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The first five percent of neural contrast spikes from a visual scene robustly computes the gravity vector

BMC Neuroscience 2010年第1期11卷 1-2页

作者： John R Goulding Robotics and Neural Systems Laboratory. Electrical and Computer Engineering University of Arizona Tucson AZ 85719 USA

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Assessment of human response to robot facial expressions through visual evoked potentials

Assessment of human response to robot facial expressions thr...

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2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010

作者： Craig, Richard Vaidyanathan, Ravi James, Christopher Melhuish, Chris Bristol Robotics Laboratory Department of Mechanical Engineering University of Bristol Bristol BS8 1TR United Kingdom Department of Systems Engineering US Naval Postgraduate School Monterey CA United States Digital Medicine Laboratory University of Warwick Warwick United Kingdom

ISBN: (纸本)9781424486885

The focus of this work is to investigate and quantify the ability of a humanoid 'hybrid face' robot to effectively convey emotion to a human observer by mapping their physiological (EEG) response to perceived emotional information. Specifically, we examine the event related response during two implicit emotion recognition experiments to determine the modulation of the face-specific N170 brain response component to robot facial expressions. EEG recordings were taken from a range of test subjects observing the BERT2 robot cycle through a range of facial emotions in each emotion recognition experiment. Results from both experiments demonstrate that the stimuli evoke the N170 component and that digital facial expressions with high correlations can be discriminated. Emotional expressions evoke a larger response relative to neutral stimuli, with negative evoking an increased amplitude and latency to positive emotions, and demonstrate that the response to robot facial expressions evoke similar brain activity to that of a human emotions. This study is the first of its nature to investigate and quantify the human physiological response to digital facial expressions as conveyed in real-time by a humanoid robot. ©2010 IEEE.

关键词： Emotion Recognition

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Biologically-inspired image-based sensor fusion approach to compensate gyro sensor drift in mobile robot systems that balance

Biologically-inspired image-based sensor fusion approach to ...

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International Conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

作者： John R. Goulding Electrical and computer engineering Robotics and Neural Systems Laboratory University of Arizona Tucson Tucson AZ USA

Current approaches to determine the orientation and maintain balance of mobile robots typically rely on gyro and tilt sensor data. This paper presents an image-based sensor fusion approach using sensed data from a MEMS gyro and a digital image processing system. The approach relies on the statistical property of man-made or cultural environments to exhibit predominately more horizontal and vertical edges than oblique edges. The gyro data and statistical image data is Kalman filtered to estimate the roll angle. The system was tested both indoors and outdoors at the University of Arizona campus, and it demonstrated continuous roll angle drift correction, without prior knowledge of or training on the environment. The algorithm was then implemented in a biped walking robot to demonstrate the real-time, end-to-end proof of concept.

关键词： Micromechanical devices Kalman filters Machine vision Robot sensing systems Cameras Cultural differences

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Chidori – a bio-inspired cognitive architecture for collective robotics applications

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IFAC Proceedings Volumes 2010年第22期43卷 40-45页

作者： Cristian Vasile Ana Pavel Câtâlin Buiu Laboratory of Natural Computing and Robotics Department of Automatic Control and Systems Engineering “Politehnica” University of Bucharest Spl. Independentei 313 060042 Bucharest Romania

A cognitive collaborative multi-agent control architecture that addresses real-world control problems for swarms of mobile robots is proposed. The swarm's emergent behaviour is obtained by using a distributed Particle Swarm Optimization inspired algorithm. A swarm-user interface is also presented and offers a way for a human operator to interact with and guide the robotic swarm without limiting its emergent intelligence. The architecture is designed as a multi-agent system developed using JADE Framework. Three types of agents were defined: local behaviour agent, social behaviour agent and graphical user interface (GUI) agent. Each robot is associated with a pair of a local and a social behaviour agents which implement the reactive component and the interaction between the robots. The swarm forms a hierarchical structure composed of subswarms and neighbourhoods based on tasks and goals defined by the user or the swarm itself. The GUI agent is used as a link between the human expert and the swarm. The architecture was tested on a swarm of e-puck robots.

