Now showing items 665-684 of 1540

    • Individual Muscle Control using an Exoskeleton Robot for Muscle Function Testing 

      Ueda, Jun; Ming, Ding; Krishnamoorthy, Vijaya; Shinohara, Minoru; Ogasawara, Tsukasa (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-08)
      Healthy individuals modulate muscle activation patterns according to their intended movement and external environment. Persons with neurological disorders (e.g., stroke and spinal cord injury), however, have problems in ...
    • Individual Muscle Control using an Exoskeleton Robot for Muscle Function Testing 

      Ueda, Jun; Hyderabadwala, Moiz; Ding, Ming; Ogasawara, Tsukasa; Krishnamoorthy, Vijaya; Shinohara, Minoru (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 2009-10)
    • Indoor GPS-denied Context Based SLAM Aided Guidance for Autonomous Unmanned Aerial Systems 

      Bershadsky, Dmitry; Johnson, Eric N. (Georgia Institute of Technology, 2013-08)
      Autonomous exploration and mapping of environments is an important problem in robotics. Efficient exploration of structured environments requires that the robot utilize region-specific exploration strategies and coordinate ...
    • Indoor Navigation for Unmanned Aerial Vehicles 

      Sobers, D. Michael Jr.; Chowdhary, Girish; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2009-08)
      The ability for vehicles to navigate unknown environments is critical for autonomous operation. Mapping of a vehicle's environment and self-localization within that environment are especially difficult for an Unmanned ...
    • Indoor/Outdoor Autonomous Navigation and 3D Exploration with a Quadrotor 

      Michael, Nathan (Georgia Institute of Technology, 2012-10-03)
      In this talk, I will discuss approaches to state estimation and exploration with an autonomous quadrotor in indoor and outdoor environments. Quadrotors, and more generally micro-aerial vehicles, offer 3D mobility and ...
    • Inertial Attitude and Position Reference System Development for a Small UAV 

      Jung, Dongwon; Tsiotras, Panagiotis (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2007-05)
      This article presents an inexpensive inertial attitude and position reference system for a small unmanned aerial vehicle (UAV) that utilizes low cost inertial sensors in conjunction with a global positioning system (GPS) ...
    • Inertial Vibration Damping Control of a Flexible Base Manipulator 

      George, Lynnane E.; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 2002-11)
      A rigid (micro) robot mounted serially to the tip of a long, flexible (macro) manipulator is often used to increase reach capability, but flexibility in the macromanipulator can interfere with positioning accuracy. A rigid ...
    • Inertial Vibration Damping of a Flexible Base Manipulator 

      George, Lynnane E.; Book, Wayne John (Georgia Institute of TechnologyJapan Society of Mechanical Engineers, 2003)
      A rigid (micro) robot mounted serially to the tip of a long, flexible (macro) manipulator is often used to increase reach capability, but flexibility in the macromanipulator can make it susceptible to vibration. A rigid ...
    • Inference In The Space Of Topological Maps: An MCMC-based Approach 

      Ranganathan, Ananth; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2004-09)
      While probabilistic techniques have been considered extensively in the context of metric maps, no general purpose probabilistic methods exist for topological maps. We present the concept of Probabilistic Topological ...
    • Inferring Meal Eating Activities in Real World Settings from Ambient Sounds: A Feasibility Study 

      Thomaz, Edison; Zhang, Cheng; Essa, Irfan; Abowd, Gregory D. (Georgia Institute of TechnologyAssociation for Computing Machinery, 2015)
      Dietary self-monitoring has been shown to be an effective method for weight-loss, but it remains an onerous task despite recent advances in food journaling systems. Semi-automated food journaling can reduce the effort of ...
    • Inferring Object Properties from Incidental Contact with a Tactile-Sensing Forearm 

      Bhattacharjee, Tapomayukh; Rehg, James M.; Kemp, Charles C. (Georgia Institute of Technology, 2014-09)
      Whole-arm tactile sensing enables a robot to sense properties of contact across its entire arm. By using this large sensing area, a robot has the potential to acquire useful information from incidental contact that ...
    • Inferring Temporal Order of Images From 3D Structure 

      Schindler, Grant; Dellaert, Frank; Kang, Sing Bing (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-06)
      In this paper, we describe a technique to temporally sort a collection of photos that span many years. By reasoning about persistence of visible structures, we show how this sorting task can be formulated as a constraint ...
    • Information Fusion in Navigation Systems via Factor Graph Based Incremental Smoothing 

      Indelman, Vadim; Williams, Stephen; Kaess, Michael; Dellaert, Frank (Georgia Institute of TechnologyElsevier B.V., 2013-08)
      This paper presents a new approach for high-rate information fusion in modern inertial navigation systems, that have a variety of sensors operating at different frequencies. Optimal information fusion corresponds to ...
    • Information Propagation Applied to Robot-Assisted Evacuation 

      Robinette, Paul; Vela, Patricio A.; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-05)
      Inspired by large fatality rates due to fires in crowded areas and the increasing presence of robots in dangerous emergency situations, we have implemented a model of information propagation among evacuees. Information ...
    • Information Propagation Applied to Robot-Assisted Evacuation 

      Robinette, Paul; Vela, Patricio A.; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-05)
      Inspired by large fatality rates due to fires in crowded areas and the increasing presence of robots in dangerous emergency situations, we have implemented a model of information propagation among evacuees. Information ...
    • An Information Space View of "Time": From Clocks to Open-Loop Control 

      LaValle, Steven M.; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer Verlag, 2009)
      This paper addresses the peculiar treatment that time receives when studying control systems. For example, why is the ability to perfectly observe time assumed implicitly in virtually all control formulations? What ...
    • Information-based Reduced Landmark SLAM 

      Choudhary, Siddharth; Indelman, Vadim; Christensen, Henrik I.; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-05)
      In this paper, we present an information-based approach to select a reduced number of landmarks and poses for a robot to localize itself and simultaneously build an accurate map. We develop an information theoretic ...
    • Information-Theoretic Stochastic Optimal Control via Incremental Sampling-based Algorithms 

      Arslan, Oktay; Theodorou, Evangelos A.; Tsiotras, Panagiotis (Georgia Institute of Technology, 2014-12)
      This paper considers optimal control of dynamical systems which are represented by nonlinear stochastic differential equations. It is well-known that the optimal control policy for this problem can be obtained as a function ...
    • Informing Assistive Robots with Models of Contact Forces from Able-Bodied Face Wiping and Shaving 

      Hawkins, Kelsey P.; King, Chih-Hung; Chen, Tiffany L.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-09)
      Hygiene and feeding are activities of daily living (ADLs) that often involve contact with a person's face. Robots can assist people with motor impairments to perform these tasks by holding a tool that makes contact with ...
    • Initialization Techniques for 3D SLAM: A Survey on Rotation Estimation and its Use in Pose Graph Optimization 

      Carlone, Luca; Tron, Roberto; Daniilidis, Kostas; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-05)
      Pose graph optimization is the non-convex optimization problem underlying pose-based Simultaneous Localization and Mapping (SLAM). If robot orientations were known, pose graph optimization would be a linear least-squares ...