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检索条件"任意字段=3rd International Conference on Informatics in Control, Automation and Robotics"

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Design and Development of a Tactile Shape Display by Optical Switching

Design and Development of a Tactile Shape Display by Optical...

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international conference on Innovative Computing, Information and control (ICICIC)

作者： Kenji Yamada Hiroko Mitsui The Center of Advanced Medical Engineering and Informatics Osaka University Japan Hiroshima Institute of Technology Japan

ISBN: (纸本)9781424431977;9780769531618

We have developed a tactile shape display by optical switching. Conventional tactile shape displays have any problems. For example, complex control system, limit of display resolution, measurable amount of electrical power and so on. Our system resolves these problems by optical switching. This technology comes out to parallel processing, super highspeed processing and high density. In this paper, we show our test bed system and confirmation of the system performance.

关键词： Optical switches Light emitting diodes Actuators Shape Three dimensional displays Arrays Detectors

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Simple solution for visual servoing of camera-in-hand robots in the 3d Cartesian space

Simple solution for visual servoing of camera-in-hand robots...

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international conference on control, automation, robotics and Vision (ICARCV)

作者： Luis Hernandez Rene Gonzalez Hichem Sahli Javier Gonzalez Yoani Guerra Departamento de Automática y Sistemas Computacionales Universidad Central de las Villas Villa Clara Cuba Calle 4ta s/n e/ Ave Calixto García y Tirso Díaz Empresa de Automatización Integral (CEDAI) Villa Clara Cuba Department of Electronics and Informatics (ETRO) Vrije Universiteit Brussel Brussels Belgium

In this paper, the control problem, in a 3D cartesian space, of camera-in-hand robotic systems is considered. In this approach, a camera is mounted on the robot, at the hand, which provides an image of objects located in the robot environment. The aim of this approach is to move the robot arm in such a way that the image of the considered object, a sphere in our case, coincides with the center of the image, and its apparent radius is constant. We propose a simple image-based direct visual servo controller which requires the knowledge of the objects' radius, but it does not need to use the inverse Jacobian matrix. The robotic and vision system are modelled for small variations around the operating point for position control. In these conditions, the stability of the whole system is balanced and the characteristics for steady-state response for object trajectory are obtained. Both simulation and experimental results, using an ASEA-IRB6 robot manipulator, are presented to illustrate the proposed controller's performance.

关键词： Visual servoing Orbital robotics Robot vision systems control systems Cameras Servomechanisms Jacobian matrices Machine vision Position control Stability

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A Novel Ternary controller Unit

A Novel Ternary Controller Unit

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international conference on Information and Communication Technologies: From Theory to Applications, ICTTA

作者： Ali Massoud Haidar Fadi Al-Rifai Ali Alaeldine Mouafac Fadel Bernard Department of Computer Engineering and Informatics Beirut Arab University Beirut Lebanon Grand Ecole D'Ingénieurs Généralistes en Electronique Informatique Télécoms et Réseaux Angers France Department of Electrical Engineering Faculty of Engineering Lebanese University Beirut Lebanon

The aim of this paper is to present a new design for a controller unit using base 3, which will be named ternary controller unit. The ternary controller unit is planned to be the future brain of the ternary central processing unit. The ternary controller unit controls the fetch and execution cycles of instructions. To achieve this task, the ternary controller unit receives instructions from the instruction register that is ternary, then a ternary decoder decodes those instructions. Finally the ternary controller unit sends the resulting control word (control signals) to other registers and logic circuits of the ternary central processing unit to determines their function at each phase of the fetch-execute cycle.

关键词： Centralized control Registers Decoding Central Processing Unit Design engineering Telecommunication computing informatics Logic Signal generators Telecommunication control

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An experimental result on system identification over networks using delta-sigma transformation

An experimental result on system identification over network...

