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2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012

作者： Baser, Ozgur Konukseven, E. Ilhan Gurocak, Hakan Mechanical Engineering Department Middle East Technical University Universiteler Mah. Dumlupinar Blv. No:1 06800 Çankaya Ankara Turkey Robotics and Automation Laboratory Washington State University Vancouver WA United States School of Engineering and Computer Science Washington State University Vancouver WA 98686 United States

ISBN: (纸本)9781467346054

An ideal haptic device should transmit a wide range of stable virtual model impedances (Z-width) with high transparency. Magneto-rheological fluid (MR) brakes are advantageous in haptic devices since they are passive actuators. However, they cannot provide high transparency and smooth interaction due to high viscous friction, residual torque, slow response, sticking and hysteresis effects. On the other hand, active actuators cannot simulate high virtual impedances stably, but provide high transparency with a closed loop control algorithm. In the proposed hybrid actuation a task divider control (TDC) algorithm was developed for torque sharing between two actuators to provide a large Z-width and improve both transparency and smoothness. The algorithm employs two parameters which were estimated experimentally and extended to entire achievable impedance range by artificial neural network (ANN) and curve fitting techniques. A 1-DOF device having an excitation motor at the user side and brushless DC motor and MR-brake in the haptic side was used in the experiments. The excitation motor is used to generate a white noise torque input to simulate a user for frequency domain transparency tests. Results of the proposed and conventional closed loop impedance control (CLIC) algorithms were compared. The proposed algorithm improves the transparency of MR-brake by eliminating its drawbacks and presents a larger Z-width than the active actuator alone. © 2012 IEEE.

关键词： Hysteresis

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Conversational gaze mechanisms for humanlike robots

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ACM Transactions on Interactive Intelligent Systems 2012年第2期1卷 1–33页

作者： Mutlu, Bilge Kanda, Takayuki Forlizzi, Jodi Hodgins, Jessica Ishiguro, Hiroshi Department of Computer Sciences University of Wisconsin-Madison 1210W. Dayton St. Madison WI 53706 United States Intelligent Robotics and Communication Laboratories ATR 2-2-2 Hikaridai Soraku-gun Seika-cho Kyoto 619-0224 Japan Human-Computer Interaction Institute Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213 United States Robotics Institute Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213 United States Department of System Innovation Graduate School of Engineering Science Osaka University 1-3 Machikaneyama Toyonaka Osaka Japan

During conversations, speakers employ a number of verbal and nonverbal mechanisms to establish who participates in the conversation, when, and in what capacity. Gaze cues and mechanisms are particularly instrumental in establishing the participant roles of interlocutors, managing speaker turns, and signaling discourse structure. If humanlike robots are to have fluent conversations with people, they will need to use these gaze mechanisms effectively. The current work investigates people's use of key conversational gaze mechanisms, how they might be designed for and implemented in humanlike robots, and whether these signals effectively shape human-robot conversations. We focus particularly on whether humanlike gaze mechanisms might help robots signal different participant roles, manage turn-exchanges, and shape how interlocutors perceive the robot and the conversation. The evaluation of these mechanisms involved 36 trials of three-party human-robot conversations. In these trials, the robot used gaze mechanisms to signal to its conversational partners their roles either of two addressees, an addressee and a bystander, or an addressee and a nonparticipant. Results showed that participants conformed to these intended roles 97% of the time. Their conversational roles affected their rapport with the robot, feelings of groupness with their conversational partners, and attention to the task. © 2012 ACM.

关键词： Human robot interaction

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Towards AER VITE: building spike gate signal

Towards AER VITE: building spike gate signal

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IEEE International Conference on Electronics, Circuits and Systems

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

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.

关键词： spike spikes spikes Road gates Hardware Test Information representation Processing information ANION EXCHANGE RESIN Proportional Integral Derivative Control Activation Pelvic Inflammatory Disease RAMP Ramps Multiplying circuits

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On region-based fault tolerant design of distributed file storage in networks

On region-based fault tolerant design of distributed file st...