关键词： bio-inspired cognitive architecture collaborative robotics swarm intelligence swarm-user interface multi-agent system particle swarm optimization

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Correlation between impact-energy density and pain intensity during robot-man collision

Correlation between impact-energy density and pain intensity...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Borut Povse Darko Koritnik Tadej Bajd Marko Munih R & D Department for Automation Robotics and Electronic Instrumentation Dax Electronic Systems Company Trbovlje Slovenia Laboratory of Robotics and Biomedical Engineering Faculty of Electrical Engineering University of Ljubljana Ljubljana Slovenia

This paper presents an investigation focused on cooperation of a small industrial robot and a human operator. During their cooperation the collision is expected only between the robot end-effector and the lower arm of the human worker. To ensure safe and comfortable human-robot interaction the impact must not cause any injury or considerable pain to the human operator. An investigation with human volunteers was performed, to study the impact between the robot and the man. To determine a safe range of the impact intensity with human subjects, a preliminary investigation was performed on one of the authors of this paper. During the experiment, the volunteers determined the pain they felt after each impact using a graphical user interface. In the experiments, the robot end-effector collided with the volunteer's lower arm perpendicularly at a constant deceleration. The point of impact was positioned midway between the wrist and the elbow on the dorsal aspect of the lower arm. The robot end-effector was displaced from the initial point toward the point of impact along a straight line. Several tests were carried out at maximal velocity, different robot decelerations, various end- effector shapes, and varying depth of stop point with regard to the arm surface. The impacts between robot end-effector and human arm were evaluated using a measuring system comprised of a force sensor and an optical measuring system. The goal of the investigation was to determine the correlation between the pain intensity felt during the impact and the impact energy density.

关键词： Pain Collision avoidance Humans Manipulators Service robots Robot sensing systems

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Manipulation control of a space robot with flexible solar panels

Manipulation control of a space robot with flexible solar pa...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Payam Zarafshan S. Ali. A. Moosavian Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering Khaje Nasir Toosi University of Technology Tehran Iran

Dynamics and control of a space robotic system with flexible appendages during a docking operation is studied here. Flexible appendages such as solar panels of a space free flying robotic system during a manoeuvre may get stimulated and vibrate. Therefore, such vibrations will cause some oscillatory disturbances on the moving base, which in turn produces error in the position and speed of the manipulating end-effectors. In this paper, first the system dynamics is partitioned into two rigid and flexible bodies' motion, and a practical model for control implementations on compounded rigid-flexible multi-body systems is developed. Then, based on a designed path/trajectory for a space robotic system, the multiple impedance control and the augmented object model algorithm are extended to perform an object manipulation task by such complicated rigid-flexible multi-body systems. Finally, a space free flying robotic system is simulated during a docking operation which contains two 2-DOF planar manipulators, and a rotating antenna and a camera as its third and fourth arms, appended with two solar panels. Obtained results reveal the merits of the proposed model and developed controllers which will be discussed.

关键词： Mathematical model Equations Manipulators Aerospace electronics Robot kinematics Impedance

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Dynamics and planning for stable motion of a hexapod robot

Dynamics and planning for stable motion of a hexapod robot

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： S. Ali. A. Moosavian A. Dabiri Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering Khaje Nasir Toosi University of Technology Tehran Iran

A dynamics model for a hexapod robot is developed in this paper which avoids extra calculations to yield a compact set of dynamic equations. To this end, foot interaction with the ground is modeled based on a compliant model, and a force distribution method is implemented in finding required friction forces. This leads to minimum slippage possibility and energy consumption. Furthermore, a scheme is proposed to generate an appropriate rhythmic gait and the ZMP criterion is successively used for checking the robot stability during its planned motion. In conclusion, obtained results are presented for robot stable motion based on the designated gait along a straight path.

