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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Hsueh-Cheng Wang C. Finn L. Paull M. Kaess R. Rosenholtz S. Teller J. Leonard Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA Electrical Engineering and Computer Sciences UC Berkeley Robotics Institute Carnegie Mellon University Massachusetts Institute of Technology Cambridge MA US

Navigating in a previously unknown environment and recognizing naturally occurring text in a scene are two important autonomous capabilities that are typically treated as distinct. However, these two tasks are potentially complementary, (i) scene and pose priors can benefit text spotting, and (ii) the ability to identify and associate text features can benefit navigation accuracy through loop closures. Previous approaches to autonomous text spotting typically require significant training data and are too slow for real-time implementation. In this work, we propose a novel high-level feature descriptor, the "junction", which is particularly well-suited to text representation and is also fast to compute. We show that we are able to improve SLAM through text spotting on datasets collected with a Google Tango, illustrating how location priors enable improved loop closure with text features.

关键词： Simultaneous localization and mapping Junctions Feature extraction Navigation Image edge detection Real-time systems Text recognition

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Experience-based adaptation of locomotion behaviors for kinematically complex robots in unstructured terrain

Experience-based adaptation of locomotion behaviors for kine...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Dettmann A. Born S. Bartsch F. Kirchner The author is with the Faculty of Mathematics and Computer Science University of Bremen Bremen Germany The author is with the German Research Center for Artificial Intelligence - Robotics Innovation Center (DFKI RIC) Bremen Germany

Kinematically complex robots such as legged robots provide a large degree of mobility and flexibility, but demand a sophisticated motion control, which has more tunable parameters than a general planning and decision layer should take into consideration. A lot of parameterizations exist which produce locomotion behaviors that fulfill the desired action but with varying performance, e.g., stability or efficiency. In addition, the performance of a locomotion behavior at any given time is highly depending on the current environmental context. Consequently, a complex mapping is required that closes the gap between robot-independent actions and robot-specific control parameters considering the environmental context and a given prioritization of performance indices.

关键词： Context Robot kinematics Robot sensing systems Motion control Hazards Stability analysis

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Wearable soft artificial skin for hand motion detection with embedded microfluidic strain sensing

Wearable soft artificial skin for hand motion detection with...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jean-Baptiste Chossat Yiwei Tao Vincent Duchaine Yong-Lae Park Ecole de Technologie Superieure Montreal Québec Canada Department of Mechanical Engineering Robotics Institute School of Computer Science Carnegie Mellon University Pittsburgh PA USA

ISBN: (纸本)9781479969241

This paper describes the design and manufacturing of soft artificial skin with an array of embedded soft strain sensors for detecting various hand gestures by measuring joint motions of five fingers. The proposed skin was made of a hyperelastic elastomer material with embedded microchannels filled with two different liquid conductors, an ionic liquid and a liquid metal. The ionic liquid microchannels were used to detect the mechanical strain changes of the sensing material, and the liquid metal microchannels were used as flexible and stretchable electrical wires for connecting the sensors to an external control circuit. The two heterogeneous liquid conductors were electrically interfaced through flexible conductive threads to prevent the two liquid from being intermixed. The skin device was connected to a computer through a microcontroller instrumentation circuit for reconstructing the 3-D hand motions graphically. The paper also presents preliminary calibration and experimental results.

关键词： Sensors Skin Liquids Joints Microchannels Strain Metals

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Global Exponential Stabilization on the n-Dimensional Sphere

Global Exponential Stabilization on the n-Dimensional Sphere

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American Control Conference

作者： Pedro Casau Christopher G. Mayhew Ricardo G. Sanfelice Carlos Silvestre Department of Electrical and Computer Engineering and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico Universidade Tecnica de Lisboa 1049-001 Lisboa Portugal Department of Computer Engineering University of California Santa Cruz CA 95064 Department of Electrical and Computer Engineering of the Faculty of Science and Technology of the University of Macau Macao China

ISBN: (纸本)9781479917730

In this paper, we show that the existence of centrally synergistic potential functions on the n-dimensional sphere, denoted by S~n, is a sufficient condition for the global asymptotic stabilization of a point in S~n. Additionally, if these functions decrease exponentially fast during flows and are bounded from above and from below by some polynomial function of the tracking error, then the reference point can be globally exponentially stabilized. We construct two kinds of centrally synergistic functions: the first kind consists of a finite family of potential functions on S~n while the second kind consists of an uncountable number of potential functions on S~n. While the former generates a simpler jump logic, the latter is optimal in the sense that it generates flows with minimal length.

关键词： Tin Manifolds Robots Trajectory Robustness Three-dimensional displays computers

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Briquetting of EAF Dust for its utilisation in metallurgical processes

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Chemical and Process Engineering - Inzynieria Chemiczna i Procesowa 2015年第2期36卷 263-271页

作者： Magdziarz, Aneta Kuźnia, Monika Bembenek, Michal Gara, Pawel Hryniewicz, Marek AGH University of Science and Technology Faculty of Metals Engineering and Industrial Computer Science 30 Mickiewicza Av. Krakow30-059 Poland AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Manufacturing Systems 30 Mickiewicza Av. Krakow30-059 Poland

Dust generated at an electric arc furnace during steel production industry is still not a solved problem. Electric arc furnace dust (EAF) is a hazardous solid waste. Sintering of well-prepared briquetted mixtures in a shaft furnace is one of possible methods of EAFD utilisation. Simultaneously some metal oxides from exhaust gases can be separated. In this way, various metals are obtained, particularly zinc is recovered. As a result, zinc-free briquettes are received with high iron content which can be used in the steelmaking process. The purpose of the research was selecting the appropriate chemical composition of briquettes of the required strength and coke content necessary for the reduction of zinc oxide in a shaft furnace. Based on the results of the research the composition of the briquettes was selected. The best binder hydrated lime and sugar molasses and the range of proper moisture of mixture to receive briquettes of high mechanical strength were also chosen and tested. Additionally, in order to determine the thermal stability for the selected mixtures for briquetting thermal analysis was performed. A technological line of briquetting was developed to apply in a steelworks.

