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作者： He, Wei Ge, Shuzhi Sam Zhang, Shuang Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Centre for Offshore Research and 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 611813 China

In this paper, boundary control of a marine installation system is developed to position the subsea payload to the desired set-point and suppress the cable's vibration. Using Hamilton's principle, the flexible cable coupled with vessel and payload dynamics is described as a distributed parameter system with one partial differential equation (PDE) and two ordinary differential equations (ODEs). Adaptive boundary control is proposed at the top and bottom boundaries of the cable, based on Lyapunov's direct method. Considering the system parametric uncertainty, the boundary control schemes developed achieve uniform boundedness of the steady state error between the boundary payload and the desired position. The control performance of the closed-loop system is guaranteed by suitably choosing the design parameters. Simulations are provided to illustrate the applicability and effectiveness of the proposed control. © 2011 Elsevier Ltd. All rights reserved.

关键词： Partial differential equations

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Effective Falls Detection Method using Two Tri-axial Accelerometers

Effective Falls Detection Method using Two Tri-axial Acceler...

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2012 International Conference on Biomaterial and Bioengineering(ICBB 2012)

作者： Gye-Rok Jeon Young-Jae Kim Ah-Young Jeon Sang-hoon Lee Jae-hyung Kim Min-Seok Kim Seong-Ho Lee Ji-Hyun Kim Dept.of Biomedical Engineering School of MedicinePusan National Univ. Dept.of Anesthesia and Pain Medicine Busan Paik Hospital College of Medicine Inje University Dept.of Interdisciplinary Program in Biomedical Engineering Graduated School Pusan National University Dept.of Computer Simulation Inje Univ. Dept.of Honours Specialization in Medical Science University of Western Ontario Dept.of Anesthesiology Samsung Changwon Hospital School of MedicineSungkyun Kwan Univ. Dept.of Anesthesia and Pain Medicine School of MedicinePusan Natl.Univ.

Falls detection systems have been developed in recent years because falls are detrimental events that can have a devastating effect on health of the elderly population. Current fall detecting methods mainly employ accelerometer to discriminate falls from activities of daily living（ADL）. However, this makes it difficult to distinguish real falls from certain fall-like activities such as jogging and jumping. In this paper, an accurate fall detection system was implemented using two tri-axial accelerometers. By attaching the accelerometers on the chest and the abdomen, our system can effectively differentiate between falls and non-fall *** Diff and Sumiff parameter resulted in falls detection rate of 100%, respectively.

关键词： Falls Accelerometer Activity of daily living DiffZ Sum diffZ

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Minimum maximum-degree publish-subscribe overlay network design

Minimum maximum-degree publish-subscribe overlay network des...

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作者： Onus, Melih Richa, Andréa W. Department of Computer Engineering Bilkent University Ankara 06560 Turkey Computer Science and Engineering Program School of Computing Informatics and Decision Systems Engineering Arizona State University Tempe AZ 85281 United States

Designing an overlay network for publish/subscribe communication in a system where nodes may subscribe to many different topics of interest is of fundamental importance. For scalability and efficiency, it is important to keep the degree of the nodes in the publish/subscribe system low. It is only natural then to formalize the following problem: Given a collection of nodes and their topic subscriptions, connect the nodes into a graph that has least possible maximum degree in such a way that for each topic t, the graph induced by the nodes interested in t is connected. We present the first polynomial-time logarithmic approximation algorithm for this problem and prove an almost tight lower bound on the approximation ratio. Our experimental results show that our algorithm drastically improves the maximum degree of publish/subscribe overlay systems. We also propose a variation of the problem by enforcing that each topic-connected overlay network be of constant diameter while keeping the average degree low. We present three heuristics for this problem that guarantee that each topic-connected overlay network will be of diameter 2 and that aim at keeping the overall average node degree low. Our experimental results validate our algorithms, showing that our algorithms are able to achieve very low diameter without increasing the average degree by much. © 2011 IEEE.

