Data Mining Practical Machine Learning Tools and Techniques

https://www.cs.cmu.edu/~illah/PAPERS/socialroboticssurvey.pdf

A survey of socially interactive robots

Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques.] This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners.

http://www.gbv.de/dms/hebis-darmstadt/toc/120387220.pdf

Introduction to Autonomous Mobile Robots

Introduction to linear and nonlinear programming

It is traditional to make the interface between an actuator and its load as stiff as possible. Despite this tradition, reducing interface stiffness offers a number of advantages, including greater shock tolerance, lower reflected inertia, more accurate and stable force control, less inadvertent damage to the environment, and the capacity for energy storage. As a trade-off, reducing interface stiffness also lowers zero motion force bandwidth. In this paper, the authors propose that for natural tasks, zero motion force bandwidth isn't everything, and incorporating series elasticity as a purposeful element within the actuator is a good idea. The authors use the term elasticity instead of compliance to indicate the presence of a passive mechanical spring in the actuator. After a discussion of the trade-offs inherent in series elastic actuators, the authors present a control system for their use under general force or impedance control. The authors conclude with test results from a revolute series-elastic actuator meant for the arms of the MIT humanoid robot Cog and for a small planetary rover.

/pdf/series-elastic-actuators-2f8q6xoik0.pdf

Series elastic actuators

Bio-signal processing is a major topic in the field of robotics. Especially, prostheses have been studied for a long time to detect amputee's intentions from bio-signals because they do not have their limbs. However, controlling prostheses using bio-signals such as from the brain and surface electromyograms (sEMG), is complex and nonlinear because these signals are noisy and varied. It is not easy to determine the extent of motion such as a joint angle, and previous research used complex models or machine learning based on bio-signals. To estimate a joint angle easily and accurately, we propose a new bio-signal derived from the muscle bulge movements measured on the skin. We hypothesized a simple relationship between the muscle bulge movement longitudinally along a muscle and the corresponding joint angle, because the muscle contraction causes the change in the joint angle. We estimated a wrist joint angle as a function of the muscle bulge movement longitudinally along the extensor carpi radialis longus that is the agonist muscle of wrist extension. From the experimental results, the following three achievements were obtained. First, we extracted a linear relationship from the raw data with a high determination coefficient. Second, we showed that the estimation error using the proposed method was not much different from that of using sEMG in related work. Third, we established that the proposed method could estimate the joint angle robustly for the external loads on a limb.

Estimating a joint angle by means of muscle bulge movement along longitudinal direction of the forearm

This paper proposes an ideal control method for the adjustment of joint impedance of manipulators, by using mechanical elements such as Leaf Spring and Pseudo-Damper by a Brake. The proposed method can realize an ideal characteristics of impedance compared to conventional active force control methods which performances are limited by the responses of the servo systems, the non-linear characteristics of the force sensors and the dynamics of the manipulator. Compliant following motions in cases of sudden changes of external forces is expected. Concretely a compliance adjustment method using the spring mechanism, the structure and control of the Pseudo-Damper system, and simple control algorithms for the coordinated system are mentioned.The effect of our mechanism and methods are shown by an experiment of adjusting the joint impedance to appropriate levels including very compliant conditions and positioning, by using the 1-D. O. F. Finger Model which the new joint mechanism is applied to robot fingers.

New Control Method for Robot Joint by Mechanical Impedance Adjuster

Analysis of Preference for Autonomous Driving Under Different Traffic Conditions Using a Driving Simulator

Due to functional limitations in certain situations, the driver receives a request to intervene from automated vehicles operating level 3. Unscheduled intervention of control authority would lead to insufficient situational awareness, then this will make dangerous situations. The purpose of this study is thus to propose tactical-level input (TLI) method with a multimodal driver-vehicle interface (DVI) for the human-centered intervention. The proposed DVI system includes touchscreen, hand-gesture, and haptic interfaces that enable interaction between driver and vehicle, and TLI along with such DVI system can enhance situational awareness. We performed unscheduled takeover experiments using a driving simulator to evaluate the proposed intervention system. The experimental results indicate that TLI can reduce reaction time and driver workload, and moreover, most drivers preferred the use of TLI than manual takeover.

/pdf/human-centered-intervention-based-on-tactical-level-input-in-tzpc6ktnph.pdf

Human-Centered Intervention Based on Tactical-Level Input in Unscheduled Takeover Scenarios for Highly-Automated Vehicles

Typically, the range and sensitivity of force sensors are determined during production. However, to be able to do both delicate and high-force demanding work, adjustable force sensitivity would be beneficial. The current paper proposes such a sensor by implementing a planar electromagnet above a 3-axis magnetic sensor, separated by soft foam. Furthermore, the sensor has digital output with an integrated microcontroller. The magnetic field strength with varying currents is examined in simulation, and the field changes according to displacements are investigated both in simulation and with the actual sensor. A prototype 3-axis force sensor is implemented and the relationship between the magnetic field change and the corresponding applied force is also investigated. It could be shown that the sensitivity of the sensor to displacements, as well as force, can indeed be adjusted.

An Adjustable Force Sensitive Sensor with an Electromagnet for a Soft, Distributed, Digital 3-axis Skin Sensor

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