Operator Engagement Detection for Robot Behavior Adaptation, Page 001-012
Pramila Rani & Nilanjan Sarkar

Abstract: It has been shown that in human-robot interaction, the effectiveness of a robot varies inversely with the operator engagement in the task. Given the importance of maintaining optimal task engagement when working with a robot, it would be immensely useful to have a robotic system that can detect the level of operator engagement and modify its behavior if required. This paper presents a framework for human-robot interaction that allows inference of operator’s engagement level through the analysis of his/her physiological signals, and adaptation of robot behavior as a function of the operator’s engagement level. Peripheral physiological signals were measured through wearable biofeedback sensors and a control architecture inspired by Riley’s original information-flow model was developed to implement such human-robot interaction. The results from affect-elicitation tasks for human participants showed that it was possible to detect engagement through physiological sensing in real-time. An open-loop teleoperation-based robotic experiment was also conducted where the recorded physiological signals were transmitted to the robot in real-time speed to demonstrate that the presented control architecture allowed the robot to adapt its behavior based on operator engagement level.
Keywords: operator engagement, situation awareness, physiological sensing, human-robot interaction

Optical Flow based robot obstacle avoidance, Page 013-016
Kahlouche Souhila & Achour Karim

Abstract: In this paper we try to develop an algorithm for visual obstacle avoidance of autonomous mobile robot. The input of the algorithm is an image sequence grabbed by an embedded camera on the B21r robot in motion. Then, the optical flow information is extracted from the image sequence in order to be used in the navigation algorithm.
The optical flow provides very important information about the robot environment, like: the obstacles disposition, the robot heading, the time to collision and the depth.
The strategy consists in balancing the amount of left and right side flow to avoid obstacles, this technique allows robot navigation without any collision with obstacles. The robustness of the algorithm will be showed by some examples.
Key words: Optical flow, Balance strategy, Focus of Expansion, Time to Contact, obstacle avoidance,

Path Planning of Free-Floating Robot in Cartesian Space Using Direct Kinematics, Page 017-026
Wenfu Xu, Bin Liang, Cheng Li, Yangsheng Xu and Wenyi Qiang

Abstract: Dynamic singularities make it difficult to plan the Cartesian path of free-floating robot. In order to avoid its effect, the direct kinematic equations are used for path planning in the paper. Here, the joint position, rate and acceleration are bounded. Firstly, the joint trajectories are parameterized by polynomial or sinusoidal functions. And the two parametric functions are compared in details. It is the first contribution of the paper that polynomial functions can be used when the joint angles are limited(In the similar work of other researchers, only sinusoidla functions could be used). Secondly, the joint functions are normalized and the system of equations about the parameters is established by integrating the differential kinematics equations. Normalization is another contribution of the paper. After normalization, the boundary of the parameters is determined beforehand, and the general criterion to assign the initial guess of the unknown parameters is supplied. The criterion is independent on the planning conditions such as the total time tf. Finally, the parametes are solved by the iterative Newtonian method. Modification of tf may not result in the recalculation of the parameters. Simulation results verify the path planning method.
Keywords: free-floating robot, space robot, path planning, on-orbit servicing, singularity avoidance

Development and Control of Compliant Hybrid Joints for Human-Symbiotic Mobile Manipulators, Page 027-034
Zhijun Li, Jun Luo, Ning Xi and Aiguo Ming

Abstract: In this paper, we develop a robot with the ability to secure human safety in human-robot collisions arising in our living and working environments. The human-symbiotic service robot using compliant hybrid joints realizes human safety, absorbs impact force, and fulfills task. In unexpected or expected collisions with human, the arising impulse force is attenuated effectively by the proposed physical model. Owing to the displacement of the links, several recovery controls have been developed for the end-effector to maintain its desired task position after the collision. The force attenuation property has been verified through collision simulations and experiments in that the capability of the proposed passive arm in overcoming the limitations of active compliance control has been demonstrated.
Keywords: human-robot symbiotic environment; safe mobile manipulators; hybrid joints; impact force

Combined Intelligent Control (CIC): An Intelligent decision making algorithm, Page 035-044
Moteaal Asadi Shirzi, M. R. Hairi Yazdi, Caro Lucas