关键词： Overlay networks

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Report on the AAAI 2010 robot exhibition

Report on the AAAI 2010 robot exhibition

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作者： Anderson, Monica D. Chernova, Sonia Dodds, Zachary Thomaz, Andrea L. Touretzky, David S. Computer Science Department University of Alabama United States Robotics Engineering Program Worcester Polytechnic Institute United States Department of Computer Science Harvey Mudd College United States School of Interactive Computing Georgia Institute of Technology United States Center for the Neural Basis of Cognition Carnegie Mellon University United States

The 19th robotics program at the annual AAAI conference was held in Atlanta, Georgia, in July 2010. In this article we give a summary of three components of the exhibition: the Small-Scale Manipulation Challenge: Robotic Chess;the Learning by Demonstration Challenge;and the Education Track. In each section we detail the challenge task. We also describe the participating teams, highlight the research questions they tackled, and briefly describe the systems they demonstrated. Copyright © 2011, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Exhibitions

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Estimating the minimum number of robots to finish given multi-objects task

Estimating the minimum number of robots to finish given mult...

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2011 IEEE 5th International Conference on Cybernetics and Intelligent Systems, CIS 2011

作者： Guo, Ji Gao, Bo Cui, Rongxin Ge, Shuzhi Sam College of Physics and Electrical Engineering Anyang Normal University China College of Marine Engineering Northwestern Polytechnical University Xi'an 710072 China Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781612841984

In this paper, we propose a method that could solve the problem of estimating the minimum number of robots to finish the given multi-objects task. The criterion of estimating the robots includes the time consumption of motion on the trajectory and the work on the multi-objects. Our proposed method builds the roadmap to compute the cost of motion between objects and then builds the network with the motion and work cost. To satisfy the specified efficiency, the optimization algorithm of network is used to compute the minimum number of robots which can finish the task. An implementation example is presented and possible further research directions are presented as well. © 2011 IEEE.

关键词： Efficiency

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System design and hardware integration of social robot Nancy

System design and hardware integration of social robot Nancy

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2011 IEEE/SICE International Symposium on System Integration, SII 2011

作者： Ge, Shuzhi Sam Liew, Chun Fui Li, Yanan Yang, Jiaqiang 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 Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119613 Singapore College of Electrical Engineering Zhejiang University Hangzhou 310027 China

ISBN: (纸本)9781457715235

This paper gives insight into the system design and hardware architecture of Nancy, which is a social robot in humanoid form that is currently being developed in Social robotics Lab (SRL), Interactive and Digital Media Institute, National University of Singapore. In contrast to industrial robots, the design of Nancy focuses on safety issue, social interaction and attractive appearance. In order to achieve these objectives, Nancy is designed to be user-friendly and approachable. The mechanical structure of Nancy is presented in the beginning. After that, the hardware architecture which includes processor system, vision system, audio system, communication system, power system, and motion system, is described systematically. Finally, the roles of integrated sensors are described and implemented works are summarized. © 2011 IEEE.

关键词： Digital storage

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Q&A

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Design Management Review 2014年第3期25卷

作者： John Maeda Steven Heller Tim Hoover Has been a design partner at Kleiner Perkins Caufield & Byers since January 2014 helping entrepreneurs and portfolio companies to build design into their company cultures. He served as the president of Rhode Island School of Design for six years through 2013 and also served as an associate director of research at the MIT Media Lab. Maeda has been a practicing designer since 1990 and his work is in the permanent collections of the Museum of Modern Art San Francisco Museum of Modern Art and the Cartier Foundation. He serves on the boards of several corporations including Sonos and Wieden + Kennedy and is chair of eBay's Design Advisory Board. His four published books include The Laws of Simplicity and Redesigning Leadership. Maeda is the recipient of a variety of international awards for his creative work including induction into the Art Director's Club Hall of Fame. In 2001 he received the White House National Design Award in 2002 he received the Mainichi Design Prize in Japan and in 2005 he was awarded the Raymond Loewy Foundation Prize in Germany. Maeda earned a BS and an MS from MIT in computer science and electrical engineering. He received a PhD in design science from the University of Tsukuba Institute of Art and Design in Japan as well as an MBA from Arizona State University. Co‐chair and co‐founder of the MFA Designer as Author and Entrepreneur program at the School of Visual Arts in New York. He was the art director of The New York Times Book Review and now writes the VISUALS column for the NYTBR. He also writes “The Daily Heller” at *** a weekly online design column for Atlantic magazine. He is author co‐author and editor of more than 165 books on the history and practice of graphic design illustration and satiric art. His forthcoming books include 100 Classic Graphic Design Magazines (Laurence King Publishers) and Raw Data: The Process Behind Information Graphics (Thames + Hudson). Heller was the 2011 recipient of the Smithsonian National Design Award for Design Mind. He has also writ

John Maeda is a past president of Rhode Island school of Design and an internationally known designer. He's now involved in helping entrepreneurs build design into their company cultures. Writer and educator Steven Heller pairs up with Tim Hoover, head of product and design at Canary, to talk about designer CEOs, start‐ups, and cutting out the middleman.

