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RSI/ISM International Conference on robotics and Mechatronics

作者： Mahdi Khorram S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Lab Dept of Mech Eng K. N. Toosi Univ of Tech Tehran Iran Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Lab Dept of Mech Eng K. N. Toosi Univ of Tech Tehran Iran

ISBN: (纸本)9781467372350

To obtain satisfactory performance for legged robots, they should be able to move on natural environment stably. In this article, the path planning of a quadruped robot in the motion over uneven terrains will be investigated. One of major problems for traversing uneven terrains is the robot stability. Thus, a condition to guarantee the robot stability over such terrains will be proposed. This condition defines a point with zero moment in 3D space. This condition makes it possible to vary of the height of main body stably during trotting which is a main issue for traversing uneven terrains. Based on this condition, a linear ZMP equation will be defined so that the main body acceleration acts as control input and the ZMP acts as output. A linear quadratic regulator with stability constraint and fixed final states will be proposed to obtain the COG path which results in minimum acceleration. The tip of swing foot path planning will be fulfilled so that the generated path leads to avoid any collision with environment. Furthermore, the path of tip of swing legs is designed with minimum acceleration. The simulation results confirm the validity of proposed methods in terms of stability and the improvement of the consumption energy over uneven terrains.

关键词： Quadruped robots Dynamic stability criterion trot gait LQR control uneven terrains

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Muscle innervation patterns for human wrist control: Useful biofeedback signals for robotic rehabilitation?

Muscle innervation patterns for human wrist control: Useful ...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： M. Semprini A. Cuppone V. Squeri J. Konczak Center for Neuroscience and Cognitive Systems UniTn Istituto Italiano di Tecnologia (IIT) Rovereto Italy Robotics Brain and Cognitive Sciences Istituto Italiano di Tecnologia (IIT) Genoa Genoa Italy Human Sensorimotor Control Lab School of Kinesiology University of Minnesota USA

ISBN: (纸本)9781479918096

Upper limb robotic rehabilitation technology has recognized the importance of biofeedback signals for optimizing motor recovery. Impaired motor control is typically associated with abnormal muscle activation patterns and such patterns can be revealed by electromyography (EMG). However, before using user-generated EMG signals as biofeedback for controlling and optimizing force output of a robot, it is imperative that the healthy muscle innervation patterns are fully established to guide possible robot-aided rehabilitation protocols. Given the muscular redundancy found in many human limb systems, and given that force generation of human muscles is not linear, it becomes important to understand how synergistic control influences joint force and joint kinematics. It is the purpose of this study to map the electromyographic activation patterns of the major human muscles involved in controlling the hand/wrist system. By means of a robotic exoskeleton three Degrees of Freedom (DoF) were evaluated: wrist flexion-extension and adduction-abduction as well as forearm pronation-supination separately and for different ranges of the workspace. We recorded EMG activity of 7 arm muscles of 4 healthy subjects performing the task and we therefore defined the typical EMG activation patterns of such muscles during robotic training.

关键词： Electromyography Muscles Robots Wrist Read only memory Biological control systems Joints

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Multi-Criteria Design of 6-DoF Fully-Constrained Cable Driven Redundant Parallel Manipulator

Multi-Criteria Design of 6-DoF Fully-Constrained Cable Drive...

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RSI/ISM International Conference on robotics and Mechatronics

作者： Ali Nasr S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

The purpose of this paper is to optimize dimensions of KNTU 6-DoF cable driven redundant parallel manipulators. This manipulator is under investigation for possible high-speed application such as object manipulator. Usage of cable parallel manipulator depends on kinematic characteristic and control algorithm. This optimization is based on different performance indices including the singularity measure, the kinematic sensitivity, the stiffness and free collision workspace. Stiffness of the cable is also taken into consideration because of its effect on kinematic stiffness of moving platform manipulators performance. Points with cable collision, singular or actuator wrench infeasible configuration characteristic are eliminating from entire workspace.