Abstract: The focus of this research is to introduce the concept of combined intelligent control (CIC) as an effective architecture for decision-making and control of intelligent agents and multi-robot sets. Basically, the CIC is a combination of various architectures and methods from fields such as artificial intelligence, Distributed Artificial Intelligence (DAI), control and biological computing. Although any intelligent architecture may be very effective for some specific applications, it could be less for others. Therefore, CIC combines and arranges them in a way that the strengths of any approach cover the weaknesses of others.
In this paper first, we introduce some intelligent architectures from a new aspect. Afterward, we offer the CIC by combining them. CIC has been executed in a multi-agent set. In this set, robots must cooperate to perform some various tasks in a complex and nondeterministic environment with a low sensory feedback and relationship. In order to investigate, improve, and correct the combined intelligent control method, simulation software has been designed which will be presented and considered. To show the ability of the CIC algorithm as a distributed architecture, a central algorithm is designed and compared with the CIC.
Keywords: Multi-Agent, Artificial Intelligence, DAI, Behaviorism, Learning, Market Mechanism, Cooperating Robots

A novel robot of manufacturing space solar cell arrays, Page 045-050
Wu Yuexin, Fu Zhuang, Zhao Yanzheng and Zhao Hui

Abstract: This paper presents a novel robot employed to manufacture space solar cell arrays. First of all including the mechanical configuration and control system, the architecture of the robot is described. Then the flow velocity field of adhesive in the dispensing needles is acquired based on hydrodynamics. The accurate section form model of adhesive dispensed on the solar cells is obtained, which is essential for the robot to control the uniformity of dispensing adhesive. Finally the experiment validates the feasibility and reliability of the robot system. The application of robots instead of manual work in manufacturing space solar cell arrays will enhance the development of space industry.
Keywords: Robot, Space solar cell arrays, Adhesive dispensing, Laydown

3D Vision Based Landing Control of a Small Scale Autonomous Helicopter, Page 051-056
Zhenyu Yu, Kenzo Nonami, Jinok Shin and Demian Celestino

Abstract: Autonomous landing is a challenging but important task for Unmanned Aerial Vehicles (UAV) to achieve high level of autonomy. The fundamental requirement for landing is the knowledge of the height above the ground, and a properly designed controller to govern the process. This paper presents our research results in the study of landing an autonomous helicopter. The above-the-ground height sensing is based on a 3D vision system. We have designed a simple plane-fitting method for estimating the height over the ground. The method enables vibration free measurement with the camera rigidly attached on the helicopter without using complicated gimbal or active vision mechanism. The estimated height is used by the landing control loop. Considering the ground effect during landing, we have proposed a two-stage landing procedure. Two controllers are designed for the two landing stages respectively. The sensing approach and control strategy has been verified in field flight test and has demonstrated satisfactory performance.
Keywords: Landing Control, 3D Vision, Autonomous Helicopter, Height Over Ground Estimation, Two-Stage Landing

Segmentation and Location Computation of Bin Objects, Page 057-062
Hema C.R., Paulraj M.P., Nagarajan R. and Sazali Yaacob

Abstract: In this paper we present a stereo vision based system for segmentation and location computation of partially occluded objects in bin picking environments. Algorithms to segment partially occluded objects and to find the object location [midpoint,x, y and z co-ordinates] with respect to the bin area are proposed. The z co-ordinate is computed using stereo images and neural networks. The proposed algorithms is tested using two neural network architectures namely the Radial Basis Function nets and Simple Feedforward nets. The training results fo feedforward nets are found to be more suitable for the current application.The proposed stereo vision system is interfaced with an Adept SCARA Robot to perform bin picking operations. The vision system is found to be effective for partially occluded objects, in the absence of albedo effects. The results are validated through real time bin picking experiments on the Adept Robot.
Keywords: Stereo Vision, Segmentation, Radial BasisFunction Nets, Neural Networks, Bin Picking, Object Localization.