关键词： Zinc oxide

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Underwater Place Recognition in Noisy Stereo Data using Fab-Map with a Multimodal Vocabulary from 2D Texture and 3D Surface Descriptors

Underwater Place Recognition in Noisy Stereo Data using Fab-...

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OCEANS

作者： Ivaylo Enchev Max Pfingsthorn Tomasz Luczynski Igor Sokolovski Andreas Birk Daniel Tietjen Robotics Computer Science and Electrical Engineering Jacobs University Bremen Campus Ring 1 28759 Bremen Germany ATLAS ELEKTRONIK GmbH Sebaldsbruecker Heerstrasse 235 28309 Bremen Germany

ISBN: (纸本)9781479987375

One fundamental problem in Simultaneous Localization and Mapping is place recognition, used to create loop closures, necessary to improve map quality. Ideally, the sensor data alone should be used to detect loop closures, referred to as appearance-based methods. Such methods usually employ feature descriptors, especially popular in underwater research are 2D visual features, and the bag-of-words approach. Here we demonstrate the combined use of 2D visual and 3D surface features, which is specifically interesting in the context of 3D underwater mapping with stereo data. Different sensor and feature types excel at different situations, and thus would benefit from a joint treatment in a bag-of-words based place recognition method. Specifically, this paper presents a method to employ multiple dictionaries computed from different feature types, extracted from different raw data in a single FAB-MAP-based place recognition method. Experiments on an underwater dataset show an increase of performance of the method when using a combination of feature types instead of single feature types.

关键词： Underwater Place Recognition Noisy Stereo Data 3D Surface Descriptors

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Spatial indexes for simplicial and cellular meshes 17

Spatial indexes for simplicial and cellular meshes

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17th East European Conference on Advances in Databases and Information Systems, ADBIS 2013

作者： Fellegara, Riccardo Department of Computer Science Bioengineering Robotics and System Engineering University of Genova Italy

ISBN: (纸本)9783319018621

We address the problem of performing spatial and topological queries on simplicial and cellular meshes. These arise in several application domains including 3D GIS, scientific visualization and finite element analysis. Firstly, we present a family of spatial indexes for tetrahedral meshes, that we call tetrahedral trees. Then, we present the PRstar octree, that is a combined spatial data structure for performing efficient topological queries on simplicial meshes. Finally, we propose to extend these frameworks to arbitrary dimensions and to larger class of meshes, such as non-simplicial meshes. © Springer International Publishing Switzerland 2014.

关键词： Finite element method

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Virtualization of objects and adaptive interaction in an inclusive web of things

Virtualization of objects and adaptive interaction in an inc...

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International Conferences on Interfaces and Human computer Interaction 2014, Game and Entertainment Technologies 2014 and computer Graphics, Visualization, computer Vision and Image Processing 2014

作者： Torre, Ilaria Department of Computer Science Bioengineering Robotics and Systems Engineering University of Genoa Italy

ISBN: (纸本)9789898533227

In the near future we will be surrounded by plenty of smart interconnected objects and by objects linked to their virtual counterpart on the Web. The availability of a virtual object connected to the physical object can be an extraordinary opportunity to make physical objects accessible and inclusive. However, to exploit this opportunity and to avoid that the Internet of Things increases the technological gap between users, an orchestration of such objects is necessary as well as adaptive mechanisms that automate the tuning and customization of the applications that manage virtual objects, in order to fit the specific user needs. This contribution presents issues relating to virtualization of physical objects and describes the basics of an adaptive management of Web of Things applications. Copyright © 2014 IADIS Press All rights reserved.

关键词： Internet of things

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Motion-oriented attention for a social gaze robot behavior 6

Motion-oriented attention for a social gaze robot behavior

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6th International Conference on Social robotics, ICSR 2014

作者： Sorostinean, Mihaela Ferland, François Dang, Thi-Hai-Ha Tapus, Adriana Computer Vision and Robotics Lab Computer Science and System Engineering Department ENSTA-ParisTech Palaiseau France

ISBN: (纸本)9783319119724

Various studies have shown that human visual attention is generally attracted by motion in the field of view. In order to embody this kind of social behavior in a robot, its gaze should focus on key points in its environment, such as objects or humans moving. In this paper, we have developed a social natural attention system and we explore the perception of people while interacting with a robot in three different situations: one where the robot has a totally random gaze behavior, one where its gaze is fixed on the person in the interaction, and one where its gaze behavior adapts to the motion-based environmental context. We conducted an online survey and an on-site experiment with the Meka robot so as to evaluate people’s perception towards these three types of gaze. Our results show that motion-oriented gaze can help to make the robot more engaging and more natural to people. © Springer International Publishing Switzerland 2014.

关键词： Robots

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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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