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Our institution has on-going research projects which utilize autonomous mobile robots in a variety of settings. These robots navigate and interact with humans and their environment. As part of this effort a framework to integrate the navigational operation and the speech interaction to react to contextual stimuli is provided. This framework provides a system which is easy to configure and modify....
This paper presents methods to continue development of a completely autonomous robotic system employing ground penetrating radar imaging of the glacier sub-surface. We use well established machine learning algorithms and appropriate un-biased processing, particularly those which are also suitable for real-time image analysis and detection. We tested and evaluated three processing schemes in conjunction...
This paper presents the results of a performance evaluation of a standard Linux-based control system employed in many critical embedded applications, and identify improvements in responsiveness and efficiency obtainable by specific modifications aimed at enhancing the preemptive and real-time capabilities over the standard OS kernel. The study was accomplished with the aid of a tool for runtime performance...
Component-based software has been proposed as a methodology for improving software reuse and has increasingly been adopted by robot software developers. At the same time, robot systems typically have real-time performance requirements and performance gains can often be obtained by multi-threading. It is challenging, however, to create correct multi-threaded software, especially when standard mutual...
It is challenging to schedule time-constrained cluster tools subject to activity time variation. With the help of their Petri net model, a real-time control policy is used to offset the activity time variation. Based on it, the schedulability conditions and scheduling algorithms are presented for single-arm cluster tools. The schedulability conditions can be analytically checked. Algorithms are developed...
Reinforcement Learning (RL) is a paradigm for learning decision-making tasks that could enable robots to learn and adapt to their situation on-line. For an RL algorithm to be practical for robotic control tasks, it must learn in very few samples, while continually taking actions in real-time. Existing model-based RL methods learn in relatively few samples, but typically take too much time between...
In this paper, a new buy-time fault tolerant method is proposed based on a bounding parameter estimation algorithm. The system parameters are confined within given bounds. The size of the bounds shrinks as more information becomes available. In this case, the reconfigurable control scheme can rely on the estimated parameter bounds to provide preliminary control to stabilize the system and slow down...
We present the M3 framework, a formal and generic computational framework for modeling and controlling stochastic distributed systems of purely reactive robots in an automated and real-time fashion. Based on the trajectories of the robots, the framework builds up an internal microscopic representation of the system, which then serves as a blueprint of models at higher abstraction levels. These models...
This paper presents the design and implementation of a real-time real-world beat tracking system which runs on a dancing robot. The main problem of such a robot is that, while it is moving, ego noise is generated due to its motors, and this directly degrades the quality of the audio signal features used for beat tracking. Therefore, we propose to incorporate ego noise reduction as a pre-processing...
With wafer residency time constraints, to obtain a feasible schedule for cluster tools is to balance the wafer sojourn time to some extent among the processing steps. However, the wafer sojourn time fluctuation caused by activity time variation can result in the violation of residency time constraint at some step such that a feasible schedule under the assumption of deterministic activity times may...
In this study, development and optimization of a Hough transform based real time lane detection algorithm was explored. Finding lane marks by using Hough transform on captured video frames was the main goal of the system. Image processing code was developed on Visual DSP 5.0 environment and the code was run on BF-561 processor embedded in ADSP BF561 EZ KIT LITE evaluation board. The code was optimized...
In some countries, many problems according to aging are pointed out. Decrease of worker's physical ability is one of them. The old workers have high techniques, but physical ability is lower than that of young workers. And it becomes difficult to keep high quality. Hence it is thought that a power assist by robot is needed. The method that increases human motion simply is mainstream conventional power...
As robots become increasingly capable and autonomous, the role of a human operator may be to supervise multiple robots and intervene to handle problems and provide strategic guidance. In such cases, the extent to which HRI tools support the human supervisor's situational awareness (SA) and ability to intervene in an appropriate and timely fashion will constrain the scale of operations (e.g., the number...
Research in surgical robots often calls for multi-axis controllers and other I/O hardware for interfacing various devices with computers. As the need for dexterity is increased, the hardware and software interfaces required to support additional joints can become cumbersome and impractical. To facilitate prototyping of robots and experimentation with large numbers of axes, it would be beneficial to...
In this paper we present a new multi-OS architecture designed particularly for SMP platform that run RTOS and GPOS on different CPUs. No modification is needed on the GPOS side. With this architecture we can achieve high performance with little engineering cost. A prototype multi-OS called RGMP (RTOS and GPOS on Multi-Processor) has been implemented using Linux as GPOS and μC/OS-II as RTOS to verify...
This paper describes a low-power eight-core Mixed Integer Quadric Programming (MIQP) solver processor VLSI for real-time autonomous robot control. It features an eight-core architecture with operation-level and task-level parallel processing using speculative execution to solve a 75-variable MIQP problem within 100 ms. The VLSI, containing 12.2 M transistors and occupying 2.7 × 3.0 mm2 area, was designed...
When using models and simulations in the design and reconfiguration of manufacturing systems, it is difficult to gage the fidelity of the model, especially if the system being modeled doesn't yet exist. The model cannot typically be validated until the system is in place. We propose the concept of Hybrid Process Simulation (HPS), an extension of traditional Hardware-in-Loop (HIL) technology, as a...
SIFT features have become extremely popular in computer vision because of their reliable matching qualities under changing lighting conditions. In Robotics they are ubiquitious in self localisation and mapping (SLAM), object tracking and recognition. However, the length of the descriptor is a major obstacle for real-time applications and mobile platforms where the computation time and storage capacity...
A study of a communication robot that aims to ease stress and to heal is very important. This paper develops a dialogue robot with haptic interactions, and two experiments are carried out to estimate the effects of dialogue and haptic interactions. From experimental results, the haptic interactions have more effective than dialogue in the interest conversation and in the robustness.
Since HOAP series robots resemble human body structure, a HOAP robot is expected to interact with others in real-time. However, it has proven hard in terms of learning, recognition, and interaction in real-time. In this paper a Fuzzy Inference System (FIS) is proposed, which learns gestures with segmentation and motion primitives, recognize gestures with created rule-based system in learning phase,...
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