New Jacobian matrix and equations of motion for a 6 d.o.f cable-driven robot, Page 063-068
Ali Afshari and Ali Meghdari

Abstract: In this paper, we introduce a new method and new motion variables to study kinematics and dynamics of a 6 d.o.f cable-driven robot. Using these new variables and Lagrange equations, we achieve new equations of motion which are different in appearance and several aspects from conventional equations usually used to study 6 d.o.f cable robots. Then, we introduce a new Jacobian matrix which expresses kinematical relations of the robot via a new approach and is basically different from the conventional Jacobian matrix. One of the important characteristics of the new method is computational efficiency in comparison with the conventional method. It is demonstrated that using the new method instead of the conventional one, significantly reduces the computation time required to determine workspace of the robot as well as the time required to solve the equations of motion.
Keywords: parallel robot, cable suspended robot, workspace, equations of motion

Network Distributed Monitoring System Based on Robot Technology Middleware, Page 069-072
Songmin Jia and Kunikatsu Takase

Abstract: In this paper, a network distributed monitoring system for human assistance robot system was developed to improve the interaction among the users and local service robotic system and enable a remote user to get a better understanding of what is going on in the local environment. Home integration robot system and network monitoring system using QuickCam Orbit cameras were developed and demonstrated from June 9 to June 19 at the 2005 World Exposition, Aichi, Japan. Improvements of network distributed monitoring system using IEEE1394 cameras with high performance and high resolution have been done in order to extend the application of system. Robot Technology Middleware (RTM) was used in the developed system. By using RTM, we can develop cameras functional elements as "RT software components" that can be implemented by different programming languages, run in different operating system, or connected in different networks to inter-operate.It is also easy to create comprehensive robot system application by re-using existing modules thus facilitating network-distributed software sharing and improving the cost of writing and maintaining software.
Keywords: Network, Montoring system, Camera, Component, RTM.

Simulation of intelligent single wheel mobile robot, Page 073-080
Maki K. Rashid

Abstract: Stabilization of a single wheel mobile robot attracted researcher attentions in robotic area. However, the budget requirements for building experimental setups capable in investigating isolated parameters and implementing others encouraged the development of new simulation methods and techniques that beat such limitations. In this work we have developed a simulation platform for testing different control tactics to stabilize a single wheel mobile robot. The graphic representation of the robot, the dynamic solution, and, the control scheme are all integrated on common computer platform using Visual Basic. Simulation indicates that we can control such robot without knowing the detail of it’s internal structure or dynamics behaviour just by looking at it and using manual operation tactics. Twenty five rules are extracted and implemented using Takagi-Sugeno’s fuzzy controller with significant achievement in controlling robot motion during the dynamic simulation. The resulted data from the successful implementation of the fuzzy model are used to utilize and train a neurofuzzy controller using ANFIS scheme to produce further improvement in robot performance
Keywords: mobile robot, gyrover, neurofuzzy control, ANFIS

Environmental-Interaction Robotic Systems: Compliant Actuation Approach, Page 081-092
Reza Ghorbani & Qiong Wu

Abstract: Many successful designs of compliant actuators have been recently proposed. However, the challenge of providing passive and active motion in one actuator has remained. In this paper, a novel mechanism for changing the stiffness of the series elastic actuator over a wide range is presented. An accurate force source is provided by introducing the force control using velocity control of the DC motor. Performance and behaviour of the system and controller is investigated through simulation.
Keywords: Robotics, Compliant Actuator, Adjustable stiffness coupling, Design, Control

A Novel Action Selection Architecture in Soccer Simulation Environment Using Neuro-Fuzzy and Bidirectional Neural Networks, Page 093-101
Reza Zafarani and Mohammad Reza Yazdchi

Abstract: Multi-Agent systems have generated lots of excitement in recent years because of its promise as a new paradigm for conceptualizing, designing, and implementing software systems. One of the most important aspects of agent design in AI is the way agent acts or responds to the environment that the agent is acting upon. An effective action selection and behavioral method gives a powerful advantage in overall agent performance. We define a new method of action selection based on probability/priority models, we thereby introduce two efficient ways to determine probabilities using neuro-fuzzy systems and bidirectional neural networks and a new priority based system which maps the human knowledge to the action selection method. Furthermore, a behavior model is introduced to make the model more flexible.
Keywords: Soccer Simulation, Multi-Agent systems, priority/probability models, ANFIS, bidirectional neural networks.