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Motor Imagery-Based Brain-Computer Interface Coupled to a Robotic Hand Orthosis Aimed for Neurorehabilitation of Stroke Patients

Jessica Cantillo-Negrete, Ruben I. Carino-Escobar, Paul Carrillo-Mora, David Elias-Vinas, Josefina Gutierrez-Martinez
2018 Journal of Healthcare Engineering  
Offline tests were performed for testing the proposed processing stage, and results were compared with those computed with common spatial patterns.  ...  System's performance showed that it has a potential to be used for hand rehabilitation of stroke patients.  ...  The authors would like to thank Marlene Galicia-Alvarado for her helpful comments and Jose Antonio Barraza-Madrigal for helping in the design of the graphical user interface used in this work.  ... 
doi:10.1155/2018/1624637 pmid:29849992 pmcid:PMC5903326 fatcat:ykf3nkgzkjedbne3yzazflixqu

Analysis and Implementation of Brain Waves Feature Extraction and Classification to Control Robotic Hand

Mohammed Z. Al-Faiz, Ammar A. Al-hamadani
2019 Iraqi Journal of Information & Communications Technology  
(iii) The method pair (feature extraction + dimensionality reduction) that owns the lowest classification error rate will be used to learn a machine learning algorithm to control robotic hand in offline  ...  Finally, the spatial domain feature was the Common Spatial Patterns (CSP).  ...  The Matlab function fitcsvm was used to train the algorithm where x-train part of the dataset was used for the training and x-test part for testing.  ... 
doi:10.31987/ijict.1.3.35 fatcat:yk6xosgxzbeqzmt6s74b7oi7cq

Scheduling a Single Robot in a Job-Shop Environment through Precedence Constraint Posting [chapter]

D. Díaz, M. D. R-Moreno, A. Cesta, A. Oddi, R. Rasconi
2011 Lecture Notes in Computer Science  
The paper presents recent work on using robust state-of-the-art AI Planning and Scheduling (P&S) techniques to provide autonomous capabilities in a space robotic domain.  ...  We have defined a simple robotic scenario, reduced it to a known scheduling problem which is addressed here with a constraint-based, resource-driven reasoner.  ...  Extended-ESTA IFLAT Cap = 2 Cap = 3 Cap = 2 Cap = 3 Benchmark M K CP Us M K CP Us M K CP Us #Iter M K CP Us #Iter Robot test (1) 2696 171.25 2680 199.92 2644 2330.65 31 2560  ... 
doi:10.1007/978-3-642-21827-9_22 fatcat:q5vabrj54ndjbdy5l6di7bbply

Flexible and Efficient Long-Range Planning Through Curious Exploration [article]

Aidan Curtis, Minjian Xin, Dilip Arumugam, Kevin Feigelis, Daniel Yamins
2020 arXiv   pre-print
We explore the use of a variety of curiosity metrics with CSP and analyze the types of solutions that CSP discovers.  ...  Identifying algorithms that flexibly and efficiently discover temporally-extended multi-phase plans is an essential step for the advancement of robotics and model-based reinforcement learning.  ...  Visualizations each of the four task categories used to test CSP. Top Row: representative initial state for each task. Bottom Row: representative final state for each task.  ... 
arXiv:2004.10876v2 fatcat:4ioyp3qubnhvtg7txjjkzuixp4

Robotized Inspection of Vertical Structures of a Solar Power Plant Using NDT Techniques

Torsten Felsch, Gunnar Strauss, Carmen Perez, José Rego, Iñaki Maurtua, Loreto Susperregi, Jorge Rodríguez
2015 Robotics  
This paper describes a climbing robot that is capable of performing inspection and maintenance on vertical surfaces of solar power plants, e.g., the tubes of the receiver in a central tower CSP plant.  ...  Concentrated solar power (CSP) plants are expansive facilities that require substantial inspection and maintenance.  ...  Strauss developed and tested the climbing kinematics. C. Pé rez and J.M. Rego developed and tested the NDT technology. T. Felsch and C. Perez wrote the main paper, and G.  ... 
doi:10.3390/robotics4020103 fatcat:m5i6ofw34fggpgyi6bnz7clnxe

Scalable compiler for the TERMES distributed assembly system

Yawen Deng, Yiwen Hua, Nils Napp, Kirstin Petersen
2019 Robotics and Autonomous Systems  
The TERMES system is a robot collective capable of autonomously constructing user-specified structures in three dimensions.  ...  This work represents an important step towards real-world deployment of robot collectives for construction.  ...  We implement BFD compiler, edge-CSP compiler, and location-CSP compiler in python and test them on a range of structures. We use three types of structures scaled in size.  ... 
doi:10.1016/j.robot.2019.07.010 fatcat:a66o56fxgvb7jjasfswga2pwcq

A constraint-based method for solving sequential manipulation planning problems

Tomas Lozano-Perez, Leslie Pack Kaelbling
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Solving the CSP We use an "off-the-shelf" CSP solver developed by Chen and Van Beek [23] .  ...  In these tests we use relatively simple objects that have on the order of four possible grasps.  ... 
doi:10.1109/iros.2014.6943079 dblp:conf/iros/Lozano-PerezK14 fatcat:4cvit6jlhrev3gjgl3c5xs2fe4

Hybrid Algorithm combining Genetic algorithms and CSP approach to plane an Optimized path for a Mobile Robot moving under Time Window

