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5th international conference on Industrial Applications of Holonic and Multi-Agent Systems, HoloMAS 2011

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5th international conference on Industrial Applications of Holonic and Multi-Agent Systems, HoloMAS 2011

ISBN: (纸本)9783642231803

the proceedings contain 25 papers. the special focus in this conference is on Industrial Applications of Holonic and Multi-Agent Systems. the topics include: Communication- and computation- bounded agents in multi-agent simulations;simulation environment for the optimization of the data retrieval capabilities of an agent based system in a healthcare setting;artificial social models for holonic systems;multiagent systems for production planning in automation;model-driven development of multi-agent based collaborative planning concepts for heterarchical supply chains;multi-agent system for scheduling of flight program, cargo flow and resources of international space station;icomas: an agent-based system for cooperative transportation planning in the food industry;Roles-based MAS applied to the control of intelligent products in FMS;PROSA and delegate MAS in robotics;recent developments and future trends of industrial agents;a goal-based approach to holonic manufacturing;agents tasks reallocation for collaborative urban supply chain management;Ground tactical mission support by multi-agent control of UAV operations;surveillance of unmanned aerial vehicles using probability collectives;towards cooperation in adversarial search with confidentiality;dynamic trajectory replanning for unmanned aircrafts supporting tactical missions in urban environments;an application of the holonic manufacturing system to a flexible assembly cell;Using ethernet/IP with IEC 61499 communication function blocks;a test and validation approach for the standard-based implementation of intelligent electronic devices in smart grids;localization of industrial wireless sensor networks: An artificial neural network approach;new trends of visualization in smart production control systems;multi-agent system for on-demand production integrating production and quality control.

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Stabilization of Takagi-Sugeno fuzzy interconnected systems with imperfect premise matching

Stabilization of Takagi-Sugeno fuzzy interconnected systems ...

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international conference on Control, automation and Systems ( ICCAS)

作者： Ho Jun Kim Jin Bae Park Young Hoon Joo Department of Electrical Engineering Yonsei University Seoul South Korea Department of Control and Robotics Engineering Kunsan University Gunsan-si Jeonbuk South Korea

this paper is concerned with the stabilization of Takagi-Sugeno (T-S) fuzzy interconnected systems. the nonlinear interconnected system is presented by T-S fuzzy model. To reduce conservative stabilization conditions, imperfect premise matching is proposed in which T-S fuzzy model and fuzzy controller do not share the same membership functions. the stabilization condition is formulated in terms of linear matrix inequalities (LMIs). Simulation example is given to illustrate the effectiveness of the proposed approach.

关键词： Stability analysis Interconnected systems Numerical stability Analytical models Fuzzy control Lyapunov methods

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Voice command interpretation for robot control

Voice command interpretation for robot control

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international conference on Autonomous Robots and Agents, ICARA

作者： Amal Punchihewa Zuriawati Mohd Arshad School of Engineering & Advanced Technology Massey University Palmerston North New Zealand IBM Systems & Technology Group IBM Malaysia Sdn. Bhd. Selangor Malaysia

this paper presents some initial results from an analysis of performance of a voice command interpretation and authorisation system using voiceprint to identify the human-commander. Two approaches based on human voice related algorithms are proposed. Mel-frequency cepstral coefficient (MFCC) and perceptual linear predictive (PLP) are two feature extraction methods that are closely mimic the human auditory system. the two methods were applied to the proposed system to determine their suitability for use in a commander recognition system. Vector Quantization (VQ) with Linde-Buzo-Gray (LBG) iterative algorithm was used for clustering for the classification of commanders. the performance of the algorithms was evaluated to compare between two methods in MATLAB simulation environment based on, false rejection rate (rejecting an authorised commander), false acceptance rate (accepting unauthorised commander) and the execution time. Based on the initial results, both methods achieved accurate classification and PLP method has shown better execution time and lower false-acceptance rate compared to the MFCC. the combined approach (MFCC-PLP) did not show considerable improved performances to the individual feature models PLP and MFCC without incurring high computational costs that will compromise the performance of the speaker recognition tasks. therefore, PLP method is the best candidate for command-recognition system to be developed in the second phase of this research.

