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作者： Hajimirsadeghi, Hossein Ahmadabadi, Majid Nili Araabi, Babak Nadjar Moradi, Hadi Cognitive Robotics Lab Control and Intelligent Processing Center of Excellence University of Tehran Iran

In general, imitation is imprecisely used to address different levels of social learning from high-level knowledge transfer to low-level regeneration of motor commands. However, true imitation is based on abstraction and conceptualization. This article presents a model for conceptual imitation through interaction with the teacher to abstract spatio-temporal demonstrations based on their functional meaning. Abstraction, concept acquisition, and self-organization of proto-symbols are performed through an incremental and gradual learning algorithm. In this algorithm, Hidden Markov Models (HMMs) are used to abstract perceptually similar demonstrations. However, abstract (relational) concepts emerge as a collection of HMMs irregularly scattered in the perceptual space but showing the same functionality. Performance of the proposed algorithm is evaluated in two experimental scenarios. The first one is a human-robot interaction task of imitating signs produced by hand movements. The second one is a simulated interactive task of imitating whole body motion patterns of a humanoid model. Experimental results show efficiency of our model for concept extraction, proto-symbol emergence, motion pattern recognition, prediction, and generation. © 2012 ACM.

关键词： Hidden Markov models

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A positive tensions PID controller for a planar cable robot: An experimental study

A positive tensions PID controller for a planar cable robot:...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mohammad A. Khosravi Hamid D. Taghirad Reza Oftadeh Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran Intelligent Hydraulics and Automation Department (lHA) Tampere University of Technology Finland

In this paper design and control of planar cable-driven parallel robots are studied in an experimental prospective. Since in this class of manipulators, cable tensionability conditions must be met, feedback control of such robots becomes more challenging than for conventional robots. To meet these conditions, internal force control structure is introduced and used in addition to a PID control scheme to ensure that all cables remain in tension. A robust PID controller is proposed for partial knowledge of the robot, to keep the tracking errors bounded. Finally, the effectiveness of the proposed control algorithm is examined through experiments on K.N. Toosi planar cable-driven robot and it is shown that the proposed control structure is able to provide suitable performance in practice.

关键词： PD control Assembly Logic gates Servomotors Force

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Using general sound descriptors for early autism detection

Using general sound descriptors for early autism detection

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Asian control Conference

作者： Seyyed Hamid R. Ebrahimi Motlagh Hadi Moradi Hamidreza Pouretemad Advanced Robotics and Intelligent Systems Laboratory Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran ARIS and CIPCE School of ECE College of Engineering University of Tehran Iran Shahid Beheshti University Tehran Tehran IR

ISBN: (纸本)9781467357661

Early detection of autism is crucial for successfully dealing with it and reduce/eliminate its effects. In other words, early treatment can make a big difference in the lives of many children with this disorder. Consequently, in this study the pattern recognition algorithms are used to determine the unique features of the voice of autistic children to distinguish between the autistic children and normal children between ages 2 and 3. These descriptors extract various audio features such as temporal features, energy features, harmonic features, perceptual and spectral features. Two feature selection methods are used and the results are compared. One method is based on comparing the effect of using all of a group features together and another method compares the effect of using features one by one. The selected features are used to classify selected children into autistic and non-autistic ones. The results show 96.17 percent accuracy. After feature selection, we classified data using S.V.M classifier for recognizing two types of input data.

关键词： Autism Feature extraction Mel frequency cepstral coefficient Educational institutions Harmonic analysis Accuracy Motion pictures

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Cooperative Object Manipulation by a Space Robot with Flexible Appendages

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International Scholarly Research Notices 2013年第1期2013卷

作者： P. Zarafshan S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Laboratory Department of Mechanical Engineering K. N. Toosi University of Technology P.O. Box 19395-1999 Tehran Irankntu.ac.ir

Modelling and control of rigid-flexible multibody systems is studied in this paper. As a specified application, a space robotic system with flexible appendages during a cooperative object manipulation task is considered. This robotic system necessitates delicate force exertion by several end-effectors to move an object along a desired path. During such maneuvers, flexible appendages like solar panels may get stimulated and vibrate. This vibrating motion will cause some oscillatory disturbing forces on the spacecraft, which in turn produces error in the motion of the end-effectors of the cooperative manipulating arms. In addition, vibration control of these flexible members to protect them from fracture is another challenging problem in an object manipulation task for the stated systems. Therefore, the multiple impedance control algorithm is extended to perform an object manipulation task by such complicated rigid-flexible multibody systems. This extension in the control algorithm considers the modification term which compensates the disturbing forces due to vibrating motion of flexible appendages. Finally, a space free-flying robotic system which contains two 2-DOF planar cooperative manipulators, appended with two highly flexible solar panels, is simulated. Obtained results reveal the merits of the developed model-based controller which will be discussed.

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Wheeled-tip object manipulation: Modeling and motion planning of throwing an object

Wheeled-tip object manipulation: Modeling and motion plannin...

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IEEE International Conference on robotics and Biomimetics

作者： S. Parastegari M. Nili Ahmadabadi E. Noohi H. Moradi Robotics and AI Laboratory Control & Intelligent Processing Center of Excellence University of Tehran Tehran Iran University of Tehran Tehran Iran

ISBN: (纸本)9781467321259

In this paper we address the task of throwing an object on a plane using a wheeled-tip robot. Wheeled-tip robots constitute of one or more artificial fingers with an active wheel at the end of each finger that acts as its fingertip. This class of robots may be used for the task of transfer-throwing objects. In this task, the robot transfers the object for a while, giving it required velocity and then throws it toward a defined goal. The use of wheeled-tip robot in a transfer-throwing task has some advantages in practice and with respect to a typical robot. The wheel at the tip of the robot finger can move independently on the object and gives it the desired velocity at the time of throwing the object. Here we present an algorithm of a planner for throwing objects on a plane using a wheeled-tip robot. We show how using the ability of moving the wheel on the object leads to capability of overcoming joint velocity limits, making this class of robots proper for doing the task.