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international conference on Sensing Technology, ICST

作者： Takehito Azuma Hirohisa Kato Shuichi Adachi Department of Electrical and Electronics Engineering Utsunomiya University Utsunomiya Japan Department of Applied Physics and Physico-Informatics Keio University Hiyoshi Japan

In this paper, an method to system identification over networks using 1 bit delta-sigma transformation is proposed and the efficacy of the proposed method is verified based on experimental results. Accurate mathematical models are needed to achieve intelligent control with good performances in control engineering. It is easy to obtain those mathematical models if exact input-output data of a controlled object is available by applying system identification techniques. However it is difficult to obtain the exact input-output data over networks because the data is transformed from analog data into digital data. The proposed method provides a method to build mathematical models of controlled objects over networks.

关键词： System identification Mathematical model Feedback control engineering Computer networks control systems Least squares methods Intelligent control Delta-sigma modulation

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A Decentralized and Adaptive Flocking Algorithm for Autonomous Mobile Robots

A Decentralized and Adaptive Flocking Algorithm for Autonomo...

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international conference on Grid and Pervasive Computing Workshops, GPC

作者： Yan Yang Naixue Xiong Nak Young Chong Xavier Défago School of Information Science Japan Advanced Institute of Science and Technology Nomi Ishikawa Japan

Recently, flocking of a group of mobile robots is gained a lot of attentions due to its wide applications, such as manufacturing, surveillance and space exploration. It is necessary for all robots to adapt to the complex environment during flocking. In this paper, we propose a decentralized flocking algorithm, which can avoid collision between a robot and its neighbors and the collision between robots and obstacles when there are obstacles in the environment. By simulation results, we find this algorithm can effectively achieve the goal of collision avoidance.

关键词： Mobile robots Robot kinematics Orbital robotics Robot sensing systems Communication system control Surveillance Collision avoidance Mobile communication Remotely operated vehicles Space vehicles

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Mathematical Model of Coordinate Transformations for 3D Depth-of-field Collection System

Mathematical Model of Coordinate Transformations for 3D Dept...

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6th IEEE international conference on Industrial informatics (IEEE INDIN 2008), vol.1

作者： Lixia Rong Weihai Chen Shouqian Yu Weiyang Song School of Automation and Electrical Engineering Beijing Aeronautics and Astronautics University Beijing China

Calculating the Cartesian coordinate is the first step of image reconstruct based on primitive information from laser scanner. A novel 3D Depth-of-field information collection system in this article is consisted of tow 2D laser scanners and a servo-actuates rotating mirror assembly. The system has a much higher detecting precision than others which drive 2D laser scanner to rotate to get the 3rd dimension using motor. On the other hand the relationship between the 3D Cartesian coordination and the primitive information collected by the system is much more complicated than others because of the mirror assembly. Therefore traditional mathematical model which change polar coordinate to Cartesian coordinates can not be used to our system. In the article we build the solid geometry model of the laser beam between laser scanner and the detected object based on optical theory. Then a mathematical model for the transformations from primitive information to Cartesian coordinate is built according to the geometry model. The mathematical model has been tested in simulation on PC.

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Intelligent services for assisting independent living of elderly people at home 08

Intelligent services for assisting independent living of eld...

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1st international conference on Pervasive Technologies Related to Assistive Environments, PETRA 2008

作者： Vergados, Dimitrios Alevizos, Alevizos Mariolis, Anargiros Caragiozidis, Michael University of the Aegean Department of Information and Communication Systemes Engineering Karlovassi Samos GR-832 00 Greece Health Center of Vyronas 3 Korytsas str. 16231 Athens Greece Thoss and Partner GmbH Karlstraße 38/40 71638 Ludwigsburg Germany

ISBN: (纸本)9781605580678

For more than a decade it has been observed that due to the continuously augmenting elderly population, medical expenditures for home health care were exponentially raising every year. Healthcare organizations worldwide are being encouraged to find more efficient methods of providing highquality care with cost savings. Elderly people who live alone may fear of being unable to obtain help if they are injured or ill. For many families, the specter of such an event can dominate decisions about living arrangements. During the last decades, this fear has generated an industry marketing house automations, alarm-and-notification systems as well as assistive technologies and interventions aiming in the easier and more efficient control of the living environment as well as to the provision of specialized home-care services. In the current paper, the most important aspects of the INHOME project architecture for improving the quality of life of elderly people at home is presented, which is mainly targeted in ameliorating the ways of providing intelligent services for assisting independent living of elderly people at home. Copyright 2008 ACM.

