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检索条件"机构=the ASTRA Robotics Lab at the Department of Computer Science and Engineering"

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Joint-action for humans and industrial robots for assembly tasks

Joint-action for humans and industrial robots for assembly t...

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17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN

作者： Lenz, Claus Nair, Suraj Rickert, Markus Knoll, Alois Rösel, Wolgang Gast, Jürgen Bannat, Alexander Wallhoff, Frank Robotics and Embedded Systems Lab. Department of Computer Science Technische Universität München Germany Machine Tools and Industrial Management Department of Mechanical Engineering Technische Universität München Germany Human-Machine Communication Department of Electrical Engineering and Information Technologies Technische Universität München Germany

ISBN: (纸本)9781424422135

This paper presents a concept of a smart working environment designed to allow true joint-actions of humans and industrial robots. The proposed system perceives its environment with multiple sensor modalities and acts in it with an industrial robot manipulator to assemble capital goods together with a human worker. In combination with the reactive behavior of the robot, safe collaboration between the human and the robot is ***, the system anticipates human behavior, based on knowledge databases and decision processes, ensuring an effective collaboration between the human and robot. As a proof of concept, we introduce a use case where an arm is assembled and mounted on a robot's body. © 2008 IEEE.

关键词： Industrial manipulators

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Audio-Visual Speech Processing Framework for Lip Reading

Audio-Visual Speech Processing Framework for Lip Reading

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International Conference on Information and Communication Technologies: From Theory to Applications, ICTTA

作者： Abdulbaset M. Nasr Abd Rahman Ramli Mohammad Hamiruce Shamala K Subramaniam Robotics Lab Institute of advanced technology Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Department of Computer and Communications Systems Faculty of Engineering Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Department of Electrical and Electronics Engineering Faculty of Engineering Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Department of Communication Technology & Networks Faculty of Computer Science and Information Technology Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia

It is well known that speech production and perception process is inherently bimodal consisting of audio and visual components. Recently there has been increased interest in using the visual modality in combination with the acoustic modality for improved speech processing. This field of study has gained the title of audio-visual speech processing. Lip movement recognition, also known as lip reading, is a communication skill which involves the interpretation of lip movements in order to estimate some important parameters of the lips that include, but not limited to, size, shape and orientation. In this paper, we represent a hybrid framework for lip reading which is based on both audio and visual speech parameters extracted from a video stream of isolated spoken words. The proposed algorithm is self-tuned in the sense that it starts with an estimations of speech parameters based on visual lip features and then the coefficients of the algorithm are fine-tuned based on the extracted audio parameters. In the audio speech processing part, extracted audio features are used to generate a vector containing information of the speech phonemes. These information are used later to enhance the recognition and matching process. For lip feature extraction, we use a modified version of the method used by F. Huang and T. Chen for tracking of multiple faces. This method is based on statistical color modeling and the deformable template. The experiments based on the proposed framework showed interesting results in recognition of isolated words.

关键词： Speech processing Image processing Parameter estimation Data mining Feature extraction Robots computer networks Systems engineering and theory Communications technology computer science

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Using the modular controller architecture (mca) in ambient assisted living

Using the modular controller architecture (mca) in ambient a...

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3rd IET International Conference on Intelligent Environments, IE'07

作者： Koch, Jan Anastasopoulos, Michalis Berns, Karsten Robotics Research Lab Department of Computer Science University of Kaiserslautern Gottlieb-Daimler-Strae Kaiserslautern 67663 Germany Fraunhofer Institute for Experimental Software Engineering Fraunhofer-Platz 1 Kaiserslautern 67663 Germany

ISBN: (纸本)9780863418532

The concept of ambient intelligence requires software architectures enabling machine intelligence in unstructured dynamic environments. Research in mobile robotics tries to address this field since many years and has successfully created several architectural concepts for behaviorbased reactive systems. We describe the architectural and communication-oriented capabilities of the Modular Controller Architecture (MCA) and how ambient intelligence systems may benefit from these. Especially the shared memory approach of MCA offers a great possibility to facilitate distributed dynamic applications. MCA has been developed for mobile robotics research, initially at the FZI in Karlsruhe1 [11] and is under continuous development2. MCA addresses primitive and object-related communication, re-usability, component-based development, hardware access and application distribution. We want to take a closer look on the MCA framework and how it is already in use within an assisted living environment, established during several projects at Fraunhofer IESE [9] [2] Several sensors and a mobile service unit were provided by the robotics Research lab3 and the MCA framework was used for service interconnection. An intelligent refrigerator, two human localisation technologies and the mobile service robot ARTOS have MCA running as described in section 3. We present our experiences with the Modular Controller Architecture regarding the parameters identified by the ubiquitous community [13]. The outline of this paper is as follows: First the architectural approaches in other projects are mentioned. The Modular Controller Architecture is described in detail, with focus on the requirements of ambient intelligence. We continue by describing our assisted living demonstrator and the services and applications relevant to this work. With reference to our example imple-mentation we conclude the features of MCA that comply to the requirements. Furthermore it is described which future work shall lead to

