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IEEE International Symposium on Innovations in Intelligent Systems and Applications (INISTA)

作者： Salar Basiri Armin Kasemi Langroodi Pooyan Piredeir Aryo Jamshidpey Mechatronics and Robotics Group Marlik Institute of Innovation and Technology Rasht Iran Department of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran Department of Mechanical Engineering University of Guilan Rasht Iran Department of Computer Science & IT Institute for Advanced Studies in Basic Sciences Zanjan Iran

In this article, a step-walker robot is introduced. In recent years too many explorer and moving robots are designed and manufactured. These kinds of robots need a mechanism for climbing stairs or steps to explore and discover all sections of a building. This introduced mechanism is an optimum mechanism in terms of energy consumption while climbing a step or stair with a specific altitude. The robot which is introduced in this article contains two axes. Each axis can change its Vertical position independently. This position changes upon the stair or step's height. When the robot meets a step or stair, it can climb by changing its wheel's axes alternatively. This robot's cinematic and 3D modeling that will be used for choosing the proper DC motors and other essentials for making robot, is done by MATLAB and CATIA software solution package.

关键词： Robot sensing systems Robot kinematics Legged locomotion Mathematical model Wheels

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State of the art

SpringerBriefs in Applied Sciences and Technology

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SpringerBriefs in Applied sciences and Technology 2014年第9783319039572期18卷 17-29页

作者： Freni, Pierluigi Botta, Eleonora Marina Randazzo, Luca Ariano, Paolo Applied Science and Technology Polytechnic University of Turin Turin Italy Mechanical Engineering McGill University Montreal Canada Control and Computer Engineering Polytechnic University of Turin Turin Italy Center for Space Human Robotics Italian Institute of Technology Turin Italy

ISBN: (纸本)9783319015644

In this chapter we wrap up our literature investigation, pointing out the key focuses and requirements to be considered. We will go through our evaluations upon actuators, sensors, control systems and we will present some designs examples. Although literature is rich in studies on limbs exoskeletons aimed to several target applications, (such as rehabilitation, function restoring and virtual reality), the stringent requisites of EVA make most of the actuation and sensing solutions unsuitable for our device. Safety reasons and pressurization of the space suit force to avoid modern actuation technologies (i.e. air muscles), and focus on traditional motors such as piezoelectric ones. For what concerns sensors and control systems, most of the currently developed exoskeletons use physiological signals and are based on Electroencefalography (EEG) and on Electromyograpy (EMG). In the latter case, a big advantage is due to the fact that input signals are picked up directly from the motor units involved in the hand control. In the next pages we also present several examples of exoskeletons, including a pinching device for rehabilitation based on a cable mechanism, one finger device based on pulleys-lever structure, the four bar mechanism, a tendon system glove for function restoring and the EVAK-Glove from NASA. Finally, a couple of examples of feedback devices for medical applications are presented, integrating a variety of sensors, such as accelerometers, ultrasound, flow, pressure and vibration sensors, heat infrared camera, gyroscopes. © The Author(s) 2014.

关键词： NASA

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The soft robotics approach

SpringerBriefs in Applied Sciences and Technology

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SpringerBriefs in Applied sciences and Technology 2014年第9783319039572期18卷 31-61页

ISBN: (纸本)9783319015644

Starting from the user’s requirements previously defined, a new soft robotics approach was chosen and developed in order to overcome the criticalities arisen in the analysis of the state of the art. One of the key points of soft robotics is biomimicry: in place of heavy, rigid and noisy motors, artificial muscles are in charge of the movement of the soft structure, allowing a number of degrees of freedom unthinkable with traditional mechanics. The shift from hard to soft robotics brings the focus on materials: actuating and sensing devices are embedded in the material itself, which turns out to be smart. In particular, the attention was focused on Electroactive Polymers (EAPs): these polymeric materials work as transducers, converting electrical inputs into mechanical outputs, and vice versa. After an extensive material selection procedure among all the EAPs solutions currently available, Dielectric Elastomers (DEs) emerged as the most suitable materials for the intended application and a mathematical model of their electro-mechanical behavior is presented. The control of the hand exoskeleton is addressed in this section. Its objective is to help the astronaut accomplish the tasks he has to perform. The entire control system is composed of four phases: the recognition of the astronaut’s will (detect and distinguish the different movements), the control strategy, the enhancement of these movements and the measure of the actual position and force. The final measure system was implemented focusing on redundancy, safety control and to assure minimum performances also in off-nominal conditions. © The Author(s) 2014.