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IEEE Annual Joint Conference: INFOCOM, IEEE computer and Communications Societies

作者： Sujogya Banerjee Shahrzad Shirazipourazad Arunabha Sen Computer Science and Engineering Program School of Computing Informatics and Decision System Engineering Arizona State University Tempe AZ USA

ISBN: (纸本)9781467307734;9781467307758

Distributed storage of data files in different nodes of a network enhances the reliability of the data by offering protection against node failure. In the (N,K),N ≥ K file distribution scheme, from a file F of size |F|, N segments of size |F|/K are created in such a way that it is possible to reconstruct the entire file, just by accessing any K segments. For the reconstruction scheme to work it is essential that the K segments of the file are stored in nodes that are connected in the network. However in case of node failures the network might become disconnected (i.e., split into several connected components). We focus on node failures that are spatially-correlated or region-based. Such failures are often encountered in disaster situations or natural calamities where only the nodes in the disaster zone are affected. The goal of this research is to devise a file segment distribution scheme so that, even if the network becomes disconnected due to any region fault, at least one of the largest connected components will have at least K distinct file segments with which to reconstruct the entire file. The distribution scheme will also ensure that the total storage requirement is minimized. We provide an optimal solution through Integer Linear programming and an approximation solution with a guaranteed performance bound of O(ln n) to solve the problem for any arbitrary network. The performance of the approximation algorithm is evaluated by simulation on two real networks.

关键词： Image color analysis Color Approximation algorithms Robustness Approximation methods Layout Encoding

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Modified RELT for Display and Navigation of Large Hierarchy on Handheld Touch-Screen Devices

Modified RELT for Display and Navigation of Large Hierarchy ...

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International Conference on computer and Information science (ACIS)

作者： Abhishek Chhetri Kang Zhang Computer Engineering Program University of Texas Dallas USA Department of Computer Science University of Texas Dallas USA School of Software Engineering Tianjin University China

Visualizing and exploring a hierarchical structure on a smartphone screen is challenging. On larger screens of PCs and laptops these types of structures are often shown in a tabular view. Due to the width restriction, tabular view is not feasible on smaller screens. This paper presents a visualization technique that displays multiple levels of a hierarchical structure on a single view for small screens and allows users to explore the structure rapidly through touch input. The visualization technique makes full use of the available space and distributes the space fairly among nodes. The system allows selection and display of relevant information based on user query or user habit, while hiding less important items from the view.

关键词： Visualization Layout Vegetation Navigation Shape Androids Humanoid robots

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Adaptive Control for Robot Manipulators Under Ellipsoidal Task Space Constraints

Adaptive Control for Robot Manipulators Under Ellipsoidal Ta...

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IEEE/RSJ International Conference on Intelligent robotics and Systems

作者： Keng Peng Tee Shuzhi Sam Ge Rui Yan Haizhou Li Institute for Infocomm Research A*STAR Singapore 138632 Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 and also with the The Robotics Institute and School of Computer Science and Engineering University of Electronic Science and Technology of China Chen

ISBN: (纸本)9781467317375

Motivated by applications in robot-assisted physical rehabilitation, this paper presents an adaptive control design for robot manipulators operating in an ellipsoidal constrained region. The ellipsoidal constraint problem is more challenging than the box constraint problem tackled in previous works, since the nonlinear constraint boundary cannot be handled in a decoupled manner along the dimensions of the task space. We introduce a novel Barrier Lyapunov Function (BLF) which contains a quotient of the squared norm of the tracking error over the ellipsoidal task space constraint. This function allows the task space constraint to be handled directly without requiring an intermediate mapping to the error space. We show that, under the proposed BLF-based adaptive control, the end-effector always remains in the constrained region despite the perturbing effects of online parameter adaptation and also the presence of bounded external disturbances. A simulation example illustrates the performance of the proposed control.

关键词： BLF perturbing proposed control Task space Robot Manipulator adaptive control Constraint

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Modified SOM based intelligent semi-autonomous navigation system

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

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Seminar on Neural Network Applications in Electrical engineering

作者： Shabih Ul Hassan Bilal Ahmed Bilal Shaukat Habib ur Rehman Paracha Usman Malik Saad Qaiser Nabeel Anwar Yasar Ayaz Department of Electrical Engineering School of Electrical Engineering and Computer Science National University of Science and Technology Islamabad Pakistan Department of Robotics and Artificial Intelligence School of Mechanincal and Manufacturing Engineering National University of Science and Technology Islamabad Pakistan Biomedical Engineering Department School of Mechanincal and Manufacturing Engineering National University of Science and Technology Islamabad Pakistan

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.

