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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献

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Multi-Information Fusion for Scale Selection in Robot Tracking 基于多信息融合的机器人跟踪尺度选择
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282067
Xiaoqin Zhang, Hong Qiao, Zhiyong Liu
{"title":"Multi-Information Fusion for Scale Selection in Robot Tracking","authors":"Xiaoqin Zhang, Hong Qiao, Zhiyong Liu","doi":"10.1109/IROS.2006.282067","DOIUrl":"https://doi.org/10.1109/IROS.2006.282067","url":null,"abstract":"Mean shift, for its simplicity and efficiency, has achieved a considerable success in robot tracking. For the mean shift based tracking algorithm, the scale of the mean-shift kernel bandwidth is a crucial parameter which reflects the size of tracking window. However, in literature how to properly update or select the bandwidth remains a tough task as the size of the object under consideration changes. In this paper, a weighted average integral projection approach is proposed to extract the local information of the object, and then a multiinformation fusion strategy is suggested for the scale selection, which combines both the global and local information of the sample weight image. Moreover, a coarse-to-fine approximate approach is employed to accelerate the procedure. Experimental results demonstrate that, compared to some existing works, the strategy proposed has a better adaptability as the size of the object changes in clutter environments","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130313468","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Dynamics and Control of Turning Maneuver for Biomimetic Robotic Fish 仿生机器鱼转向机动动力学与控制
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282105
Junzhi Yu, Lizhong Liu, Long Wang
{"title":"Dynamics and Control of Turning Maneuver for Biomimetic Robotic Fish","authors":"Junzhi Yu, Lizhong Liu, Long Wang","doi":"10.1109/IROS.2006.282105","DOIUrl":"https://doi.org/10.1109/IROS.2006.282105","url":null,"abstract":"This paper deals with maneuver issues, in particular turning control of a free-swimming, multi-link biomimetic robotic fish propelled by a flexible rear body and oscillatory tail fin. Taking into account of both hydrodynamic model and engineering use, we develop a practical method to execute a circular maneuver. The turning control, based on asymmetrical kinematics and dynamics, can be achieved by adding different deflections to the oscillatory links. The characteristic parameters affecting turning performance include magnitude, position, and time of the deflections applied to the links, which are discussed with a series of simulation calculations. The experiments of circular motion with a four-link, infrared sensor-equipped robotic fish acquire a satisfactory maneuverability. Moreover, the feasibility of adding deflection angles to maneuver the robotic fish in the path planning is explored both analytically and experimentally","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130328398","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 11
Effects of Communication on Mobile Sensor Networks 通信对移动传感器网络的影响
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.281970
F. Cabrera-Mora, Jizhong Xiao, Yi Sun
{"title":"Effects of Communication on Mobile Sensor Networks","authors":"F. Cabrera-Mora, Jizhong Xiao, Yi Sun","doi":"10.1109/IROS.2006.281970","DOIUrl":"https://doi.org/10.1109/IROS.2006.281970","url":null,"abstract":"The vague assumption of a fixed communication range has facilitated the development of major areas of study in mobile sensor networks such as connectivity, coverage, and self-deployment algorithms by providing a stable element as a foundation for their analysis, but more precise communication model is required in order to convert theoretical simulations into realistic applications. This paper studies the effects of more realistic communication models on mobile sensor networks/ad hoc networks taking into consideration multi-access interference and noise and their impact on the communication range of the nodes. The study shows that the communication range changes with the characteristics of the network (network parameters and node distribution). Simulation results justify our findings and future research directions are discussed","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126680753","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Developing a non-intrusive biometric environment 开发非侵入性生物识别环境
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282619
L. Middleton, D. Wagg, A. Bazin, J. Carter, M. Nixon
{"title":"Developing a non-intrusive biometric environment","authors":"L. Middleton, D. Wagg, A. Bazin, J. Carter, M. Nixon","doi":"10.1109/IROS.2006.282619","DOIUrl":"https://doi.org/10.1109/IROS.2006.282619","url":null,"abstract":"The development of large scale biometric systems requires experiments to be performed on large amounts of data. Existing capture systems are designed for fixed experiments and are not easily scalable. In this scenario even the addition of extra data is difficult. We developed a prototype biometric tunnel for the capture of non-contact biometrics. It is self contained and autonomous. Such a configuration is ideal for building access or deployment in secure environments. The tunnel captures cropped images of the subject's face and performs a 3D reconstruction of the person's motion which is used to extract gait information. Interaction between the various parts of the system is performed via the use of an agent framework. The design of this system is a trade-off between parallel and serial processing due to various hardware bottlenecks. When tested on a small population the extracted features have been shown to be potent for recognition. We currently achieve a moderate throughput of approximate 15 subjects an hour and hope to improve this in the future as the prototype becomes more complete","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126844814","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 14
Development of 3D Vision Enabled Small-scale Autonomous Helicopter 3D视觉小型自主直升机的开发
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282143
Zhenyu Yu, Demian Celestino, K. Nonami
{"title":"Development of 3D Vision Enabled Small-scale Autonomous Helicopter","authors":"Zhenyu Yu, Demian Celestino, K. Nonami","doi":"10.1109/IROS.2006.282143","DOIUrl":"https://doi.org/10.1109/IROS.2006.282143","url":null,"abstract":"This paper presents the development of vision based autonomous helicopter at Chiba University. The platform is designed to enable autonomous flight of a small-scale helicopter in unstructured environment. 3D vision system is chosen for the perception and measurement purpose. The whole system is designed with the consideration of payload, hardware availability, and software performance. The hardware is built with COTS (commercially off the shelf) products. The core control software is built on RTLinux for its real time performance. Based on the developed platform, we have studied the application of vision system for landing control. The experimental results are shown in the paper","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129104859","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 10