关键词： Dynamics Mathematical model Leg Friction Robot kinematics Equations

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A goal-oriented fuzzy reactive control for mobile robots with automatic rule optimization

A goal-oriented fuzzy reactive control for mobile robots wit...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Anmin Zhu Simon X. Yang School of Computer Science and Software Engineering Shenzhen University China Advanced Robotics and Intelligent Systems ARIS) Laboratory School of Engineering University of Guelph Canada

To realize real-time goal-oriented navigation for a mobile robot in unpredictable environments, a fuzzy reactive system is proposed in this paper. Besides the establishment of the fuzzy logic system, this paper focuses on the the physical meaning of the parameters in the fuzzy system, and proposes a systematic method to automatically suppress redundant fuzzy rules from the rule base. Under the control of the proposed system with automatic redundant fuzzy rule removal, the mobile robot can preferably avoid obstacles autonomously, and generate reasonable trajectories toward the target in various situations. The effectiveness and efficiency of the proposed approach are demonstrated by simulation and experimental studies.

关键词： Mobile robots Robot sensing systems Wheels Fuzzy logic Navigation

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Analytical and experimental frequency response analysis of microcantilevers subject to tip-sample interaction

Analytical and experimental frequency response analysis of m...

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2009 ASME International Design engineering Technical Conferences and Computers and Information in engineering Conference, DETC2009

作者： Delnavaz, Aidin Nima Mahmoodi, S. Jalili, Nader Zohoor, Hassan Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran Center for Vehicle Systems and Safety Virginia Tech Blacksburg VA 24061 United States Smart Structures and NEMS Laboratory Clemson University Clemson SC 29634 United States

ISBN: (纸本)9780791849033

Improvement of microcantilever-based sensors and actuators chiefly depends on how comprehensively they are modeled and precisely formulated. Atomic Force Microscopy (AFM) is the most widespread application of microcantilever beam as a sensor, which is usually influenced by the tip-sample interaction force. For this, vibration of AFM microcantilever probe is analyzed in this paper, along with analytical, numerical and experimental investigation of the influence of the sample interaction force on the microcantilever vibration. Nonlinear integro-partial equation of microcantilever vibration subject to the tip-sample interaction is then derived and numerically simulated. Moreover, multiple time scales method is utilized to estimate the tip amplitude while it is vibrating near the sample. An experimental setup is developed using. Copyright © 2009 by ASME.

关键词： Atomic force microscopy

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Computationally effective stereovision SLAM

Computationally effective stereovision SLAM

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IEEE International Workshop on Imaging systems and Techniques (IST)

作者： Lazaros Nalpantidis Georgios Ch. Sirakoulis Andrea Carbone Antonios Gasteratos Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Autoagent Laboratory of Cognitive Robotics Department of Computer and Systems Science University of Roma La Sapienza Rome Italy

In this paper a visual Simultaneous Localization and Mapping (SLAM) algorithm suitable for indoor area measurement applications is proposed. The algorithm is focused on computational effectiveness. The only sensor used is a stereo camera placed onboard a moving robot. The algorithm processes the acquired images calculating the depth of the scenery, detecting occupied areas and progressively building a map of the environment. The stereo vision-based SLAM algorithm embodies a custom-tailored stereo correspondence algorithm, the robust scale and rotation invariant feature detection and matching Speeded Up Robust Features (SURF) method, a computationally effective v-disparity image calculation scheme, a novel map-merging module, as well as a sophisticated Cellular Automata (CA)-based enhancement stage. The proposed algorithm is suitable for autonomously mapping and measuring indoor areas using robots. The algorithm is presented and experimental results for self-captured image sets are provided and analyzed.

关键词： Simultaneous localization and mapping Area measurement Robustness Computer vision Robot vision systems Cameras Robot sensing systems robotics and automation Image analysis Algorithm design and analysis

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