关键词： Degrees of freedom (mechanics)

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Erratum to: Surgical robotics beyond enhanced dexterity instrumentation: a survey of machine learning techniques and their role in intelligent and autonomous surgical actions

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International journal of computer assisted radiology and surgery 2016年第5期11卷 847页

作者： Yohannes Kassahun Bingbin Yu Abraham Temesgen Tibebu Danail Stoyanov Stamatia Giannarou Jan Hendrik Metzen Emmanuel Vander Poorten Robotics Innovation Center German Research Center for Artificial Intelligence Robert-Hooke-Str. 1 28359 Bremen Germany. yohannes.kassahun@dfki.de. Faculty 3 - Mathematics and Computer Science University of Bremen Robert-Hooke-Str. 1 28359 Bremen Germany. Centre for Medical Image Computing Department of Computer Science University College London London UK. Hamlyn Centre for Robotic Surgery Imperial College London London UK. Department of Mechanical Engineering University of Leuven Celestijnenlaan 300B 3001 Heverlee Belgium.

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Concept layout

SpringerBriefs in Applied Sciences and Technology

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SpringerBriefs in Applied sciences and Technology 2014年第9783319039572期18卷 63-84页

ISBN: (纸本)9783319015644

The chapter presents the design of the device actuators and sensors in terms of concept developing, dimensioning, testing and prototyping. Inspired by soft robotics concept, the design of actuators is based on the characteristics of dielectric elastomers and their relationship between voltage applied and material elongation. Smart material properties are exploited in the multiple layers actuator proposed, capable of performing both linear elongation and bending, by means of the application of different voltage levels to different layers. Calculations of the torques required by the hand actions and, consequently, the maximum stress are presented. Then, the choice of the material leads to the identification of the correct dimensioning of the system, in terms of voltage to be applied and thick of the actuator layers. In order to control the actuation according to the human will, sensors based on physiological signals are required. EMG and MMG based sensors are chosen, specifying the sensors number and positioning required for an effective human will identification. Pressure sensors, realized with dielectric elastomers, give the feedback of the system. Calculations relating voltage measured and pressure applied on the sensors are presented. Finally, the prototyping and testing phase is described, in which two mockup hands are realized for a proof of concept while EMG and MMG sensors are tested. Experimental setup and qualitative results are extensively described. © The Author(s) 2014.

关键词： Actuators

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Detecting abnormal mammographic cases in temporal studies using image registration features

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12th International Workshop on Breast Imaging, IWDM 2014

作者： Martí, Robert Díez, Yago Oliver, Arnau Tortajada, Meritxell Zwiggelaar, Reyer Lladó, Xavier Computer Vision and Robotics Group University of Girona Av. Lluís Santaló 17071 Spain Department of Computer Science Aberystwyth University Ceredigion SY23 3DB United Kingdom

ISBN: (纸本)9783319078861

Image registration is increasingly being used to help radiologists when comparing temporal mammograms for lesion detection and classification. This paper evaluates the use of image and deformation features extracted from image registration results in order to detect abnormal cases with masses. Using a dataset of 264 mammographic images from 66 patients (33 normals and 33 with masses) results show that the use of a non-rigid registration method clearly improves detection results compared to no registration (AUC: 0.76 compared to 0.69). Moreover, feature combination using left and right breasts further improves the performance (AUC to 0.88) compared to single image features. © 2014 Springer International Publishing.

关键词： Image registration

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Self-adaptive harris corner detector on heterogeneous many-core processor 8

Self-adaptive harris corner detector on heterogeneous many-c...

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2014 8th Conference on Design and Architectures for Signal and Image Processing, DASIP 2014

作者： Paul, Johny Stechele, Walter Sousa, Éricles Lari, Vahid Hannig, Frank Teich, Jürgen Kröhnert, Manfred Asfour, Tamim Institute for Integrated Systems Technical University of Munich Germany Department of Computer Science University of Erlangen-Nuremberg Germany Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Germany

ISBN: (纸本)9791092279054

The recent years have shown the emergence of heterogeneous system architecture (HSA), which offers massive computational power assembled into a compact design. computer vision applications with massive inherent parallelism highly benefits from such heterogeneous processors with on-chip CPU and GPU units. The highly parallel and compute intensive parts of the application program can be mapped to the GPU while the control flow and high level tasks may run on the CPU. However, they pose considerable challenge to software development due to their hybrid architecture. Sharing of resources (GPU or CPU) among applications running concurrently, leads to variations in processing interval and prolonged processing intervals leads to low quality results (frame drops) for computer vision algorithms. In this work, we propose resource-awareness and self organisation within the application layer to adapt to available resources on the heterogeneous processor. The benefits of the new model is demonstrated using a widely used computer vision algorithm called Harris corner detector. A resource-aware runtime-system and a heterogeneous processor were used for evaluation and the results indicate a well constrained processing interval and reduced frame-drops. Our evaluations demonstrate up to 20% improvements in processing rate and accuracy of the detected corner points for Harris corner detection. © 2014 European Electronic Chips & Systems design Initiative - ECSI.