关键词： Humans Speech Speaker recognition Feature extraction Speech recognition Auditory system Hidden Markov models

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Reactive rhythm activities and offline classification of imagined speeds of finger movements

Reactive rhythm activities and offline classification of ima...

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international conference on Bioinformatics and Biomedical Engineering

作者： Fu, Yunfa Xu, Baolei Pei, Lili Li, Hongyi State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate School of the Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781424450893

Reactive rhythm bands to imagined speeds of index finger movement and offline classification of imagined speeds were explored in the paper. EEG was recorded when 4 subjects executed motor imagery of two tasks at first-person perspective that involved left index fingers at two speeds (4Hz and 1Hz, trained and paced by metronome). Relatively prominent rhythmic activities around 10˜13 Hz and 24˜26 Hz over C3, 12˜13 Hz over Cz, and 11˜13 Hz, 8˜10Hz, and 25˜26 Hz over C4 were found by spectrum analysis. the most significant band 9- 13Hz was used to construct the feature space. the Fisher discriminant analysis method (FDA), multi-layer perceptron neural network (MLP), and distinction sensitive learning vector quantization (DSLVQ) were applied in offline identification of imagined speeds respectively. the best average misclassification rates between fast and slow movement imagination by only three derivations C3, Cz, and C4 with FDA, MLP, and DSLVQ were 27.5±1%, 31.2±3.7%, and 34.6% at 3260 ms respectively. the results showed that FDA in this study was better than MLP and DSLVQ. this study demonstrated that discrimination for imagined speeds of finger movement was possible and feasible. Classification of imagined movement speeds with high accuracy based on EEG is also possible through improving methods in the paper. the study may provide a strategy to realize fine control of robots by brain-controlled robot interface. © 2011 IEEE.

关键词： Speed

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Grasp hypothesis generation for parametric object 3D point cloud models

Grasp hypothesis generation for parametric object 3D point c...

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international conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Karthik Mahesh Varadarajan Ishaan Gupta Markus Vincze Vision for Robotics Automation and Control Institute Technical University of Vienna Austria

Grasping by Components (GBC) is a very important component of any scalable and holistic grasping system that abstracts point cloud object data to work with arbitrary shapes with no apriori data. Superquadric representation of point cloud data is a suitable parametric method for representing and manipulating point cloud data. Most Superquadrics based grasp hypotheses generation methods perform the step of classifying the parametric shapes into one of different simple shapes with apriori established grasp hypotheses. Such a method is suitable for simple scenarios. But for a holistic and scalable grasping system, direct grasp hypothesis generation from Superquadric representation is crucial. In this paper, we present an algorithm to directly estimate grasp points and approach vectors from Superquadric parameters. We also present results for a number of complex Superquadric shapes and show that the results are in line with grasp hypotheses conventionally generated by humans.

关键词： Shape Grasping Fitting three dimensional displays Vectors Equations Solid modeling

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Reactive Rhythm Activities and Offline Classification of Imagined Speeds of Finger Movements

Reactive Rhythm Activities and Offline Classification of Ima...

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international conference on Bioinformatics and Biomedical Engineering (ICBBE)

作者： Yunfa Fu Baolei Xu Lili Pei Hongyi Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Chinese Academy and Sciences Beijing China Chinese Academy of Sciences Beijing Beijing CN

Reactive rhythm bands to imagined speeds of index finger movement and offline classification of imagined speeds were explored in the paper. EEG was recorded when 4 subjects executed motor imagery of two tasks at first-person perspective that involved left index fingers at two speeds (4Hz and 1Hz, trained and paced by metronome). Relatively prominent rhythmic activities around 10-13 Hz and 24~26 Hz over C3, 12~13 Hz over Cz, and 11~13 Hz, 8~10Hz, and 25~26 Hz over C4 were found by spectrum analysis. the most significant band 9-13Hz was used to construct the feature space. the Fisher discriminant analysis method (FDA), multi-layer perceptron neural network (MLP), and distinction sensitive learning vector quantization (DSLVQ) were applied in offline identification of imagined speeds respectively. the best average misclassification rates between fast and slow movement imagination by only three derivations C3, Cz, and C4 with FDA, MLP, and DSLVQ were 27.5±1%, 31.2±3.7%, and 34.6% at 3260 ms respectively. the results showed that FDA in this study was better than MLP and DSLVQ. this study demonstrated that discrimination for imagined speeds of finger movement was possible and feasible. Classification of imagined movement speeds with high accuracy based on EEG is also possible through improving methods in the paper. the study may provide a strategy to realize fine control of robots by brain-controlled robot interface.