关键词： Cable Robot Redundant Parallel Manipulator Kinematics Analysis Optimal Design

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Haptic intelligent interfaces for NAO robot hand control

Haptic intelligent interfaces for NAO robot hand control

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International Conference on Advanced Mechatronic systems (ICAMechS)

作者： Octavian Melinte Luige Vladareanu Ligia Munteanu Hongnian Yu Shuang Cang Zeng-Guang Hou Gui-Bin Bian Hongbo Wang Dept. Robotics and Mechatronics Institute of Solid Mechanics of Romanian Academy Bucharest Romania Engineering and Computing Bournemouth University Dorset UK State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Parallel Robot and Mechatronic Sys. Lab. Yanshan University Qinhuangdao China

The paper presents a new approach on haptic interface control for NAO robotic hand. The haptic teleoperation of NAO robot hand raises some issues, mapping the haptic device dynamic being the most important. The mapping was achieved through Neural Network by determining a dynamic gain of robot haptic feedback. The results lead to the achievement of the haptic intelligent interfaces for the NAO robot hand control which can be integrated into an innovative haptic robot control system.

关键词： Decision support systems Humanoid robots Haptic interfaces Economic indicators Joints Mechatronics

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Clustering Objects with Robots That Do Not Compute 14

Clustering Objects with Robots That Do Not Compute

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International Conference on Autonomous Agents and Multiagent systems

作者： Melvin Gauci Jianing Chen Wei Li Tony J. Dodd Roderich Gross Natural Robotics Lab Sheffield Centre for Robotics & Department of Automatic Control and Systems Engineering The University of Sheffield

ISBN: (纸本)9781634391313

This paper presents a multi-robot solution to the task of object clustering, where the simplicity of the robots is pushed to the extreme that (i) each robot can only detect the presence of (but not the distance to) an object or another robot in its direct line of sight, and (ii) the robots are unable to store previous inputs and cannot perform arithmetic computations. controllers for the robots were synthesized through an evolutionary robotics approach driven by physics-based simulations. The results show that the problem can be solved even if the robots cannot distinguish between objects and other robots; however, if they are able to make this distinction, the clustering performance is significantly improved. The controllers have been shown to scale well to large numbers of robots and objects and to be robust to noise. The sensor/controller solution was implemented on the e-puck robotic system. Across 10 systematic experiments with 5 robots and 20 objects, on average, 86.5% of the objects were in one cluster after 10 minutes. We believe that the sensor/controller simplicity paves the way for the implementation of multi-robot systems at very small scales, as required, for instance, in nanomedical applications.

关键词： Algorithms Experimentation Swarm robotics Evolutionary robotics Object Clustering Minimal Information Processing E-puck

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A Low-Cost Vision-Based System for Displacement Analysis in Earthquake Research

A Low-Cost Vision-Based System for Displacement Analysis in ...

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RSI/ISM International Conference on robotics and Mechatronics

作者： Bijan Binaee Mahyar Khayatkhoei Hadi Moradi Amirhossein Nazemi Abdollah Hosseini Control and Intelligent Processing Center Advanced Robotics and Intelligent Systems Lab School of ECE University of Tehran Intelligent Systems Research Institute SKKU South Korea School of Civil Engineeringg College of Engineering University of Tehran

ISBN: (纸本)9781467372350

Measuring linear and angular displacement with high accuracy requires expensive equipment and may interfere with the measurements due to sensors weight and size. In this paper, we propose a low cost vision based approach for measuring linear & angular displacement that can make the earthquake research more *** keep detecting process as fast as possible and meet real-time demands, a typical marker with a peculiar color inside chooses and all instructions performed by Intel CVLib filters. So according to the tests, if the minimum requirement are met, the proposed method can detect marker up to 25 frames per second. Finally, a prototype software implemented to analysis functionality and accuracy of proposed algorithm. The results shown that this vision-based method can achieve accuracy of 0.1mm, with an off-the-shelf three pixel per millimeter, and it can be perfectly used instead of traditional instruments such as LVDT.

关键词： Rotoray-displacement tracking displacement tracking LVDT instrumentation shaking table seismology image processing

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On human performance in tactile language learning and tactile memory

On human performance in tactile language learning and tactil...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Ramiro Velázquez Edwige Pissaloux Mechatronics and Control Systems Lab. (MCS) Universidad Panamericana Aguascalientes Mexico Institute for Intelligent Systems and Robotics (ISIR) Paris France

This paper reports on the findings from an experiment on human performance in tactile language learning and tactile memory. A set of vibrotactile patterns representing verbal words was presented to a group of 20 voluntary subjects. Upon learning, subjects were capable of recognizing the patterns with high accuracy. Patterns were then combined with the aim of constructing sentences that gradually represent more complex ideas. Recognition rates remained satisfactory. A novel approach of tactile stimuli was explored: podotactile stimulation. For this study, a prototype of wearable electronic tactile display that stimulates the mechanoreceptors in the foot sole with vibrations was used. Results obtained suggest that it is possible to construct tactile languages that could be useful in human-computer interaction and wearable/mobile computing.

