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Corrigendum to “Vision-based active safety system for automatic stopping” [Expert Systems with Applications 39/12 (2012) 11234–11242]

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Expert Systems with Applications 2013年第17期40卷 6714-6714页

作者： Vicente Milanés David F. Llorca Jorge Villagrá Joshue Pérez Ignacio Parra Carlos González Miguel A. Sotelo AUTOPIA Program Centre for Automation and Robotics 28500 Madrid Spain Computer Engineering Department Polytechnic School University of Alcalá Alcalá de Henares Madrid Spain

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Towards AER VITE: Building spike gate signal

Towards AER VITE: Building spike gate signal

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2012 19th IEEE International Conference on Electronics, Circuits, and Systems, ICECS 2012

作者： Perez-Pena, Fernando Morgado-Estevez, Arturo Rioja-Del-Rio, Carlos Linares-Barranco, Alejandro Jimenez-Fernandez, Angel Lopez-Coronado, Juan Munoz-Lozano, Jose Luis Applied Robotics Lab High School of Engineering University of Cadiz Spain Automatic and System Engineering Department University Polytechnics of Cartagena Spain Department of Computer Architecture and Technology ETSI Computer Science University of Seville Spain

ISBN: (纸本)9781467312615

Neuromorphic engineers aim to mimic the precise and efficient mechanisms of the nervous system to process information using spikes from sensors to actuators. There are many available works that sense and process information in a spike-based way. But there are still several gaps in the actuation and motor control field in a spike-based way. Spike-based Proportional-Integrative- Derivative controllers (PID) are present in the literature. On the other hand, neuro-inspired control models as VITE (Vector Integration To End point) and FLETE (Factorization of muscle Length and muscle Tension) are also present in the literature. This paper presents another step toward the spike implementation of those neuro-inspired models. We present a spike-based ramp multiplier. VITE algorithm generates the way to achieve a final position targeted by a mobile robotic arm. The block presented is used as a gate for the way involved and it also puts the incoming movement on speed with a variable slope profile. Only spikes for information representation were used and the process is in real time. The software simulation based on Simulink and Xilinx System Generator shows the accurate adjust to the traditional processing for short time periods and the hardware tests confirm and extend the previous simulated results for any time. We have implemented the spikes generator, the ramp multiplier and the low pass filter into the Virtex-5 FPGA and connected this with an USB-AER (Address Event Representation) board to monitor the spikes. © 2012 IEEE.

关键词： Muscle

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Balancing and posture controls for biped robots with unmodelled dynamics

Balancing and posture controls for biped robots with unmodel...

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5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Li, Zhijun Ge, Shuzhi Sam Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore

ISBN: (纸本)9783642335082

This paper presents a structure of robust adaptive control for biped robots which includes balancing and posture control for regulating the center of mass position and trunk orientation of bipedal robots in a compliant way. First, the biped robot is decoupled into the dynamics of center of mass (COM) and the trunks. Then, the adaptive robust controls are constructed in the presence of parametric and functional dynamics uncertainties. The control computes a desired ground reaction force required to stabilize the posture with unknown dynamics of COM and then transforms these forces into full-body joint torques even if the external disturbances exist. The verification of the proposed control is conducted using the extensive simulations. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Dynamics

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Motion synchronization for human-robot collaboration 1

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4th International Conference on Social robotics, ICSR 2012

作者： Ge, Shuzhi Sam Li, Yanan Interactive Digital Media Institute 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 NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore

ISBN: (数字)9783642341038

ISBN: (纸本)9783642341021

In this paper, motion synchronization is investigated for human-robot collaboration, such that the motions of the robot and its human partner are synchronized and the robot is able to "actively" follow its human partner. Force tracking is achieved with the proposed method under the impedance control framework, subject to uncertain human limb dynamics. Adaptive control is developed to deal with point-to-point movement, and learning control is developed to generate a periodic trajectory. The proposed method is verified through simulation studies. © 2012 Springer-Verlag.

关键词： Synchronization

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Human-robot handshaking: A hybrid deliberate/reactive model 1

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4th International Conference on Social robotics, ICSR 2012

作者： Zeng, Yingzi Li, Yanan Xu, Pengxuan Ge, Shuzhi Sam Interactive Digital Media Institute Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (数字)9783642341038

ISBN: (纸本)9783642341021

In this paper, we propose a hybrid deliberate/reactive model to achieve natural handshaking between human beings and robots. Our goal is to provide a perspective to achieve natural human-robot handshaking in addition to time/frequency based trajectory control. The proposed model consists of two parts. The reactive part is designed to enable the robot to follow the handshaking motion led by the human being, while the deliberate part is dedicated to embed a unique handshaking character into the robot. The validity of the proposed model is examined by comparing the trajectory and interaction force during the human-human and human-robot handshaking, respectively. © 2012 Springer-Verlag.

关键词： Human robot interaction

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Modified SOM based intelligent semi-autonomous navigation system

Modified SOM based intelligent semi-autonomous navigation sy...