关键词： Throwing an Object Motion- Planning Wheeled-tip Manipulator

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Effect of flexible spine on stability of a passive quadruped robot: Experimental results

Effect of flexible spine on stability of a passive quadruped...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Kani, Mohammad Hasan H. Derafshian, Mostafa Bidgoly, Hamed Jalaly Ahmadabadi, Majid Nili Cognitive Robotics Lab. Control and Intelligent Processing Center of Excellence University of Tehran Iran

ISBN: (纸本)9781457721373

In rapid quadruped animals, the flexibility of spine is obviously observable while running. In this paper, we introduce a 3D passive dynamic quadruped robot, Fanari, that is capable to gallop down a slope without any external energy. We study the effect of spine flexibility on improvement of stability, adaptability and achievement of rapid leg locomotion. So a flexible spine that is capable to bend both outward and downward, a flexible spine that is only capable to bend outward and a rigid spine are designed and tested on the robot. Based on the case studies, we discuss about the challenges and the roles of spine stiffness on the gallop action. A simulation model is also made in order to corroborate the experimental results of the robot. It is concluded that the robot with the spine that is flexible in both outward and downward directions, has the most stability, adaptability and fastest velocity in its gallop action. © 2011 IEEE.

关键词： Multipurpose robots

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Temperature-Aided Fingerprinting for localization in wireless local area networks

Temperature-Aided Fingerprinting for localization in wireles...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Kave Aryanpoo Hadi Moradi Robotics and AI Laboratory School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran Robotics and AI Laboratory Control & Intelligent Processing Center of Excellence School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran

Wireless signal fingerprints have been used to localize mobile devices in recent years. Especially, WLAN signals are of great importance, because of the ubiquity of WLAN infrastructure. In this paper, the possibility of correlation between temperature and signal strength is investigated to improve the traditional fingerprinting method by incorporating the temperature into the process. The new approach is called the Temperature-Aided Fingerprinting (TAF) and even with current WLAN-enabled devices, which usually do not have a thermometer, TAF achieves a better performance than the traditional method. At the end, we open up a hypothesis that the observed difference is not caused by the temperature, rather by the crowdedness and the dynamics of the environment. This is left to be investigated in the future.

关键词： Fingerprint recognition Temperature distribution Educational institutions Buildings Temperature sensors Temperature measurement

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Extracting salient lines by Visual Attention for omnidirectional image classification

Extracting salient lines by Visual Attention for omnidirecti...

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IEEE Symposium on Computational Intelligence for Multimedia, Signal and Vision Processing (CIMSIVP)

作者： AmirHossein Habibian Majid Nili-Ahmadabadi Babak Nadjar Araabi Robotics and AI Laboratory Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering Faculty of Engineering University of Tehran Tehran Iran School of Cognitive Sciences Institute for Research in Fundamental Sciences Tehran Iran

Representing an image as a set of its key and interesting lines facilitates the image understanding and classification. In this paper, we propose a method to extract the significant and interesting lines of the scene, which probably are useful in image classification. The proposed method is inspired from the Visual Attention, which is a perceptual mechanism in human and other primates that direct their perceptions to the limited regions of the scene. The attended regions are usually valuable in performing the task. Since the approach of using the lines to classify the images is particularly useful for omnidirectional images, we specialize our method to deal with these kinds of images. In the experiments, we demonstrate how our proposed methods improve the image classification performance with processing only small parts of the input images.

关键词： Feature extraction Visualization Image classification Gabor filters Image edge detection Histograms Computational modeling

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Effect of Flexible Spine on Stability of a Passive Quadruped Robot: Experimental Results

Effect of Flexible Spine on Stability of a Passive Quadruped...

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IEEE International Conference on robotics and Biomimetics

作者： Mohammad Hasan H. Kani Mostafa Derafshian Hamed Jalaly Bidgoly Majid Nili Ahmadabadi Cognitive Robotics Lab. Control and Intelligent Processing Center of Excellence School of ECE Faculty of Eng. University of Tehran

ISBN: (纸本)9781457721366

关键词： spines Spine quadruped robot Robot FLEXIBLE

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Seabed Tracking of an Autonomous Underwater Vehicle with Nonlinear Output Regulation

Seabed Tracking of an Autonomous Underwater Vehicle with Non...

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IEEE Conference on Decision and control

作者： A. Adhami-Mirhosseini A. Pedro Aguiar M. J. Yazdanpanah Control and Intelligent Processing Center of Excellence University of Tehran P.O. Box 14395/515 Tehran Iran Lab. of Robotics and Systems in Engineering and Science (LARSyS) Inst. Superior Tecnico (IST) Technical University of Lisbon Av. Rovisco Pais 1049-001 Lisboa Portugal

ISBN: (纸本)9781612848006

This paper proposes a new control algorithm for automatic seabed tracking performed by a low cost autonomous underwater vehicle subject to the fact that the seabed profile is not known in advance. The control design amounts to cast the problem in the framework of nonlinear output regulation theory combined with pseudo-spectral methods to approximate the solutions of the regulator equations. To this end, the seabed tracking problem is re-formulated as a trajectory tracking problem and the reference signal is constructed using Fourier series to approximate the seabed profiles. An interesting feature of this approach is that the combination of the Fourier series with output regulation problem allows to bypass the need to compute explicitly the Fourier coefficients. Stability analysis and simulation results with real seabed data show the effectiveness of the proposed controller.

关键词： Equations Regulators Mathematical model Vehicles Chebyshev approximation Vehicle dynamics

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