关键词： Foot Prototypes Vibrations Robot sensing systems Human computer interaction Vocabulary

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Identifying the best machine learning algorithms for brain tumor segmentation, progression assessment, and overall survival prediction in the BRATS challenge

arXiv

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arXiv 2018年

作者： Bakas, Spyridon Reyes, Mauricio Jakab, Andras Bauer, Stefan Rempfler, Markus Crimi, Alessandro Shinohara, Russell Takeshi Berger, Christoph Ha, Sung Min Rozycki, Martin Prastawa, Marcel Alberts, Esther Lipkova, Jana Freymann, John Kirby, Justin Bilello, Michel Fathallah-Shaykh, Hassan M. Wiest, Roland Kirschke, Jan Wiestler, Benedikt Colen, Rivka Kotrotsou, Aikaterini Lamontagne, Pamela Marcus, Daniel Milchenko, Mikhail Nazeri, Arash Weber, Marc-Andr Mahajan, Abhishek Baid, Ujjwal Gerstner, Elizabeth Kwon, Dongjin Acharya, Gagan Agarwal, Manu Alam, Mahbubul Albiol, Alberto Albiol, Antonio Albiol, Francisco J. Alex, Varghese Allinson, Nigel Amorim, Pedro H.A. Amrutkar, Abhijit Anand, Ganesh Andermatt, Simon Arbel, Tal Arbelaez, Pablo Avery, Aaron Azmat, Muneeza Pranjal, B. Bai, Wenjia Banerjee, Subhashis Barth, Bill Batchelder, Thomas Batmanghelich, Kayhan Battistella, Enzo Beers, Andrew Belyaev, Mikhail Bendszus, Martin Benson, Eze Bernal, Jose Bharath, Halandur Nagaraja Biros, George Bisdas, Sotirios Brown, James Cabezas, Mariano Cao, Shilei Cardoso, Jorge M. Carver, Eric N. Casamitjana, Adri Castillo, Laura Silvana Cat, Marcel Cattin, Philippe Cérigues, Albert Chagas, Vinicius S. Chandra, Siddhartha Chang, Yi-Ju Chang, Shiyu Chang, Ken Chazalon, Joseph Chen, Shengcong Chen, Wei Chen, Jefferson W. Chen, Zhaolin Cheng, Kun Choudhury, Ahana Roy Chylla, Roger Clrigues, Albert Colleman, Steven Colmeiro, Ramiro German Rodriguez Combalia, Marc Costa, Anthony Cui, Xiaomeng Dai, Zhenzhen Dai, Lutao Daza, Laura Alexandra Deutsch, Eric Ding, Changxing Dong, Chao Dong, Shidu Dudzik, Wojciech Eaton-Rosen, Zach Egan, Gary Escudero, Guilherme Estienne, Tho Everson, Richard Fabrizio, Jonathan Fan, Yong Fang, Longwei Feng, Xue Ferrante, Enzo Fidon, Lucas Fischer, Martin French, Andrew P. Fridman, Naomi Fu, Huan Fuentes, David Gao, Yaozong Gates, Evan Gering, David Gholami, Amir Gierke, Willi Glocker, Ben Gong, Mingming Gonzlez-Vill, Sandra Grosges, T. Guan, Yuanfang Guo, Sheng Gupta, Sudeep Han, Woo-Sup Han, Il Song Harmuth, Ko Center for Biomedical Image Computing and Analytics University of Pennsylvania PhiladelphiaPA United States Department of Radiology Perelman School of Medicine University of Pennsylvania PhiladelphiaPA United States Department of Pathology and Laboratory Medicine Perelman School of Medicine University of Pennsylvania PhiladelphiaPA United States Institute for Surgical Technology and Biomechanics University of Bern Bern Switzerland Center for MR-Research University Children's Hospital Zurich Zurich Switzerland Support Centre for Advanced Neuroimaging Inselspital Institute for Diagnostic and Interventional Neuroradiology Bern University Hospital Bern Switzerland University Hospital of Zurich Zurich Switzerland Center for Clinical Epidemiology and Biostatistics University of Pennsylvania Philadelphia United States Image-Based Biomedical Modeling Group Technical University of Munich Munich Germany Icahn School of Medicine Mount Sinai Health System New YorkNY United States Leidos Biomedical Research Inc. Frederick National Laboratory for Cancer Research FrederickMD21701 United States Cancer Imaging Program National Cancer Institute National Institutes of Health BethesdaMD20814 United States Department of Neurology University of Alabama at Birmingham BirminghamAL United States Department of Diagnostic Radiology University of Texas MD Anderson Cancer Center HoustonTX United States Department of Psychology Washington University St. LouisMO United States Neuroimaging Informatics and Analysis Center Washington University St. LouisMO United States Department of Radiology Washington University St. LouisMO United States Institute of Diagnostic and Interventional Radiology Pediatric Radiology and Neuroradiology University Medical Center Rostock Ernst-Heydemann-Str. 6 Rostock18057 Germany Tata Memorial Centre Homi Bhabha National Institute Mumbai India Shri Guru Gobind Singhji Institute of Engineering and Technology Nanded India NVIDIA Santa Clara