Haptic Simulation for Micro/Nano-Scale Optical Fiber Assembly 微/纳米级光纤装配的触觉模拟
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.281922
Qi Luo, J. Xiao
{"title":"Haptic Simulation for Micro/Nano-Scale Optical Fiber Assembly","authors":"Qi Luo, J. Xiao","doi":"10.1109/IROS.2006.281922","DOIUrl":"https://doi.org/10.1109/IROS.2006.281922","url":null,"abstract":"While there are very high industry demands on optical fiber, little research has been done on the modeling and simulation of the optical fiber assembly. In this paper, the interaction forces in the micro/nano joining step of the optical fiber assembly are modeled. Simulation of assembly in a virtual environment via a haptic device is performed, and experimental results are discussed, which could be used for designing leaning-based controller for automated micro/nano-scale optical fiber assembly","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129117704","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 10
Hermetically-Sealed Flexible Mobile Robot with Hydrostatic Skeleton Driving Mechanism 带静压骨架驱动机构的密封柔性移动机器人
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282291
H. Kimura
{"title":"Hermetically-Sealed Flexible Mobile Robot with Hydrostatic Skeleton Driving Mechanism","authors":"H. Kimura","doi":"10.1109/IROS.2006.282291","DOIUrl":"https://doi.org/10.1109/IROS.2006.282291","url":null,"abstract":"This video shows a new hermetically-sealed flexible robot with hydrostatic skeleton driving mechanism, named HS crawler. All ground contact areas of the robot are driven into the same direction, and the robot can change its contour, adapting to the terrain. Thus, the robot can pass through narrow spaces. This video shows the driving motion of HS crawler. The video also includes the wireless driving motion and the driving experiment in narrow space. The prototype robot passed through a space of 300mm height, whereas the ordinary height of the robot is 400mm.","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123868551","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Attitude Stability of a Cable Driven Balloon Robot 缆索驱动气球机器人的姿态稳定性
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.281633
F. Takemura, Kiyoshi Maeda, S. Tadokoro
{"title":"Attitude Stability of a Cable Driven Balloon Robot","authors":"F. Takemura, Kiyoshi Maeda, S. Tadokoro","doi":"10.1109/IROS.2006.281633","DOIUrl":"https://doi.org/10.1109/IROS.2006.281633","url":null,"abstract":"At the time of a large-scale urban earthquake disaster, human search activities and information collection are the most important processes of rescue operations. Robots for search and rescue (e.g., aero-robots, crawler type robots) have been studied extensively recently. We have developed a cable driven balloon robot for information acquisition from the sky during disaster rescue and recovery operations. The balloon, from which hang several sensors (sensor unit, SU), uses \"a natural shape balloon\". Three cables connect the SU, and the balloon, with its sensors, is driven by expansion and contraction of the cable length. Cameras and several sensors or wireless relays are loaded onto the SU. The attitude stability of the SU is required to eliminate camera shaking resulting from wind. Such stability is necessary for high-precision information collection because this robot is used in the open air. This study verifies the attitude stability of an SU using a cable arrangement between the balloon and the SU; it statically calculates the movable scope of the SU at an arbitrary wind speed and direction","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124193388","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 14
A Focal Cue for Metric Measurement of 3D Surfaces 一种用于三维曲面公制测量的焦点线索
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282098
Shengyong Chen, Youfu Li, Jianwei Zhang
{"title":"A Focal Cue for Metric Measurement of 3D Surfaces","authors":"Shengyong Chen, Youfu Li, Jianwei Zhang","doi":"10.1109/IROS.2006.282098","DOIUrl":"https://doi.org/10.1109/IROS.2006.282098","url":null,"abstract":"This paper finds a method for computing the best-focused location from an image and using it as a dimensional cue for acquisition of a 3D scene surface. In some situations in 3D vision, an object cannot be reconstructed into a 3D model with metric dimensions. Rather, it can only be reconstructed into a 3D structure up to a similarity transformation. To upgrade the 3D model from a similarity transformation to a Euclidean transformation, we propose a method based on the best-focused locations. By analyzing the blur distribution in an image, this method finds the best-focused locations from an image, which provides an additional cue for upgrading the reconstructed 3D structure. Hence, we can obtain not only the object's shape, but also the dimensions and sizes of surface features","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123332985","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Integrated Research and Development Environment for Real-Time Distributed Embodied Intelligent Systems 实时分布式具身智能系统集成研发环境
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI: 10.1109/IROS.2006.282054
A. Ceravola, F. Joublin, Mark Dunn, J. Eggert, Marcus Stein, C. Goerick
{"title":"Integrated Research and Development Environment for Real-Time Distributed Embodied Intelligent Systems","authors":"A. Ceravola, F. Joublin, Mark Dunn, J. Eggert, Marcus Stein, C. Goerick","doi":"10.1109/IROS.2006.282054","DOIUrl":"https://doi.org/10.1109/IROS.2006.282054","url":null,"abstract":"In the field of intelligent systems, research and design approaches vary from predefined architectures to self-organizing systems. Regardless of the architectural approach, such systems may grow in size and complexity to levels where the capacities of people are strongly challenged. Such systems are commonly researched, designed and developed following several methods and with the help of a variety of software tools. In this paper we want to describe our research and development environment. It is composed of a set of tools that support our research and enable us to develop large scale intelligent systems used in our robots and in our test platforms. The main parts of our research and development environment are: the component models BBCM (brain bytes component model) and BBDM (brain bytes data model), the middleware RTBOS (real-time brain operating system), the monitoring system CMBOS (control-monitor brain operating system) and the design environment DTBOS (design tool for brain operating system). We will compare our research and development environment with others available on the market or still in research phase and we will describe some of our experiments","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"21 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123506729","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 21
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