关键词： Middleware

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ML DESIGNERTM as simulation tool in robotics

ML DESIGNERTM as simulation tool in robotics

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International Conference on Telecommunications in Modern Satellite, Cable and Broadcasting Service (TELSIKS)

作者： Mario Schulz Ivan Velickovic Sasa Andelkovic Volker Zerbe Goran S. Dordevic Computer Science and Automation Faculty System and Control Theory Department Technical University Ilmenau Ilmenau Germany Faculty of Electronics engineering Robotics Lab University of Nis Nis Serbia

Robots are complex systems that require multidisciplinary approach to development. Hence, both research and production of a robotic system require a tool that would provide means for coordination between teams with different areas of expertise as well as the ability to integrate, simulate and debug the system in a comprehensive way. Also, with the growing popularity of service robotics, research and modeling of human-machine interaction gains the attention. From a simulation tool, it is expected to support the means for describing this interaction. For that purpose we are investigating the ML Designer TM , not just as a possible simulation tool, but also as a modeling and design paradigm. For verification purposes we will compare it against MATlab Simulink TM . A pneumatic system will be modeled with both tools and a comparison will be performed.

关键词： Mathematical model Robot kinematics Cleaning System testing Power system modeling MATlab Pneumatic systems Control systems Level control Costs

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Optimized Lane Assignment Using Inter-Vehicle Communication

Optimized Lane Assignment Using Inter-Vehicle Communication

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IEEE Symposium on Intelligent Vehicle

作者： Thanh-Son Dao Christopher Michael Clark Jan Paul Huissoon Lab for Autonomous and Intelligent Robotics Department of Mechanical Engineering University of Waterloo ONT Canada Computer Science Department California Polytechnic State University San Louis Obispo CA USA Department of Mechanical Engineering University of Waterloo ONT Canada

This paper presents an approach to lane assignment for highway vehicles that increases traffic throughput while ensuring they exit successfully at their destinations. Most of current traffic management systems do not consider lane organization of vehicles and only regulate traffic flows by controlling traffic signals or ramp meters. However, traffic throughput and efficient use of highways can be increased by coordinating driver behaviors intelligently. The goal of this research is to form a distributed control strategy for cars themselves to select lanes using inter-vehicle communication. Initial results are promising and demonstrate that intelligent lane selection can decrease vehicle traffic time.

关键词： Road transportation Communication system traffic control Throughput Distributed control Intelligent vehicles Road vehicles Control systems Intelligent transportation systems Intelligent robots Mechanical engineering

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Ubiquitous Robot: A New Paradigm for Integrated Services

Ubiquitous Robot: A New Paradigm for Integrated Services

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jong-Hwan Kim Kang-Hee Lee Yong-Duk Kim Naveen Suresh Kuppuswamy Jun Jo Robot Intelligence Technology Lab Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea Application Technology Lab Telecommunication Research & Development Center Telecommunication Network business Samsung Electronics Company Limited Robotics and Computer Games Laboratory Griffith University Australia

This paper presents the components and overall architecture of the ubiquitous robot (Ubibot) system developed to demonstrate ubiquitous robotics, a new paradigm for integrated services. The system has been developed on the basis of the definition of the ubiquitous robot as that of encompassing the software robot Sobot, embedded robot Embot and the mobile robot Mobot. This tripartite partition, which independently manifests intelligence, perception and action, enables the abstraction of intelligence through the standardization of sensory data and motor or action commands. The Ubibot system itself is introduced along with its component subsystems of Embots, the position Embot, vision Embot and sound Embot, the Mobots of Mybot and HSR, the Sobot, Rity, a virtual pet modeled as an artificial creature, and finally the middleware which seamlessly enables interconnection between other components. Three kinds of experiments are devised to demonstrate the fundamental features, of calm sensing, context awareness and seamless service transcending the spatial limitations in the abilities of earlier generation personal robots. The experiments demonstrate the proof of concept of this powerful new paradigm which shows great promise.

关键词： Intserv networks Mobile robots Robot sensing systems Intelligent robots Intelligent sensors computer architecture Embedded software Artificial intelligence Standardization Positron emission tomography

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RADIC - A generic component for the integration of existing reactive and deliberative layers 06

RADIC - A generic component for the integration of existing ...

引用

Fifth International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS

作者： Scheutz, Matthias Kramer, James Artificial Intelligence and Robotics Lab. Department of Computer Science and Engineering University of Notre Dame Notre Dame IN 46556 United States

ISBN: (纸本)1595933034

Hybrid architectures have been developed to preserve the responsiveness of reactive layers while also providing the benefits of higher level deliberative capabilities. The challenge of hybrid architecture design is to integrate layers of very different functional roles. We propose a component, called RADIC, that uses a generic technique for the construction of hybrid architectures from pre-existing reactive and deliberative layers that requires only minimal modifications to each layer. In particular, we give a high-level description of the operation and benefits of the component and its algorithms. Copyright 2006 ACM.

