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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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Recognition of macroscopic seam for complex robotic welding environment

引用

international conference on Robotic Welding, Intelligence and automation

作者： Chen, X. Z. Chen, S. B. Lin, T. Shanghai Jiao Tong Univ Inst Welding Engn 1954 Huashan Rd Shanghai 200030 Peoples R China Jiangsu Univ Sch Mat Sci & Engn Zhenjiang 212013 Peoples R China

ISBN: (纸本)9783540733737

In vision-based robotic arc welding had some degree of autonomy functions, sensors must be used to detect the position and orientation of a weld seam and determine its path in order to carry out the autonomy of welding process. This paper represented a method to recognize whole seam in complex robotic welding environment. According to the parameter we defined to judge the degree of image noise, then different size of filter windows were selected to preprocess the image. Algorithm to eliminate effect of complex changing background is proposed. Parameters are defined to judge if it is necessary to use this algorithm. The threshold and edge detect algorithms that adapt to the recognition for robotic welding environment is also addressed in this paper. The experiments give the recognition results of two different shapes and material of seams. The results showed that the recognized method was robust to the recognition of macroscopic seam for complex robotic welding environment.

关键词： robotics

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The Risks of Products in Health informatics

The Risks of Products in Health Informatics

引用

2007 3rd Institution of Engineering and technology international conference on Medical Electrical Devices and Technology - MEDTECH 2007

作者： Michael Rigby Keele University UK

Electronic devices do the impossible in that they introduce new measures and monitors, achieve the automation of manual tasks, and potentially enable the relocation of care and patient monitoring to less intensive settings. But at the same time they circumvent established processes of external peer review and calibration, professional responsibility, and consumer understanding. Most innovations seek to reduce risk, but any innovation introduces new Risk. Health has proven systems to assess Risk, but devices circumvent these. Examples will be given of various risks, and the argument put for greater investment in shared knowledge development. More investment in reporting and evaluation are needed, based on an philosophy of Social Responsibility in Science.

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Kinematic and stiffness analysis of the Orthoglide, a PKM with simple, regular workspace and homogeneous performances

Kinematic and stiffness analysis of the Orthoglide, a PKM wi...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Anatoly Pashkevich Philippe Wenger Damien Chablat Institut de Recherche en Communications et Cybernétique de Nantes UMR CNRS 6597 Nantes France Robotic Laboratory Department of Control Systems Belarusian State University of Informatics and Radioelectronics슠 Minsk Belarus

The Orthoglide is a Delta-type PKM dedicated to 3-axis rapid machining applications that was originally developed at IRCCyN in 2000-2001 to meet the advantages of both serial 3-axis machines (regular workspace and homogeneous performances) and parallel kinematic architectures (good dynamic performances and stiffness). This machine has three fixed parallel linear joints that are mounted orthogonally. The geometric parameters of the Orthoglide were defined as function of the size of a prescribed cubic Cartesian workspace that is free of singularities and internal collision. The interesting features of the Orthoglide are a regular Cartesian workspace shape, uniform performances in all directions and good compactness. In this paper, a new method is proposed to analyze the stiffness of overconstrained Delta-type manipulators, such as the Orthoglide. The Orthoglide is then benchmarked according to geometric, kinematic and stiffness criteria: workspace to footprint ratio, velocity and force transmission factors, sensitivity to geometric errors, torsional stiffness and translational stiffness.

关键词： Kinematics Performance analysis robotics and automation Machining Shape Jacobian matrices Prototypes Parallel robots Laboratories Automatic control

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Clustering of multi-source data

Clustering of multi-source data

引用

2007 3rd IET international conference on Intelligent Environments

作者： Abdeihamid Bouchachia Department of Informatics University of Klagenfurt Austria

Due to the advent of pervasive and distributed computing, the shift in data processing paradigms is quite visible in many applications (e.g., communication, industrial control, public administrations, geographically distributed business, etc.). The switch from centralized processing paradigm to the local processing paradigm is becoming a necessity due to many factors such as: security, privacy, limitation of the transmission bandwidth, time processing, business strategies and rules, limited power supply, etc. In this paper, a clustering approach dedicated to distributed data emanating from diverse sources is proposed and evaluated. This approach is guided by two principles: coordination and collaboration among various data sources to cope with the problem of privacy and corporate confidentiality in an appropriate way.

