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2008 IEEE International Conference on Robotics and Biomimetics最新文献

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Layered framework for formation control of multiple mobile robots - a state based approach 多移动机器人编队控制的分层框架——一种基于状态的方法
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-08 DOI: 10.1109/ROBIO.2009.4913320
R. Chetty, M. Singaperumal, T. Nagarajan
{"title":"Layered framework for formation control of multiple mobile robots - a state based approach","authors":"R. Chetty, M. Singaperumal, T. Nagarajan","doi":"10.1109/ROBIO.2009.4913320","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913320","url":null,"abstract":"In this paper, a software modelling and a layered framework for controlling multiple mobile robots in a Leader - Follower formation is proposed. The supervisor level in the framework handles the higher level missions such as formation and interobot communication, and the lower level deals with the dynamic control of robots while navigating the environment. Dynamic switching control strategy between behaviours and robots for formation keeping and active obstacle avoidance are incorporated. This allows the robots to trade their roles between them and serves to avoid obstacle while maintaining the desired formation. A novel state based modelling framework based on the relative motion states of the robots using Augmented Finite State Machine (AFSM) concept is also presented in this paper. Performance of this approach is investigated through state based simulations via Simulink/Stateflow and the results are discussed.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131846259","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: 4
From thresholding dimension reduction to informative component extraction 从阈值降维到信息成分提取
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-08 DOI: 10.1109/ROBIO.2009.4913340
Mei Chen, Yan Liu
{"title":"From thresholding dimension reduction to informative component extraction","authors":"Mei Chen, Yan Liu","doi":"10.1109/ROBIO.2009.4913340","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913340","url":null,"abstract":"Generally, pattern recognition systems is designed with a relatively small amount of training data on parameter estimates; moreover, during test, finite sample size of testing data might bring trouble for the expected bias and variance of the models. Plug-in test statistics suffer from large estimation errors, often causing the performance to degrade as the measurement vector dimension increases. Thresholding dimensionality reduction method is briefly introduced first. An extension of this idea as informative component extraction is discussed for recognition system, especially in biometrics. A novel nominal model as the population distribution is introduced to reduce the dimension. Two different kind of benefits are obtained from this method are discussed. The modified test statistic is evaluated with a set of processed physical signals. Authentication testing for the exponential distribution is examined first. Special attention is paid to a high dimension Gaussian model with unknown mean and variances. Moreover, the performance is examined with different sample size.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133796028","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: 2
Dual hand extraction using skin color and stereo information 双手提取使用肤色和立体信息
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-08 DOI: 10.1109/ROBIO.2009.4913025
T. Pham, X. Pham, D. Nguyen, S. Jin, J. Jeon
{"title":"Dual hand extraction using skin color and stereo information","authors":"T. Pham, X. Pham, D. Nguyen, S. Jin, J. Jeon","doi":"10.1109/ROBIO.2009.4913025","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913025","url":null,"abstract":"Extracting the positions of hands is an important step in Human Computer Interaction and Robot Vision applications. Posture and gesture can be extracted from hand positions and the appropriate task can be performed. In this paper, we propose an approach to extract hand images using skin color and stereo information. Our method does not require clear hand-size or high-quality disparity. With a sound training database and an adequate working environment, we obtain nearly 100 percent accuracy. The run time, ignoring calculation of disparity generation time, is also acceptable.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115673105","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: 6
SWAT Surveillance Wall Acclivitous Tracker SWAT监视墙倾斜跟踪器
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-08 DOI: 10.1109/ROBIO.2009.4913097
Arun Raman
{"title":"SWAT Surveillance Wall Acclivitous Tracker","authors":"Arun Raman","doi":"10.1109/ROBIO.2009.4913097","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913097","url":null,"abstract":"This paper deals with a basic model of surveillance system which can travel in horizontal as vertical surface. SWAT which stands for Surveillance Wall Acclivitous Tracker is a wireless controlled surveillance system. The SWAT is powered from an AC voltage and the control inputs are coordinated through the PIC16F628. SWAT in reality resembles a lizard and scales the vertical surface using suction cups driven by suction motors. SWAT also has a night vision camera for capturing the details and the details are sent to the remote server in wireless channel. Though the SWAT doesn't have an on board power supply and suction motor to support it, in future there are provisions for having them onboard.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122453567","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
Task-oriented accuracy measure for dexterous manipulation 面向任务的灵巧操作精度测量
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-05-08 DOI: 10.1109/ROBIO.2009.4913119
M. Yashima, T. Yamawaki
{"title":"Task-oriented accuracy measure for dexterous manipulation","authors":"M. Yashima, T. Yamawaki","doi":"10.1109/ROBIO.2009.4913119","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913119","url":null,"abstract":"The present paper proposes a novel quality measure for choosing a grasp with high task accuracy to achieve a specified task. In precision manipulation tasks such as a peg-in-hole insertion, the task accuracy required for each direction in the task space is different. It is required to choose the grasp which meets with specified task requirements. According to the linear system theory, the task-oriented accuracy measure is derived by using the singular values of the output controllability matrix for the manipulation system. The usefulness of the proposed quality measure are shown by two simulations concerning a peg-in-hole insertion task and a baton twirling.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116890867","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: 5
Automated learning for parameter optimization of robotic assembly tasks utilizing genetic algorithms 基于遗传算法的机器人装配任务参数优化自动学习
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913000
