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IEEE International Conference on robotics and Automation (ICRA)

作者： Vartholomeos, Panagiotis Mavroidis, Constantinos Zenon Automation Technologies S.A. Greece Control Systems Lab. Department of Mechanical Engineering National Technical University of Athens Greece Bionano Robotics Laboratory Department of Mechanical and Industrial Engineering Northeastern University Boston MA 02115 United States

ISBN: (纸本)9781424450404

Magnetic Resonance Imaging (MRI) guided nanorobotic systems that could perform diagnostic, curative and reconstructive treatments in the human body at the cellular and sub-cellular level in a controllable manner have recently been proposed. The concept of a MRI-guided nanorobotic system is based on the use of a MRI scanner to induce the required external driving forces to guide magnetic nanocapsules to a specific target. However, the maximum magnetic gradient specifications of existing clinical MRI systems are not capable of driving superparamagnetic nanocapsules against the blood flow and therefore these MRIs do not allow for navigation. The present paper proposes a way to overcome this critical drawback through the formation of micron size agglomerations where their size can be regulated by external magnetic stimuli. This approach is investigated through modeling of the physics that govern the self-assembly of the nanoparticles. Additionally a computational tool has been developed that incorporates the derived models and performs simulation, visualization and post-processing analysis. Preliminary simulation results demonstrate that external magnetic field causes aggregation of nanoparticles while they flow in the vessel. This is a promising result -in accordance with similar experimental results- and encourages further investigation on the nanoparticle based self-assembly structures for use in nanorobotic drug delivery.

关键词： Magnetic resonance imaging

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Ensemble usage for more reliable policy identification in reinforcement learning

Ensemble usage for more reliable policy identification in re...

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作者： Hans, Alexander Udluft, Steffen Ilmenau University of Technology Neuroinformatics and Cognitive Robotics Lab P.O. Box 100565 D-98684 Ilmenau Germany Siemens AG Corporate Technology Intelligent Systems and Control Otto-Hahn-Ring 6 D-81739 Munich Germany

ISBN: (纸本)9782874190445

Reinforcement learning (RL) methods employing powerful function approximators like neural networks have become an interesting approach for optimal control. Since they learn a policy from observations, they are also applicable when no analytical description of the system is available. Although impressive results have been reported, their handling in practice is still hard, as they can fail at reliably determining a good policy. In previous work, we used ensembles of policies from independent runs of neural fitted Q-iteration (NFQ) to produce successful policies more reliably. In this paper we evaluate the approach on more problems and propose to form ensembles from successive iterations of a single NFQ run as a computationally cheap alternative to completely independent runs.

关键词： Iterative methods

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IMMUNE : Intelligent monitoring and managing of unexpected events

IMMUNE : Intelligent monitoring and managing of unexpected e...

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27th Congress of the International Council of the Aeronautical Sciences 2010, ICAS 2010

作者： Döll, C. Varga, A. Kappenberger, C. Hardier, G. Ruprecht, T. ONERA - The French Aerospace Lab Systems Control and Flight Dynamics Department DCSD 2 av. Ed. Belin B.P. 4025 31055 Toulouse Cedex 4 France DLR - German Aerospace Center Institute of Robotics and Mechatronics Münchner Straße 20 - 82234Weßling Germany DLR - German Aerospace Center Institute of Flight Systems Lilienthalplatz 7 - 38108 Braunschweig Germany

ISBN: (纸本)9781617820496

The IMMUNE project (Intelligent Monitoring and Managing of UNexpected Events) focuses on basic research regarding event monitoring and event tolerant control. Event detection methods and control law reconfiguration approaches have been investigated for their applicability in the context of developing advanced aircraft flight control systems. For promising methods, prototype software tools have been implemented in a desktop simulation environment to serve as basis for evaluation studies.

关键词： Flight control systems

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Simulation platform for self-assembly structures in MRI-guided nanorobotic drug delivery systems

Simulation platform for self-assembly structures in MRI-guid...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Panagiotis Vartholomeos Constantinos Mavroidis Control Systems Lab Department of Mechanical Engineering National and Technical University of Athens Greece Bio Nano Robotics Laboratory Department of Mechanical and Industrial Engineering Northeastern University Boston MA USA

关键词： Self-assembly Nanostructures Drug delivery Magnetic resonance imaging Nanoparticles Computational modeling Biological system modeling Image reconstruction Humans control systems

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IMMUNE project: An overview

IMMUNE project: An overview

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18th IFAC Symposium on Automatic control in Aerospace, ACA 2010

作者： Döll, C. Hardier, G. Varga, A. Kappenberger, C. ONERA French Aerospace Lab. System Control and Flight Dynamics Department BP 74025 F-31055 Toulouse Cedex 4 France DLR German Aerospace Center Robotics and Mechatronics Department Münchner Str. 20 D-82234 Weßling Germany DLR German Aerospace Center Flight Systems Department Lilienthalplatz 7 D-38108 Braunschweig Germany

ISBN: (纸本)9783902661968

关键词： Fault detection

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IMMUNE project : An overview