关键词： Graphics processing unit

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Opponent-Driven Planning and Execution for Pass, Attack, and Defense in a Multi-Robot Soccer Team 14

Opponent-Driven Planning and Execution for Pass, Attack, and...

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International Conference on Autonomous Agents and Multiagent Systems

作者： Joydeep Biswas Juan P. Mendoza Danny Zhu Benjamin Choi Steven Klee Manuela Veloso Robotics Institute and Computer Science Department Carnegie Mellon University

ISBN: (纸本)9781634391313

We present our Small Size League (SSL) robot soccer team, CMDragons, which performed strongly at the RoboCup'13 competition, placing second out of twenty teams after a prolonged final match ending in penalty shoot-outs. We briefly present the robots' hardware and individual skills, and then focus on our multi-robot passing, attack, and defense planning and execution in the challenging SSL adversarial multi-robot environment. We introduce a pass-ahead behavior, as well as a new dynamic two-stage planner, Coerce and Attack, which explicitly considers opponent defense to hypothetical attack patterns. The Coerce stage generates a coerce attack formation to coerce the opponent robots into leaving strategic openings. The Attack stage modifies the coerce attack pattern in a fluid manner to exploit openings in the defense using pass-ahead to attempt to score. We further present our threat-based defensive multi-robot algorithm, which identifies potential threats based on the opponent positioning and plans the defense accordingly. We present the performance of CMDragons at RoboCup'13 in terms of metrics that evaluate the effectiveness of the low-level skills as well as the high-level defense and offense.

关键词： Artificial Intelligence Robot Soccer Adversarial Domains Artificial Intelligence Legal Executions Security attack pattern Robot Footballs openings Secure Socket Layer (SSL)

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Improving the generation of rapidly exploring randomised trees (RRTs) in large scale virtual environments using trails

Improving the generation of rapidly exploring randomised tre...

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

作者： Samperi, Katrina Hawes, Nick Aston Institute for Systems Analytics Aston University Birmingham United Kingdom Intelligent Robotics Lab. School of Computer Science University of Birmingham Birmingham United Kingdom

ISBN: (纸本)9783319104003

Rapidly exploring randomised trees (RRTs) are a useful tool generating maps for use by agents to navigate. A disadvantage to using RRTs is the length of time required to generate the map. In large scale environments, or those with narrow corridors, the time needed to create the map can be prohibitive. This paper explores a new method for improving the generation of RRTs in large scale environments. We look at using trails as a new source of information for the agent's map building process. Trails are a set of observations of how other agents, human or AI, have navigated an environment. We evaluate RRT performance in two types of virtual environment, the first generated to cover a variety of scenarios an agent may face when building maps, the second is a set of 'real' virtual environments based in Second Life. By including trails we can improve the RRT generation step in most environments, allowing the RRT to be used to successfully plan routes using fewer points and reducing the length of the overall route. © 2014 Springer International Publishing.

关键词： Virtual reality

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Building 3D mosaics from an Autonomous Underwater Vehicle, Doppler velocity log, and 2D imaging sonar

Building 3D mosaics from an Autonomous Underwater Vehicle, D...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Paul Ozog Giancarlo Troni Michael Kaess Ryan M. Eustice Matthew Johnson-Roberson Department of Electrical Engineering & Computer Science University of Michigan Ann Arbor MI USA Monterey Bay Aquarium Research Institute Moss Landing CA USA Robotics Institute Carnegie Mellon University Pittsburgh PA USA Department of Naval Architecture & Marine Engineering University of Michigan Ann Arbor MI USA

This paper reports on a 3D photomosaicing pipeline using data collected from an autonomous underwater vehicle performing simultaneous localization and mapping (SLAM). The pipeline projects and blends 2D imaging sonar data onto a large-scale 3D mesh that is either given a priori or derived from SLAM. Compared to other methods that generate a 2D-only mosaic, our approach produces 3D models that are more structurally representative of the environment being surveyed. Additionally, our system leverages recent work in underwater SLAM using sparse point clouds derived from Doppler velocity log range returns to relax the need for a prior model. We show that the method produces reasonably accurate surface reconstruction and blending consistency, with and without the use of a prior mesh. We experimentally evaluate our approach with a Hovering Autonomous Underwater Vehicle (HAUV) performing inspection of a large underwater ship hull.

关键词： Three-dimensional displays Sonar Simultaneous localization and mapping Cameras Solid modeling Design automation

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