关键词： robotics

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Fast Separation of Reflection Components using a Specularity-Invariant Image Representation

Fast Separation of Reflection Components using a Specularity...

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IEEE International Conference on Image Processing

作者： Kuk-jin Yoon Yoojin Choi In So Kweon Department Electrical Engineering and Computer Science KAIST Robotics and Computer Vision Laboratory South Korea Dept. Electrical Engineering and Computer Science Robotics and Computer Vision Lab. Korea

In this paper, we propose a fast method for separating reflection components using a single color image. We first propose a specular-free two-band image that is a specularity-invariant color image representation. Reflection components separation is achieved by comparing local ratios at each pixel and making those ratios equal in an iterative framework. The proposed method is very fast and shows reasonable results for textured indoor/outdoor images.

关键词： Reflection Image representation Layout Color Polarization computer vision Image segmentation Filters Lighting Argon

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A new endoscopic microcapsule robot using beetle inspired microfibrillar adhesives

A new endoscopic microcapsule robot using beetle inspired mi...

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Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005

作者： Cheung, Eugene Karagozler, Mustafa Emre Park, Sukho Kim, Byungkyu Sitti, Metin NanoRobotics Lab. Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA 15213 United States NanoRobotics Lab. Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA 15213 United States Intelligent Microsystem Center Korea Institute of Science and Technology Seoul 136-791 Korea Republic of NanoRobotics Lab. Department of Mechanical Engineering Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 United States

The diagnosis of gastrointestinal diseases within the small intestine has been greatly advanced with the introduction of the endoscopic microcapsule in recent years. In an effort to increase its reliability and expand its functionality, a mechanism for stopping and locomoting the capsule within the digestive tract is proposed in this paper. This mechanism, actuated by shape memory alloy wires, utilizes a synthetic microfibrillar adhesive similar to the attachment mechanisms employed by beetles. This fibrillar attachment mechanism is a combination of molecular adhesion caused by van der Waals forces and liquid adhesion caused by capillary forces. The molecular adhesion is enhanced by the presence of microfibers, and the liquid adhesion arises from a secretion from the beetle's footpad. A synthetic version of the beetle's footpad was fabricated from PDMS using a silicon mold. Another version was created from SU-8 using photolithography. Testing revealed decent adhesion with glass and prepared pig intestine in vitro both with a silicone oil to simulate the secretion and without it A prototype robot with simple polymer adhesive pads for stopping successfully attached and detached inside a flexible vinyl tube. An inchworm locomotion mechanism is proposed and is in the preliminary stages of fabrication and testing. ©2005 IEEE.

关键词： Robots

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A new endoscopic microcapsule robot using beetle inspired microfibrillar adhesives

A new endoscopic microcapsule robot using beetle inspired mi...

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

作者： E. Cheung M.E. Karagozler Sukho Park Byungkyu Kim M. Sitti The NanoRobotics Lab and the Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA USA The NanoRobotics Lab and the Department of Electrical & Computer Engineering Carnegie Mellon University Pittsburgh PA USA Senior Research Scientists at the Intelligent Microsystem Center Korea Institute of Science and Technology Information Seoul South Korea The director of the NanoRobotics Lab and an AssistantProfessor with the Department of Mechanical Engineering and Robotics Institute Carnegie Mellon University Pittsburgh PA USA

The diagnosis of gastrointestinal diseases within the small intestine has been greatly advanced with the introduction of the endoscopic microcapsule in recent years. In an effort to increase its reliability and expand its functionality, a mechanism for stopping and locomoting the capsule within the digestive tract is proposed in this paper. This mechanism, actuated by shape memory alloy wires, utilizes a synthetic microfibrillar adhesive similar to the attachment mechanisms employed by beetles. This fibrillar attachment mechanism is a combination of molecular adhesion caused by van der Waals forces and liquid adhesion caused by capillary forces. The molecular adhesion is enhanced by the presence of microfibers, and the liquid adhesion arises from a secretion from the beetle's footpad. A synthetic version of the beetle's footpad was fabricated from PDMS using a silicon mold. Another version was created from SU-8 using photolithography. Testing revealed decent adhesion with glass and prepared pig intestine in vitro both with a silicone oil to simulate the secretion and without it. A prototype robot with simple polymer adhesive pads for stopping successfully attached and detached inside a flexible vinyl tube. An inch worm locomotion mechanism is proposed and is in the preliminary stages of fabrication and testing

关键词： Robots Adhesives Intestines Fluids and secretions Testing Gastrointestinal tract Diseases Digestive system Shape memory alloys Wires

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