关键词： Home health care

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Relational vs. group self-construal: Untangling the role of national culture in HRI

Relational vs. group self-construal: Untangling the role of ...

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ACM/IEEE international conference on Human-Robot Interaction (HRI)

作者： Vanessa Evers Heidy Maldonado Talia Brodecki Pamela Hinds Institute of Informatics University of Amsterdam Amsterdam VA HCl Group School of Education Stanford University Stanford CA Management Science & Engineering Stanford University Stanford CA

As robots (and other technologies) increasingly make decisions on behalf of people, it is important to understand how people from diverse cultures respond to this capability. Thus far, much design of autonomous systems takes a Western view valuing individual preferences and choice. We challenge the assumption that Western values are universally optimal for robots. In this study, we sought to clarify the effects of users' cultural background on human-robot collaboration by investigating their attitudes toward and the extent to which people accepted choices made by a robot or human assistant. A 2×2×2 experiment was conducted with nationality (US vs. Chinese), ingroup strength (weak vs. strong) and human vs. robot assistant as dimensions. US participants reported higher trust of and compliance with the assistants (human and robot) although when the assistant was characterized as a strong ingroup member, Chinese as compared with the US subjects were more comfortable. Chinese also reported a stronger sense of control with both assistants and were more likely to anthropomorphize the robot than were US subjects. This pattern of findings confirms that people from different national cultures may respond differently to robots, but also suggests that predictions from human-human interaction do not hold universally.

关键词： Humans Cultural differences Robot kinematics Atmospheric measurements Particle measurements Robot sensing systems

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Application of Genetic Algorithm in Rapid Prototyping

Application of Genetic Algorithm in Rapid Prototyping

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2008 3rd international conference on Intelligent System and Knowledge Engineering(ISKE 2008)

作者： Jibin Zhao Renbo Xia Weijun Liu Jinting Xu Key Laboratory of Industrial informatics Shenyang Institute of automation Chinese Academy of Sciences Shenyang 110016 China

Part-building Orientation （PBO） and scanning direction of path planning （SDPP） )are two tasks of process plan in rapid prototyping technology （RPT）. Through investigating the geometric issues of STL model and process planning of RPT. This paper establishes optimizing model based on the considerations of staircase effect, support area and production time. And then, through analyzing the hatching characteristic of polygonal contours, approximately optimization model of direction of scanning vectors is established. The best part-building orientation is obtained by solving the general satisfactory degree function employing genetic algorithm and the optimal scanning direction is also solved by genetic algorithm. Two cases of experiment show that GA can effectively solve not only the determination problem of part-building orientation but also the optimization problem of scanning direction in RP.

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Self-Adaptation in Bacterial Foraging Optimization Algorithm

Self-Adaptation in Bacterial Foraging Optimization Algorithm

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2008 3rd international conference on Intelligent System and Knowledge Engineering(ISKE 2008)

作者： Hanning Chen 1,2,Yunlong Zhu 1,Kunyuan Hu 1 1 Key Laboratory of Industrial informatics,Shenyang Institute of automation,Chinese Academy of Sciences,110016,Shenyang,China,2 School of Graduate,Chinese Academy of Sciences,100039,Beijing,China

Bacterial Foraging Optimization(BFO) is a recently developed nature-inspired optimization algorithm,which is based on the foraging behavior of *** ***,BFO possesses a poor convergence behavior over complex optimization problems as compared to other nature-inspired optimization techniques like Genetic Algorithm(GA) and Particle Swarm Optimization(PSO).This paper first analyzes how the run-length unit parameter controls the exploration and exploitation ability of BFO,and then presents a variation on the original BFO algorithm,called the Self-adaptive Bacterial Foraging Optimization(SA-BFO),employing the adaptive search strategy to significantly improve the performance of the original *** is achieved by enabling SA-BFO to adjust the run-length unit parameter dynamically during evolution to balance the exploration/exploitation *** of SA-BFO on several benchmark functions shows a marked improvement in performance over the original BFO.

关键词： Self-Adaptation in Bacterial Foraging Optimization Algorithm BFO

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