关键词： Fingers Electroencephalography Indexes Electrodes Robot sensing systems Mobile robots

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Takagi-Sugeno-Kang Type Fuzzy models with Fuzzy Equations in the Consequence Part

Takagi-Sugeno-Kang Type Fuzzy Models with Fuzzy Equations in...

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15th international conference on methods and models in automation and robotics (MMAR)

作者： Walaszek-Babiszewska, Anna Opole Univ Technol Dept Control & Comp Engn Opole Poland

ISBN: (纸本)9781424478279

this paper is focused on the extending Takagi-Sugeno-Kang (TSK) types fuzzy models. the propositions of the models with a fuzzy set-valued function in the consequence part as well as the models with the fuzzy time series in the consequence part are presented. Also chosen theoretical aspects of the creating knowledge bases and the fuzzy reasoning procedure are presented.

关键词： Fuzzy Knowledge Bases Time series Proposition fuzzy reasoning Fuzzy Set theory

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A numerical method for shape and topology optimization for semilinear elliptic equation

A numerical method for shape and topology optimization for s...

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15th international conference on methods and models in automation and robotics (MMAR)

作者： Scheid, Jean-Francois Sokolowski, Jan Szulc, Katarzyna Univ Nancy 1 Inst Elie Cartan Math Lab F-54506 Vandoeuvre Les Nancy France

ISBN: (纸本)9781424478279

Shape optimization problem for semilinear elliptic equation is considered. there is an optimal solution which is computed by the Levelset method. To this end the shape derivative of the functional is evaluated. In order to predict the topology changes the topological derivative is employed. Numerical results confirm that the proposed framework for numerical solution of shape optimization problems is efficient.

关键词： Numerical methods

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Geometric Model of a Narrow Tilting CAR using robotics formalism

Geometric Model of a Narrow Tilting CAR using Robotics forma...

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15th international conference on methods and models in automation and robotics (MMAR)

作者： Maakaroun, Salim Khalil, Wisama Gautier, Maxime Chevrel, Philippe Inst Rech Commun & Cybernet Nantes IRCCyN Nantes France

ISBN: (纸本)9781424478279

the use of an Electrical narrow tilting car instead of a large gasoline car should dramatically decrease traffic congestion, pollution and parking problem. the aim of this paper is to give a unique presentation of the geometric modeling issue of a new narrow tilting car. the modeling is based on the modified Denavit Hartenberg geometric description, which is commonly used in robotics. Also, we describe the special Kinematic of the vehicle and give a method to analyze the tilting mechanism of it. Primarily experimental results on the validation of the geometrical model of a real tilting car are given.

关键词： tilting Cars geometrical model TILT MECHANISMS robotics narrowing vehicle

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Performance comparison of various navigation guidance methods in interception of a moving object by a serial manipulator considering its kinematic and dynamic limits

Performance comparison of various navigation guidance method...

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15th international conference on methods and models in automation and robotics (MMAR)

作者： Keshmiri, Mohammad Keshmiri, Mehdi Isfahan Univ Technol Dynam & Robot Ctr Esfahan Iran

ISBN: (纸本)9781424478279

In this paper a comparative analysis is represented on various navigation guidance methods used for intercepting fast maneuvering moving objects. A glancing revision is introduced on relevant works within the introduction section. Four common methods for navigation under investigation. Results demonstrate their infirmity on smoothly intercepting a moving object. Hence, to improve the navigation guidance methods and to adapt them with robotic problems a modified version of AIPNG is proposed for 2D problems and is developed for 3D problems utilization.

关键词： interceptions kinematics navigation Guidance Moving

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