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检索条件"任意字段=2012 IEEE International Conference on Computer Science and Automation Engineering（CSAE 2012）"

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Adaptive control for a cable driven robot arm

Adaptive control for a cable driven robot arm

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2012 9th ieee international conference on Mechatronics and automation, ICMA 2012

作者： Ma, Jianjun Li, Yanan Ge, Shuzhi Sam Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Singapore Department of Automatic Control College of Mechatronics and Automation National University of Defense Technology Changsha 410073 China NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781467312776

The cable-driven mechanism is usually used in robotic systems for the efficient transmission of forces or torques from actuators to the end-effector. However, the control design is challenging for these systems due to the cable compliance and transmission elasticity. In this paper, adaptive control in a cascaded structure is designed for the trajectory tracking of a cable driven robot arm. The desired control input is obtained by developing an adaptation scheme, which does not require the computation of the regressor matrix. Proportional-derivative (PD) control is designed to specify the actual control input such that the trajectory tracking is achieved. Simulation results are provided to show the effectiveness of the proposed method. © 2012 ieee.

关键词： Cables

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An improved LSI dimension reduction algorithm based on Vector Space Modal

An improved LSI dimension reduction algorithm based on Vecto...

引用

2012 ieee 3rd international conference on Software engineering and Service science, ICSESS 2012

作者： Zhan, Donghui Zhang, Hongjun Hao, Wenning Chen, Gang Jin, Dawei Engineering Institute of Corps of Engineers PLA University of Science and Technology Nanjing 210007 China

ISBN: (纸本)9781467320054

there is not a good method to find k value when using LSI to reduce dimension of Vector Space Modal. to solve the problem above, an improved LSI dimension reduction algorithm called Dimension Reduction Parameter Produced algorithm (DRPP algorithm), was proposed. it adopts machine learning to find k value ,instead of traditional manual set parameter. the k value can be obtained by using fit methods of statistical learning theory to fit the data. Theory analysis and experimental results show that the DRPP algorithm can enhance efficiency of dimension reduction. © 2012 ieee.

关键词： Learning systems

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A personal item positioning system based on RFID technology

A personal item positioning system based on RFID technology

引用

2012 ieee 3rd international conference on Software engineering and Service science, ICSESS 2012

作者： Hua, Mengyu Yang, Junkai Department of Telecommunications Engineering International School Beijing University of Posts and Telecommunications Road West 10 Haidian China

ISBN: (纸本)9781467320054

Traditional item positioning system is usually categorized into manual operation or database statistics due to the fact that these items are highly important and have large circulation. However, this method has low efficiency to manage core items and even cannot be useful in the real-time monitoring and the process of tracking to the goods. So we need to provide a method-RFID (Radio Frequency Identification) which has higher reliability and its writing and reading speed that are faster than before. The purpose of this paper is to design a feasible and efficient private item positioning and monitoring management system using RFID and corresponding computer software, the system has benefits such as high durability, strong penetration, a vast memory capacity, a multi-purpose card, miniature volume, simple operation. This system could be applied to a more widely area like archives, museum and library. © 2012 ieee.

关键词： Radio frequency identification (RFID)

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Moving object detection and locating based on region shrinking algorithm

Moving object detection and locating based on region shrinki...

引用

2012 9th ieee international conference on Mechatronics and automation, ICMA 2012

作者： Li, Zhihui Liu, Haibo Sun, Di Computer Science and Technology College Harbin Engineering University Harbin Heilonjiang Province 150001 China

ISBN: (纸本)9781467312776

Segmentation and tracking of moving object are the important tasks in computer vision, in which the object detection and locating are the essential steps and take a great impact on the effect of segmentation and tracking. A new approach of moving object detection and locating is proposed in the Paper. In a binary difference image the region with high density of motion pixels is approached by region shrinking to implement moving object detection and locating. Under the situation of more than one object in an image power transformation is adopted to enhance objects at different position and then the region shrinking is used to detect and locate the objects. The feature rectangle of an object is derived, which is able to be used in further tracking or recognition. The method needs no prior knowledge of the number of moving object and it is robust to noise. The experiment result in the Paper shows the effectiveness of the algorithm. © 2012 ieee.

关键词： Object detection

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A new remory management mechanism based on embedded system

A new remory management mechanism based on embedded system

引用

2012 ieee 3rd international conference on Software engineering and Service science, ICSESS 2012

作者： Cheng, Xiaohui Xu, Anming College of Information Science and Engineering Guilin University of Technology Guilin China

ISBN: (纸本)9781467320054

This paper expounds a predictable and adaptive management of the embedded system dynamic memory. The solution puts the survivable design in a memory static area and partitions in dynamic area again. It puts those similar objects in the object pool subarea, and the other applicants are distributed in normal subarea. Both subareas adjust the size by transmitting parameters. In normal subarea, the paper puts forward predictable mechanism for the first time. Besides, by introducing a new data structure and combining classic buddy algorithm, it improves the adaptive algorithm of delay recovery with statistical data and applicant time interval. Finally the solution is confirmed more safely and efficiently by simulation experiments. © 2012 ieee.

关键词： Adaptive algorithms

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Actionable topological mapping for navigation using nearby objects

Actionable topological mapping for navigation using nearby o...

