively and accurately find the global minimum distances to generate a self-collision-free motion for the HRP-2 humanoid robot. Moreover, we demonstrate that the hybrid method outperforms other two methods in terms of computational speed and reliability.

关键词： Motion Planning GSS SIP motion planning distance function Aerospace ground services PRNP gene STATE IMPLEMENTATION PLANS TSACC gene Global Minimum Robot Euclidean distance

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Fast and energy-efficient constant-coefficient FIR filters using residue number system

Fast and energy-efficient constant-coefficient FIR filters u...

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IEEE/ACM International Symposium on Low-Power Electronics and Design

作者： Patronik, Piotr Berezowski, Krzysztof Piestrak, Stanislaw J. Biernat, Janusz Shrivastava, Aviral Institute of Computer Engineering Control and Robotics Wrocaw University of Technology Wrocaw Poland IRISA 6 rue de Kerapont Lannion France Compiler Microarchitecture Lab Arizona State University Tempe AZ 85287 United States

ISBN: (纸本)9781612846590

In this paper, we present constant-coefficient finite impulse response (FIR) filters design using residue number system (RNS) arithmetic. The novelty of our approach rests in an attempt to maximize the accumulated benefit of the application of RNS to the design of constant coefficient filters. To achieve this, we consider the impact of RNS on many layers: from coefficient representation and techniques of sharing of subexpressions in the multiplier block (MB), to its optimized usage in the MB and accumulation pipeline hardware design. As a result, we propose a common subexpression elimination (CSE) based synthesis technique for RNS-based MBs, along with a high-performance RNS-based FIR filter architecture that employs RNS arithmetic principles but implements them mainly using more efficient 2's complement hardware. Several filters with numbers of taps ranging from 25 to 326 and dynamic ranges from 24 to 50 bits have been synthesized using TSMC 90 nm LP kit and Cadence RTL Compiler. Comparison of power, delay, and area of the new filters implemented using the 4- and 5-moduli RNSs against various equivalent 2's complement counterparts show uniform improvement in performance and power efficiency, often accompanied by significant reduction in area/power consumption as compared to 2's complement implementations. We observed up to 22% improvement in peformance (19% reduction in area) within bounded power envelope, or up to 14% reduction in power consumption (12% reduction in area) at same frequency. © 2011 IEEE.

关键词： FIR filters

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Mechanical design of social robot Nancy

Mechanical design of social robot Nancy

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2011 IEEE/SICE International Symposium on System Integration, SII 2011

作者： Ge, S.S. Safizadeh, M.R. Li, Y. Social Robotics Lab. Interactive Digital Media Institute National University of Singapore Singapore 117576 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China Social Robotics Lab. Interactive Digital Media Institute National University of Singapore Singapore 119613 Singapore NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9781457715235

This paper presents the mechanical design of a social robot, Nancy, developed by Social robotics laboratory, Interactive and Digital Media Institute, National University of Singapore. The objective of our project is to introduce the social robot which is capable to interact with people, especially the elderly, based on fundamental, functional and social tasks. We developed Nancy with multi-module structure and 32 degrees of freedom (DOFs), including 24 and 8 DOFs in upper-body and lower-body, respectively. 8 DOFs are considered in each arm to make Nancy able to imitate human limbs' motion. Nancy's head involves eye and eyelid motions with 3 DOFs which is on top of a 2-DOFs neck. The wheeled-base is designed in such a way to facilitate the multi-directional movements for Nancy. One of our main objectives in Nancy's mechanical design is to obtain powerful and smooth motion, light-weight joints and simple kinematics. They are achieved by Bowden cable-pulley mechanism driven by actuators located in lower-body. Accordingly, all joints are designed to have intersected axes. Most joints are driven by brushless D.C. motors embedded with electrical brake system to stabilize the robot, especially in case of power loss. © 2011 IEEE.

关键词： Digital storage

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System design and implementation of social interactive robot Nancy

System design and implementation of social interactive robot...

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4th International Conference on Interaction Sciences: IT, Human and Digital Content, ICIS 2011

作者： Ge, Shuzhi Sam Liew, Chun Fui Li, Yanan Department of Electrical and Computer Engineering Interactive Digital Media Institute National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu 610054 China Social Robotics Lab NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9788988678442

This paper presents a social interactive robot Nancy that has been developed in Social robotics laboratory, National University of Singapore. Fundamentally different from factory robots, Nancy's design focuses on social interaction and social intelligent system. The design objectives and consideration are examined in the beginning, followed by the description of hardware and software architectures. Contrast to current existing social robots, Nancy has a graphical user interface (GUI), which acts as an additional channel for human-robot interaction. This GUI helps users to have a better understanding of Nancy's internal states and hence make users feel more comfortable during the interaction with Nancy. Visitors' interaction experience with Nancy is discussed together with Nancy's social skills. © 2011 AICIT.