Gliomas are the most common primary brain malignancies, with different degrees of aggressiveness, variable prognosis and various heterogeneous histologic sub-regions, i.e., peritumoral edematous/invaded tissue, necrotic core, active and non-enhancing core. This intrinsic heterogeneity is also portrayed in their radio-phenotype, as their sub-regions are depicted by varying intensity profiles disseminated across multi-parametric magnetic resonance imaging (mpMRI) scans, reflecting varying biological properties. Their heterogeneous shape, extent, and location are some of the factors that make these tumors difficult to resect, and in some cases inoperable. The amount of resected tumor is a factor also considered in longitudinal scans, when evaluating the apparent tumor for potential diagnosis of progression. Furthermore, there is mounting evidence that accurate segmentation of the various tumor sub-regions can offer the basis for quantitative image analysis towards prediction of patient overall survival. This study assesses the state-of-the-art machine learning (ML) methods used for brain tumor image analysis in mpMRI scans, during the last seven instances of the International Brain Tumor Segmentation (BraTS) challenge, i.e., 2012-2018. Specifically, we focus on i) evaluating segmentations of the various glioma sub-regions in pre-operative mpMRI scans, ii) assessing potential tumor progression by virtue of longitudinal growth of tumor sub-regions, beyond use of the RECIST/RANO criteria, and iii) predicting the overall survival from pre-operative mpMRI scans of patients that underwent gross total resection. Finally, we investigate the challenge of identifying the best ML algorithms for each of these tasks, considering that apart from being diverse on each instance of the challenge, the multi-institutional mpMRI BraTS dataset has also been a continuously evolving/growing dataset. Copyright © 2018, The Authors. All rights reserved.

关键词： Tumors

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Kinematics Modeling and Experimental Verification of Baxter Robot

Kinematics Modeling and Experimental Verification of Baxter ...

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第三十三届中国控制会议

作者： Zhangfeng JU Chenguang YANG Hongbin MA North Automatic Control Technology Institute Centre for Robotics and Neural Systems School of Computing and MathematicsPlymouth University School of Automation Beijing Institute of Technology StateKey Lab of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781479947249

The Baxter R humanoid robot made by Rethink roboticsTMoffers users an affordable platform with guaranteed safety for both academic and industrial *** platform provides the users a good opportunity to carry out research on dualarm robot manipulation and vision based *** simulation of the Baxter R robot,a proper kinematic and dynamic model should be *** Baxter robot uses URDF file to describe the robot kinematics,i.e.,the relationship between adjacent joint and *** the large difference between the structure of URDF and the conventional Denavit-Hartenburg(DH) notations which are widely used in robotics literature,we perform rigorous theoretic analysis of kinematics of Baxter R robot including all limbs.A kinematics model has been built following DH convention,and has been implemented in the MATlab robotics *** comparison between simulation and experimental results has verified the validity of the kinematic model.

关键词： Baxter R robot,Simulink model,DH convention

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous robotics systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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