引用

2012 ieee international conference on automation science and engineering: Green automation Toward a Sustainable Society, CASE 2012

作者： Kim, Junyoung Kim, Juyong You, Seungil Oh, Yoonseon Oh, Songhwai School of Electrical Engineering and Computer Science and ASRI Seoul National University Seoul 151-744 Korea Republic of Department of Control and Dynamical Systems California Institute of Technology Pasadena CA 91125 United States

ISBN: (纸本)9781467304283

In this paper, we propose a mapping and navigation method for mobile robots with low computational resources and limited memory capacity. The proposed navigation method is based on topological mapping of visual features for its compact representation and robustness in localization. In order to improve the localization accuracy and minimize the memory requirement, we propose the use of visual features from nearby objects. This paper presents a new topological map, called an actionable topological map, which is constructed using visual features from nearby objects and motion information between places in the map. By incorporating motion information, we make it easier for a robot to navigate using the compact representation of a topological map. The proposed method is suitable for light-weight, low-cost robotic platforms due to its low computational and space requirements. We demonstrate the effectiveness of our approach in experiments using an inexpensive, off-the-shelf robotic platform. © 2012 ieee.

关键词： Mobile robots

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Executable simulation lifecycle management framework using extensible and interoperable simulation language

Executable simulation lifecycle management framework using e...

引用

2012 ieee international conference on automation science and engineering: Green automation Toward a Sustainable Society, CASE 2012

作者： Lee, Hyunsoo Banerjee, Amarnath School of Industrial Engineering Kumoh National Institute of Technology Gumi 730-701 Korea Republic of Department of Industrial and Systems Engineering Texas AandM University College Station TX 77843-3131 United States

ISBN: (纸本)9781467304283

There has been some recent change in focus in R&D from the concept of managing product lifecycle data to identifying and representing crucial data and using it for simulation to study dynamic process behavior and characteristics. One of the relatively new concepts that has evolved to address this change is Simulation Lifecycle Management (SLM) concept, which can be considered as the next version of PDM/PLM systems currently used in R&D. There are relatively few research studies or related frameworks that can adequately support the SLM concepts. This paper proposes an executable and interoperable SLM framework using an eXtensible Petri Net Markup Language (xPNML). Unlike other proprietary simulation languages, xPNML has advantages in terms of interoperability, flexibility and incorporation of simulation parameters. An executable SLM framework using xPNML is shown here using a conceptual scenario. The use of modular concept of xPNML is discussed to demonstrate concise and consistent simulation model development. © 2012 ieee.

关键词： computer simulation languages

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The WOAS project: Web-oriented automation system

The WOAS project: Web-oriented automation system

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2012 9th international conference on Remote engineering and Virtual Instrumentation, REV 2012

作者： Langmann, Reinhard Makarov, Oleg Meyer, Laurid Nesterenko, Sergey Josef-Gockeln-Strasse 9 D-40474 Duesseldorf Germany Odessa National Polytechnic University Institute of Computer Science 1 Shevchenko Av. Odessa UA-65044 Ukraine

The paper describes the objectives and the first results of the new research project WOAS - Architecture and Interfaces for a Web-oriented automation System. The aim of the project is to research a new architecture fo... 详细信息

ISBN: (纸本)9781467325424

关键词： Enterprise resource planning

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Designing a hybrid position evaluation function for Chinese-chess computer game

Designing a hybrid position evaluation function for Chinese-...

引用

2012 ieee 3rd international conference on Software engineering and Service science, ICSESS 2012

作者： Fu, Tingting Yin, Hongfeng Department of Computer Science Beijing JiaoTong University Haibin College Huanghua 061100 China

ISBN: (纸本)9781467320054

The position evaluation function plays an important role for building an intelligent Chinese-chess computer game (CCCG) player. The mostly used evaluation functions include standard heuristic evaluation function (SHEF) and self learning evaluation function (SLEF). SHEF depends on the board position features to large extent, but it hardly includes all the features due to the limit of knowledge of the designer. And, SLEF can explore the knowledge hidden in the current position which is difficult to find in SHEF. In this paper, a hybrid position evaluation function (HPEF) is designed by fusing SHEF and SLEF. The temporal difference learning (TDL) is used to train the proposed HPEF on professional game records. Based on HPEF, a CCCG player called CCCGp is developed. We experimentally validate that HPEF is quite effective by competing with different kinds of testing players. With the help of HPEF, the intelligent level of CCCGp can be improved incrementally with the increase of number of professional game records HPEF learned. © 2012 ieee.

关键词： Function evaluation

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A design for RFID middleware system extended from ALE specification

A design for RFID middleware system extended from ALE specif...

引用

2012 ieee 3rd international conference on Software engineering and Service science, ICSESS 2012

作者： Li, Xiu Xu, Zhan Wu, Lifang Research Institute of Electronic Science and Technology University of Electronic Science and Technology of China Chengdu China

ISBN: (纸本)9781467320054

As the rapid development and wide application of Radio Frequency Identification (RFID) technology, the increasing data rates have imposed a heavy burden on interaction of the middleware system and network bandwidth. Furthermore, the lack of uniform standard for corresponding interfaces between the components of RFID system has seriously restricted performance of data interaction and processing in system interfaces. In order to overcome these problems, in this paper, we propose a framework of the RFID middleware system extended from Application Level Event (ALE) specification. Specifically, we design three modules and introduce them into the middleware system so that the abilities of data processing and intelligence of the system can be improved. © 2012 ieee.

关键词： Middleware

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