关键词： Graphical user interfaces

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Persistent Ocean Monitoring with Underwater Gliders: Towards Accurate Reconstruction of Dynamic Ocean Processes

Persistent Ocean Monitoring with Underwater Gliders: Towards...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Ryan N. Smith Mac Schwager Daniela Rus Stephen L. Smith Gaurav S. Sukhatme School of Engineering Systems at the Queensland University of Technology BrisbaneQLD4000 Australia GRASP Lab University of PennsylvaniaPhiladelphiaPA 19104USA Distributed Robotics Lab Computer Science and Artificial Intelligence LaboratoryMassachusetts Insti Robotic Embedded Systems Laboratory Department of Computer ScienceUniversity of Southern California

This paper proposes a path planning algorithm and a velocity control algorithm for underwater gliders to persistently monitor a patch of ocean. The algorithms address a pressing need among ocean scientists to collect high-value data for studying ocean events of scientific and environmental interest, such as the occurrence of harmful algal blooms. The path planner optimizes a cost function that blends two competing factors: it maximizes the information value of the path, while minimizing the deviation from the path due to ocean currents. The speed control algorithm then optimizes the speed along the planned path so that higher resolution samples are collected in areas of higher information value. The resulting paths are closed circuits that can be repeatedly traversed to collect long term ocean data in dynamic environments. The algorithms were tested during sea trials on an underwater glider operating off the coast of southern California over the course of several weeks. The results show significant improvements in data resolution and path reliability compared to a sampling path that is typically used in the region.

关键词： Oceans Heuristic algorithms Vehicles Monitoring Sea measurements Vehicle dynamics Read only memory

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Reports of the AAAI 2010 fall symposia

Reports of the AAAI 2010 fall symposia

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作者： Azevedo, Roger Biswas, Gautam Bohus, Dan Carmichael, Ted Finlayson, Mark A. Hadzikadic, Mirsad Havasi, Catherine Horvitz, Eric Kanda, Takayuki Koyejo, Oluwasanmi Lawless, William F. Lenat, Doug Meneguzzi, Felipe Mutlu, Bilge Oh, Jean Pirrone, Roberto Raux, Antoine Sofge, Donald A. Sukthankar, Gita Van Durme, Benjamin Yorke-Smith, Neil Department of Educational and Counseling Psychology McGill University Canada Center for Intelligent Systems Vanderbilt University United States Microsoft Research Redmond United States Department of Software and Information Systems University of North Carolina Charlotte United States Complex Systems Institute United States Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology United States Media Lab. Massachusetts Institute of Technology United States ATR Intelligent Robotics and Communication Laboratories Kyoto Japan Department of Electrical and Computer Engineering University of Texas Austin United States Department of Mathematics Paine College Augusta GA United States Cycorp Austin TX United States Robotics Institute Carnegie Mellon University United States Department of Computer Sciences University of Wisconsin Madison United States University of Palermo Italy Honda Research Institute United States Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory Washington DC United States Department of Electrical Engineering and Computer Science University of Central Florida United States Department of Computer Science Johns Hopkins University United States American University of Beirut Lebanon SRI International's Artificial Intelligence Center United States

The Association for the Advancement of Artificial Intelligence (AAAI) presented the 2010 Fall Symposium Series on November 11-13, 2010. The eight symposia included Cognitive and Metacognitive Educational Systems, Commonsense Knowledge, Complex Adaptive Systems: Resilience, Robustness, and Evolvability, Computational Models of Narrative, Dialog with Robots, Manifold Learning and Its Applications, Proactive Assistant Agents and Quantum Informatics for Cognitive, Social, and Semantic Processes. Cognitive and Metacognitive Educational Systems aimed to provide a comprehensive definition of metacognitive educational systems that is inclusive of the theoretical, architectural, and educational aspects of this field. The AAAI Commonsense Knowledge Fall Symposium had the goal of bringing together the diverse elements of this community whose work benefits from or contributes to the representation of general knowledge about the world. One of the specific goals of Proactive symposium was to gather the researchers from various projects in assistant agents to share their wisdom in retrospect.

关键词： Semantics

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