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2012 9th International Conference on High Capacity Optical Networks and Enabling Technologies, HONET 2012

作者： Ul Hassan, Shabih Ahmed, Bilal Shaukat, Bilal Paracha, Habib Ur Rehman Malik, Usman Qaiser, Saad Anwar, Nabeel Ayaz, Yasar Department of Electrical Engineering School of Electrical Engineering and Computer Science National University of Science and Technology Sector H-12 Islamabad 44000 Pakistan Department of Robotics and Artificial Intelligence School of Mechanical and Manufacturing Engineering National University of Science and Technology Sector H-12 Islamabad 44000 Pakistan Biomedical Engineering Department School of Mechanical and Manufacturing Engineering National University of Science and Technology Sector H-12 Islamabad 44000 Pakistan

ISBN: (纸本)9781467315722

The fundamental problem in today's world when robots are becoming a part of daily routine is getting them to move from one desired place to another without any problem and collision. In doing so a robot needs to perceive its environment to efficiently navigate through it. The navigation is possible only if the robot differentiates between different scenarios around it in real time. In this paper we present a semi-autonomous navigation strategy designed for low throughput interfaces. The task is to minimize the user input by intelligently interpreting and executing the commands. Analyzing the environment in real time, the robot selects the most probable action using collision free steering techniques which employ the Self Organizing Map in cooperation with Artificial Potential Field, in which both the user and an intelligent robot co-exist. The performance of the proposed navigation algorithm is confirmed with computer simulations and experiments using the Pioneer 3-AT mobile robot. © 2012 IEEE.

关键词： Collision avoidance

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Modeling and Control Design for a Multi-cable Mooring System

Modeling and Control Design for a Multi-cable Mooring System

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第三十一届中国控制会议

作者： Shuzhi Sam Ge Robotics Institute School of Computer Science and EngineeringUniversity of Electronic Science and Technology of China

In this paper,modeling and control are investigated for a multi-cable mooring *** mathematical model of the system is described as partial differential equations(PDEs) via the Hamilton's *** is designed at the top boundary of the mooring lines based on the Lyapunov's direct method to suppress the vessel's *** control is developed to handle the system parametric *** the proposed boundary control,uniform boundedness of the system is achieved. Simulations are carried out to verify the effectiveness of the proposed control.

关键词： Boundary Control Distributed Parameter System Adaptive Control Flexible system

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Impedance control of a rehabilitation robot for interactive training 1

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4th International Conference on Social robotics, ICSR 2012

作者： He, Wei Ge, Shuzhi Sam Li, Yanan Chew, Effie Ng, Yee Sien Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Social Robotics Lab. Interactive Digital Media Institute National University of Singapore Singapore 119613 Singapore Division of Neurology National University Hospital Singapore 119074 Singapore Department of Rehabilitation Medicine Singapore General Hospital Singapore 169608 Singapore

ISBN: (数字)9783642341038

ISBN: (纸本)9783642341021

In this paper, neural networks based impedance control is developed for a wearable rehabilitation robot in interactions with humans and the environments. The dynamics of the robot are represented by an n-link rigid robotic manipulator. To deal with the system uncertainties and improve the robustness of the system, the adaptive neural networks are used to approximate the unknown model of the constrained robot. With the proposed control, uniform ultimate boundedness of the closed loop system is achieved based on the Lyapunov method. The states of the system converge to a small neighborhood of zero by properly choosing control gains. Extensive simulations are conducted to verify the proposed control. © 2012 Springer-Verlag.

关键词： Lyapunov methods

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Energy Efficient Election Protocol for Wireless Sensor Networks

Energy Efficient Election Protocol for Wireless Sensor Netwo...

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International Conference on Circuits, Power and Computing Technologies

作者： P. Udayakumar Ranjana Vyas O.P. Vyas Department of Computer Science CCEM Raipur Chhattisgarh State India School of IT MATS University Raipur Chhattisgarh State India Professor Program Coordinator (Software Engineering) IIIT-Allahabad (UP) India

ISBN: (纸本)9781467349215

Wireless a sensor network, which typically consist of large number of sensor nodes, is deployed in environmental fields for sensing and actuating applications. The protocols in WSNs play an important role in energy savings and the performance of WSNs could be improved by designing suitable MAC protocols. Energy efficiency is one of the important research themes while designing wireless sensor network nodes as WSNs are battery powered. MAC protocols are also used to minimize latency and maximize throughput in wireless sensor networks. Observably there are many MAC protocols available nowadays for WSNs but the actual objective is minimizing the energy consumption so that the lifetime is maximized. This paper is aimed at to summarize the key requirements for MAC protocol design and we have proposed a new protocol: Energy Efficient Election protocol (EEE-MAC) for WSNs. Our protocol is based on cluster based election algorithm and it can be implemented with any existing protocols. We have compared our proposed protocol with the existing contention-based S-MAC and T-MAC protocols. The simulation results show that our protocol has achieved better energy saving than the other three protocols.

关键词： EEE-MAC OMNeT++ S-MAC energy-efficient wireless sensor

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A multiple feature fusion model for image segmentation based on hierarchical visual pathway

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Advances in Information sciences and Service sciences 2012年第8期4卷 274-282页

作者： Hu, Dekun Li, Jianping Yang, Simon X. Gregori, Stefano School of Computer Science and Engineering University of Electronic Science and Technology of China China Advanced Robotics and Intelligent Systems Lab School of Engineering University of Guelph Canada

To segment an object from its background in an image for advanced vision processing, this paper presents a novel bio-inspired general framework for image segmentation in complex nature scenes, which is a hierarchical system that mimics the organization of layered early visual area in primate visual cortex. The proposed methodology consists of two typical stages: the first stage is a parallel modular structure including three segmenting operators based on color feature, form feature and texture feature, each of which solves the segmentation problem independently for the same input. Then, a fusion operation, multiple feature fusion segmentation (MFFS), integrates these three feature segmentations together through the backpropagation neuron network (BPNN) in the last stage, which simulates the operation of area following the lateral geniculate nucleus in primary visual cortex. The proposed approach is applied to several segmentation experiments of many single objects in clustering conditions, the result shows that the approach is capable of competing with state-of-the-art systems.

关键词： Neural networks

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