关键词： Mobile robots Navigation Vectors Arrays Artificial intelligence Path planning

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Compensation of unknown input dead zone using equivalent-input-disturbance approach

Compensation of unknown input dead zone using equivalent-inp...

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9th International Conference on Informatics in Control, Automation and robotics, ICINCO 2012

作者： Ouyang, Liyu She, Jinhua Wu, Min Hashimoto, Hiroshi School of Information Science and Engineering Central South University Changsha 410083 China Hunan Engineering Laboratory for Advanced Control and Intelligent Automation Changsha 410083 China School of Computer Science Tokyo University of Technology Hachioji Tokyo 192-0982 Japan Master Program of Innovation for Design and Eng. Advanced Inst. of Industrial Tech. Shinagawa Tokyo 140-0011 Japan

ISBN: (纸本)9789898565211

This paper considers the problem of the compensation of an unknown dead zone in the input of a plant. A new compensation method is presented based on the estimation of an equivalent input disturbance (EID). Unlike other methods, this method does not require the exact information of a dead zone. First, we consider the dead zone as an input-dependent disturbance and employ an EID estimator to estimate it. Then, we incorporate the estimate in the control input and compensate the effect of the dead zone almost completely. Simulation results demonstrate the validity of the method. Copyright © 2012 SciTePress.

关键词： Dead zones

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Efficient Speaker Verification System Based on Heart Sound and Speech

Efficient Speaker Verification System Based on Heart Sound a...

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International Conference on Latest Computational Technologies(ICLCT’2012);International Conference on Biotechnology,Nanotechnology and its applications(ICBNA’2012);International Conference on Mechanical, Electronics and Mechatronics engineering(ICMEME’2012);International Conference on Humanities,Economics and Geography(ICHEG’2012);International Conference on Chemical,Ecology and Environmental sciences(ICEES’2012);International Conference on Medical,Biological and Pharmaceutical sciences(ICMBPS’2012)

作者： Osama. Alhamdani Ali. Chikma Jamal .Dargham Sh-Hussain. Salleh Fuad.Numan Alias.Noor Computer Engineering Program School of Engineering and Information TechnologyUniversity Malaysia Center For Biomedical Engineering Faculty of Biomedical and Health Science EngineeringUniversiti Teknologi Malaysia

This paper proposed an integration of heart sound and speech for biometrics application .The method the method selects the best fusion and normalization techniques for biometric system. The framework is developed and test the verification task. The approach in this paper is biometrics recognition, for example, providing features that can't be easily copied, such as the Mel-Frequency Cepstral Coefficient (MFCC) as a feature vector and vector quantization (VQ) as the matching model algorithm .A simple yet highly reliable method is introduced for biometric applications. Experimental results show that the recognition rate of the Heart sound-speaker verification (HS-SV) provides an average EER of 17.8% while the average EER for the speech speaker verification model (S-SV) is 3.39%. In order to reach a higher security level an alternative to the above approach, which is based on multimodal and a fusion technique, is implemented into the system. The best performance of the work is based on simple-sum score fusion with a pricewise-linear normalization technique which provides an EER of 0.69% while the fusion type Main Rule provide an EER of 1.1%.

关键词： Fusion, Speaker Verification, Vector Quantization.

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A real-time motion planner with trajectory optimization for autonomous vehicles

A real-time motion planner with trajectory optimization for ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Wenda Xu Junqing Wei John M. Dolan Huijing Zhao Hongbin Zha School of Electronics Engineering and Computer Science Peking University Beijing China Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Robotics Institute Carnegie Mellon University Pittsburgh PA USA

In this paper, an efficient real-time autonomous driving motion planner with trajectory optimization is proposed. The planner first discretizes the plan space and searches for the best trajectory based on a set of cost functions. Then an iterative optimization is applied to both the path and speed of the resultant trajectory. The post-optimization is of low computational complexity and is able to converge to a higher-quality solution within a few iterations. Compared with the planner without optimization, this framework can reduce the planning time by 52% and improve the trajectory quality. The proposed motion planner is implemented and tested both in simulation and on a real autonomous vehicle in three different scenarios. Experiments show that the planner outputs high-quality trajectories and performs intelligent driving behaviors.

关键词： Trajectory Optimization Vehicles Polynomials Planning Acceleration Roads

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