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IFAC Proceedings Volumes 2010年第15期43卷 434-439页

作者： C. Döll G. Hardier A. Varga C. Kappenberger ONERA The French Aerospace Lab System Control and Flight Dynamics Department BP 74025 F-31055 Toulouse Cedex 4 France DLR German Aerospace Center Robotics and Mechatronics Department Münchner Str. 20 D-82234 Weßling Germany DLR German Aerospace Center Flight Systems Department Lilienthalplatz 7 D-38108 Braunschweig Germany

Abstract The IMMUNE project (Intelligent Monitoring and Managing of UNexpected Events) focuses on basic research regarding event monitoring and event tolerant control. Event detection methods and control law reconfiguration approaches have been investigated for their applicability in the context of developing advanced aircraft flight control systems. For promising methods, prototype software tools have been implemented in a desktop simulation environment to serve as basis for evaluation studies.

关键词： fault detection and isolation parameter identification control law reconfiguration adaptive control supervisor

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Patient-cooperative control: Adapting robotic interventions to individual human capabilities

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World Congress on Medical Physics and Biomedical Engineering: Neuroengineering, Neural systems, Rehabilitation and Prosthetics

作者： Duschau-Wicke, Alexander Brunsch, Thomas Felsenstein, Simon Vallery, Heike Riener, Robert Sensory-Motor Systems Lab. Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland Spinal Cord Injury Center University Hospital Balgrist Zurich Switzerland Control Systems Group Technical University Berlin Germany Hocoma AG Volketswil Switzerland

ISBN: (纸本)9783642038884

Patient-cooperative control strategies aim at improving the efficacy of current rehabilitation robots. The key aspects of these strategies are the transparency of the robots, constraints for safety and guidance, and individual interventions. Within the frame of transparency and constraints, interventions of challenging or facilitating nature can be applied. In this paper, we propose a way of providing facilitating interventions by force fields or global parameters, which are adapted by iterative learning control. We evaluate this approach in two scenarios with the rehabilitation robot Lokomat;first, to assist knee extension during stance phase, and second, to modulate how actively human subjects participate in bearing their own body weight. Both examples show that iterative learning control algorithms provide a feasible way to allow patients to train at a continuously challenging level according to their individual capabilities. © 2009 Springer-Verlag.

关键词： Transparency

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A visual navigation system for autonomous flight of micro air vehicles

A visual navigation system for autonomous flight of micro ai...

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Farid Kendoul Kenzo Nonami Robotics and Systems Control Lab Department of Electronics and Mechanical Engineering Chiba University Chiba Japan

Many applications of unmanned aerial vehicles (UAVs) require the capability to navigate to some goal and to perform precise and safe landing. In this paper, we present a visual navigation system as an alternative pose estimation method for environments and situations in which GPS is unavailable. The developed visual odometer is an incremental procedure that estimates the vehicle's ego-motion by extracting and tracking visual features, using an onboard camera. For more robustness and accuracy, the visual estimates are fused with measurements from an Inertial Measurement Unit (IMU) and a Pressure Sensor Altimeter (PSA) in order to provide accurate estimates of the vehicle's height, velocity and position relative to a given location. These estimates are then exploited by a nonlinear hierarchical controller for achieving various navigation tasks such as take-off, landing, hovering, target tracking, etc. In addition to the odometer description, the paper presents validation results from autonomous flights using a small quadrotor UAV.

关键词： Navigation Remotely operated vehicles Mobile robots Unmanned aerial vehicles Global Positioning System Cameras Robustness Position measurement Velocity measurement Pressure measurement

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IEEE Transactions on Haptics: Editorial

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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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Cognition-oriented building blocks of future benchmark scenarios for humanoid home robots

Cognition-oriented building blocks of future benchmark scena...

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2007 AAAI Workshop

作者： Burghart, Catherina R. Mikut, Ralf Holzapfel, Hartwig Institute of Process Control and Robotics University of Karlsruhe D-76128 Karlsruhe Germany Forschungszentrum Karlsruhe GmbH Institute of Applied Computer Science P.O. Box 3640 D-76021 Karlsruhe Germany Interactive Systems Lab. University of Karlsruhe D-76128 Karlsruhe Germany

ISBN: (纸本)9781577353317

Comparing intelligent robots interacting with humans is a difficult task. First of all, robotic helps in everyday life can be involved in different tasks. Additionally, the grade of autonomy of the robot and the type of interaction between human and robot may differ to a great extent. It also is an intricate task to design common metrics to assess human-robot interaction. Thus normal benchmarks fail in this case. After an overview of already existing benchmarks in robotics this paper sketches affordances for benchmarks for human-robot interaction in a home environment. Many aspects of already existing benchmarks, evaluation criteria, and metrics have to be combined to asses human-robot interaction in a complex environment. The great difficulty is measuring human and robot behavior;here novel approaches taking into account perspectives from different fields (i.e. engineers, psychologists, sociologist) are needed, as a human being does not behave as anticipated by the system designer most of the time. Copyright © 2007, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Human robot interaction

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