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Trajectory planning and control for multiple-vehicles systems

Trajectory planning and control for multiple-vehicles system...

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2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011

作者： Pamosoaji, Anugrah K. Hong, Keum-Shik Ge, Shuzhi Sam School of Mechanical Engineering Pusan National University Busan 609-735 Korea Republic of Department of Cogno-Mechatronics Engineering Pusan National University Busan 609-735 Korea Republic of Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611813 China Department of Electrical and Computer Engineering National University of Singapore 117576 Singapore Singapore

ISBN: (纸本)9781457707223

Algorithms for trajectory planning and control for a multiple-vehicles system are investigated. An issue of designing collision-free trajectories on a group of crossing paths is tackled. The trajectories are modeled as a set of via-points coupled with their associated achieving time. Furthermore, a tracking controller design dealing with actuators constraints and all via points' achieve times is proposed. By applying the controller, each vehicle is guaranteed to get closer to the desired via-points without any obstacle-avoidance motions. Simulation results showing the generated trajectories and tracking performance is presented. © 2011 IEEE.

关键词： Trajectories

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Design of interval type-2 fuzzy logic controllers for flocking algorithm

Design of interval type-2 fuzzy logic controllers for flocki...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Seung-Mok Lee Jong-Hwan Kim Hyun Myung Department of Civil and Environmental Engineering Robotics Program KAIST Daejeon South Korea Department of Electrical Engineering and Computer Science Robotics Program KAIST Daejeon South Korea

This paper presents a novel interval type-2 fuzzy logic control architecture for flocking system when the system has noisy sensor measurements. The traditional type-1 fuzzy logic controller (FLC) using precise type-1 fuzzy sets cannot fully model and handle the uncertainties of sensor data. However, type-2 FLC using type-2 fuzzy sets with a footprint of uncertainty (FOU) produces better performances under noisy environments. In this paper, therefore, we present a reactive control architecture for flocking algorithm that is based on interval type 2 FLC to implement the flocking behaviors consisting separation, obstacle avoidance, and velocity matching behaviors. The type-2 based control system could cope with the uncertainties of noisy sensor measurements and resulted in good performances that outperformed the type-1 FLC.

关键词： Collision avoidance Robot sensing systems Trajectory Fuzzy sets Fuzzy logic Noise measurement

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Mechanical design of social robot Nancy

Mechanical design of social robot Nancy

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2011 IEEE/SICE International Symposium on System Integration, SII 2011

作者： Ge, S.S. Safizadeh, M.R. Li, Y. Social Robotics Lab. Interactive Digital Media Institute National University of Singapore Singapore 117576 Singapore 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 Social Robotics Lab. Interactive Digital Media Institute National University of Singapore Singapore 119613 Singapore NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9781457715235

This paper presents the mechanical design of a social robot, Nancy, developed by Social robotics Laboratory, Interactive and Digital Media Institute, National University of Singapore. The objective of our project is to introduce the social robot which is capable to interact with people, especially the elderly, based on fundamental, functional and social tasks. We developed Nancy with multi-module structure and 32 degrees of freedom (DOFs), including 24 and 8 DOFs in upper-body and lower-body, respectively. 8 DOFs are considered in each arm to make Nancy able to imitate human limbs' motion. Nancy's head involves eye and eyelid motions with 3 DOFs which is on top of a 2-DOFs neck. The wheeled-base is designed in such a way to facilitate the multi-directional movements for Nancy. One of our main objectives in Nancy's mechanical design is to obtain powerful and smooth motion, light-weight joints and simple kinematics. They are achieved by Bowden cable-pulley mechanism driven by actuators located in lower-body. Accordingly, all joints are designed to have intersected axes. Most joints are driven by brushless D.C. motors embedded with electrical brake system to stabilize the robot, especially in case of power loss. © 2011 IEEE.

关键词： Digital storage

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