Hayet Tlijani, Tlijani Hatem, Knani Jilani, M'sirdi NacerKouider
2014 IOSR Journal of Computer Engineering  
In this frame goes our first works which are interested in the optimization of a reference trajectory of a mobile robot used for the surveillance (Surveyor Robot).  ...  So that, a hybridization of the algorithm of optimization already developed at the previous work by the approach of CSP (Constraint Satisfaction Problem), is indispensable for our case.  ...  It will be called after every crossover to test the individual son. The crossover algorithm used, was developed and tested in the previous work [6] [3] based on KFP algorithm (algorithm 3).  ... 
doi:10.9790/0661-16337483 fatcat:vnd7be4nvzaunoas5ec666svfe

A stepwise approach to robotic assisted excision of a cesarean scar pregnancy

Payam Katebi Kashi, Katherine L Dengler, Eva K Welch, Angela DiCarlo-Meacham, Araba A Jackson, G Scott Rose
2021 Obstetrics & Gynecology Science  
After unsuccessful methotrexate therapy, the patient underwent an uncomplicated robotic assisted excision of her CSP and metroplasty in 2 layers using a stepwise approach: Step 1-Creation of a bladder  ...  To develop a stepwise approach to robotic assisted excision of cesarean scar pregnancy (CSP) with metroplasty.  ...  In our video, we demonstrated a stepwise approach to robotic assisted excision of CSP using metroplasty.  ... 
doi:10.5468/ogs.20311 pmid:33610162 pmcid:PMC8138068 fatcat:inz7umgvcbhgxfygxjg3ucqiqi

Formalising control in robust spoken dialogue systems

H. Shi, R.J. Ross, J. Bateman
2005 Third IEEE International Conference on Software Engineering and Formal Methods (SEFM'05)  
Specifically, we use Communicating Sequential Processes (CSP) as the basis of a new approach to the specification, design and verification of dialogue manager control.  ...  Such systems not only include innocuous human-computer interactions, but also encompass shared-control safety critical devices such as automotive vehicles and robotic systems.  ...  While the VALDIA tool (1) was built for the automatic testing of dialogue managers, it used testing methods and tools which are comparatively primitive when contrasted against formal methods commonly applied  ... 
doi:10.1109/sefm.2005.21 dblp:conf/sefm/ShiRB05 fatcat:x4bpwtc3bvbsri7bxuxc3zdpvm

Multi-robot grasp planning for sequential assembly operations

Mehmet Dogar, Andrew Spielberg, Stuart Baker, Daniela Rus
2018 Autonomous Robots  
We also present a physical robot system which uses the output of our planner to grasp and bring parts together in assembly configurations.  ...  We formulate the search for such configurations as a constraint satisfaction problem (CSP).  ...  Open Access This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecomm, which permits unrestricted use, distribution  ... 
doi:10.1007/s10514-018-9748-z fatcat:dyn7opjao5d7jgkj3t6bv562ce

Deep Reinforcement Learning for Decentralized Multi-Robot Exploration with Macro Actions [article]

Aaron Hao Tan, Federico Pizarro Bejarano, Goldie Nejat
2021 arXiv   pre-print
In this paper, we present the first Macro Action Decentralized Exploration Network (MADE-Net) using multi-agent deep reinforcement learning to address the challenges of communication dropouts during multi-robot  ...  Specifically, during communication dropout, local information about robots can no longer be exchanged to maintain robot team coordination.  ...  I FRIEDMAN TEST AND WILCOXON SIGNED-RANK TEST Friedman Test Friedman Metric ( ) at each CSP where all < .  ... 
arXiv:2110.02181v1 fatcat:jcsgrvlxwfeotnashpyf6yomfy

The signature of robot action success in EEG signals of a human observer: Decoding and visualization using deep convolutional neural networks [article]

Joos Behncke, Robin Tibor Schirrmeister, Wolfram Burgard, Tonio Ball
2017 arXiv   pre-print
used EEG classifiers.  ...  The importance of robotic assistive devices grows in our work and everyday life. Cooperative scenarios involving both robots and humans require safe human-robot interaction.  ...  STATISTICS Significance for individual decoding results was estimated using a permutation test [10, 11] . To create the null distribution a randomization process of n=1000000 guesses was applied.  ... 
arXiv:1711.06068v1 fatcat:k55urx6dubasjcufzuonmqnqly

Shedding Light on People Action Recognition in Social Robotics by Means of Common Spatial Patterns

Itsaso Rodríguez-Moreno, José María Martínez-Otzeta, Izaro Goienetxea, Igor Rodriguez-Rodriguez, Basilio Sierra
2020 Sensors  
The application of Common Spatial Patterns (CSP), a signal processing approach widely used in electroencephalography (EEG), is presented in a novel manner to be used in activity recognition in videos taken  ...  by a humanoid robot.  ...  Acknowledgments: We gratefully acknowledge the support of NVIDIA Corporation with the donation of the Titan Xp GPU used for this research.  ... 
doi:10.3390/s20082436 pmid:32344755 pmcid:PMC7219491 fatcat:wsxkl6mc7fhfxnbudazqcs3js4

Multi-robot grasp planning for sequential assembly operations

Mehmet Dogar, Andrew Spielberg, Stuart Baker, Daniela Rus
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
We also present a real robot system which uses the output of our planner to grasp and bring parts together in assembly configurations.  ...  We formulate the search for such configurations as a constraint satisfaction problem (CSP).  ...  Unlike previous work, we focus on planning such grasps in a sequential and multi-robot context. We use complete and local methods to solve CSPs.  ... 
doi:10.1109/icra.2015.7138999 dblp:conf/icra/DogarSBR15 fatcat:mm2rbddsprfzfnigqvjtpd3u5u
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