J. Marvel, W. Newman, D. Gravel, George Zhang, Jianjun Wang, T. Fuhlbrigge
{"title":"Automated learning for parameter optimization of robotic assembly tasks utilizing genetic algorithms","authors":"J. Marvel, W. Newman, D. Gravel, George Zhang, Jianjun Wang, T. Fuhlbrigge","doi":"10.1109/ROBIO.2009.4913000","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913000","url":null,"abstract":"A challenge for automating mechanical assembly is that cumulative uncertainties typically exceed part clearances, which makes conventional position-based tactics unsuccessful. Force-based assembly strategies offer a potential solution, although such methods are still poorly understood and can be difficult to program. In this paper, we describe a force-based robotic assembly approach that uses fixed strategies with tunable parameters. A generic assembly strategy suitable for execution on an industrial robot is selected by the programmer. Parameters are then self-tuned empirically by the robot using a genetic-algorithm learning process that seeks to minimize assembly time subject to contact-force limits. Results are presented for two automotive part assembly examples using ABB robots with commercial force-control software, showing that the approach is highly effective and suitable for industrial use.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124442600","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: 39
Insect based automatic precise navigation of piezo driven micro robots for artificial insemination 基于昆虫自动精确导航的压电驱动人工授精微型机器人
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913129
D. Misaki, H. Aoyama
{"title":"Insect based automatic precise navigation of piezo driven micro robots for artificial insemination","authors":"D. Misaki, H. Aoyama","doi":"10.1109/ROBIO.2009.4913129","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913129","url":null,"abstract":"The small size robots less that 1 cubic inch have the potential benefits with the special tasks of such the facility maintenances and the microscopic operation with sub micron resolution as well. For these years, our group have been developed unique piezo driven tiny robots for precise production. However it is difficult to carry out precise artificial insemination robot manually from the problem of measuring accurate coordinate positions or over range of microscopic field. Here it has been also increased that the demand for automatic fine manipulation for bio cell surgeries. This paper describes the insect based precise navigation for the piezo driven micro robots system to provide the automatic insemination and incubation processes. These small robots with several range sensors can communicate each other and navigate themselves with the simple control sequences similar to insect behavior. In the experiment results, it is demonstrated that the male and the female robots succeeded in executing accurate navigation, insemination and incubation by using a fish egg.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116757879","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: 3
Development of vision service in Robotics Studio for road signs recognition and control of LEGO MINDSTORMS ROBOT LEGO MINDSTORMS机器人道路标志识别与控制的视觉服务开发
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913167
Pham Trung, N. Afzulpurkar, Dhananjay Bodhale
{"title":"Development of vision service in Robotics Studio for road signs recognition and control of LEGO MINDSTORMS ROBOT","authors":"Pham Trung, N. Afzulpurkar, Dhananjay Bodhale","doi":"10.1109/ROBIO.2009.4913167","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913167","url":null,"abstract":"Microsoft recently announced the release of Microsoft Robotics Studio (MSRS) for developing applications for robots. By itself, it is interesting to see this new toolkit, but it should appeal beyond those interested in programming robots. In this research, MSRS is used to control the LEGO MINDSTORMS NXT robot motion using webcam for road sign recognition. MSRS software, Sensors, and Motors are used as services for the robot. We also generated a modular service for Webcam that allows LEGO MINDSTORMS NXT robot to become more flexible and intelligent. The robot can follow a path by recognizing road signs such as left, right, and stop.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127351717","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: 9
A sample discarding strategy for rapid adaptation to new situation based on Bayesian behavior learning 基于贝叶斯行为学习的快速适应新情况的样本丢弃策略
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913299
S. M. Tareeq, T. Inamura
{"title":"A sample discarding strategy for rapid adaptation to new situation based on Bayesian behavior learning","authors":"S. M. Tareeq, T. Inamura","doi":"10.1109/ROBIO.2009.4913299","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913299","url":null,"abstract":"Bayesian reasoning is used in many robotics applications when there is significant uncertainty accompanying perception and action. Generally for Bayesian belief changes in query nodes, we are more interested in evidence that may lead to a change in decision. If an observation has very little effect on decisions, it could be regarded as an insignificant observation for the learning process. This paper presents a method for discarding such insignificant observations so that we can concentrate on evidence that is more important and useful for learning. The main advantage of our method is that it can closely follow a user's preference or change in environment without requiring a huge amount of data.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124828254","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: 4
Design of WSN node based on CC2431 applicable to lunar surface environment 基于CC2431的月球表面环境WSN节点设计
2008 IEEE International Conference on Robotics and Biomimetics Pub Date : 2009-02-22 DOI: 10.1109/ROBIO.2009.4913152
Zhuancheng Zhang, M.Q.-H. Meng, Fuqing Wu, Xijun Chen
{"title":"Design of WSN node based on CC2431 applicable to lunar surface environment","authors":"Zhuancheng Zhang, M.Q.-H. Meng, Fuqing Wu, Xijun Chen","doi":"10.1109/ROBIO.2009.4913152","DOIUrl":"https://doi.org/10.1109/ROBIO.2009.4913152","url":null,"abstract":"Firstly, the paper introduces the Wireless Sensor Networks (WSN) simply. It analyses the influence of lunar surface environment on the nodes of WSN and gives corresponding solutions. According to the characteristics of WSN and design requirements of the sensor node, we design a kind of sensor nodes which based on CC2431. Then the processor module, wireless communications module, location engine, power management module and temperature control module are described in detail. Finally, we conduct the localization experiment of blind nodes and robot navigation experiment.","PeriodicalId":321332,"journal":{"name":"2008 IEEE International Conference on Robotics and Biomimetics","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124988334","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: 6
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