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S-Learning: A Biomimetic Algorithm for Learning, Memory, and control in Robots

S-Learning: A Biomimetic Algorithm for Learning, Memory, and...

引用

international IEEE/EMBS conference on Neural Engineering, CNE

作者： Brandon Rohrer Intelligent Systems Robotics and Cybernetics Group Sandia National Laboratories Albuquerque NM USA

S-learning is a sequence-based learning algorithm patterned on human motor behavior. Discrete-time and quantized sensory information is amassed in real-time to form a dynamic model of the system being controlled and its environment. No explicit model is provided a priori, nor any hint about what the structure of the model might be. As the core of a Brain-Emulating Cognition and control Architecture (BECCA), S-Learning provides a mechanism for human-inspired learning, memory, and control in machines. In a simulation of a point-to-point reaching task, S-Learning demonstrates several attributes of human motor behavior, including learning through exploration and task transfer.

关键词： Biomimetics Robot control Libraries Humans Machine learning Sparse matrices Cognition Brain modeling Intelligent robots Computer architecture

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Application Aware Optical Burst Switching Test-bed with SIP Based Session control

Application Aware Optical Burst Switching Test-bed with SIP ...

引用

international conference on Testbeds and Research Infrastructures for the Development of Networks and Communities (TRIDENTCOM)

作者： F. Callegati W. Cerroni A. Campi G. Zervas R. Nejabati D. Simeonidou Department of Electronics Informatics and Systems University of Bologna Cesena Italy Department of Electronic Systems Engineering University of Essex Colchester UK

In this paper we propose a novel architecture for the control plane of an application aware optical burst switching (OBS) network, able to support grid computing applications. We suggest the use of the session initiation protocol (SIP) to implement a protocol layer between the grid specific control messages and the network control plane. The proposed architecture was implemented in an existing OBS network test-bed and was successfully tested as described in the paper.

关键词： Optical burst switching Optical control Grid computing Optical fiber networks Protocols Bandwidth Biomedical optical imaging Electronic equipment testing control systems Computer architecture

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Autonomous control of real snake-like robot using reinforcement learning;Abstraction of state-action space using properties of real world

Autonomous control of real snake-like robot using reinforcem...

引用

Intelligent Sensors, Sensor Networks and Information Processing conference (ISSNIP)

作者： Kazuyuki Ito Yoshitaka Fukumori Akihiro Takayama Systems and Control Engineering Hosei University Koganei Tokyo Japan SERIO TOYO Group Bizen Okayama Japan

In this paper we consider autonomous control of a real snake-like robot using reinforcement learning. We focus on curse of dimensionality and lack of generality, and point out that the causes of the problems are not in learning algorithm but in neglect of properties of the real world. To solve the problems we propose new framework in which body of robot abstract general meaning by using properties of the real world as information processor. We apply the proposed framework for controlling a snake-like robot and confirm that the two problems are solved simultaneously, without changing learning algorithm at all. To demonstrate the effectiveness of the proposed framework experiments has been carried out.

关键词： Orbital robotics Learning Robot control control systems Animals control engineering Humans Adaptive control Abstracts Crawlers

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An adaptive packet-by-packet scheduler for multi-user MIMO cellular systems

An adaptive packet-by-packet scheduler for multi-user MIMO c...

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IEEE/IFIP international conference in Central Asia on Internet (ICI)

作者： Masoomeh Torabzadeh Yusheng Ji National Institute of Informatics Graduate University of Advanced Studies (SOKENDAI) Tokyo Japan

Multiple-input multiple-output (MIMO) wireless antenna systems are known as the effective means to achieve high capacity over wireless links. In this paper, we propose an adaptive packet-by-packet scheduling scheme, which considers channel state information, user's average throughput, and queueing state information when making scheduling decision. Our proposed scheduler, adaptive proportional fairness with queue length consideration (APF-Q), is work conserving and can provide low delay of users in a fair way. Numerical results taking into consideration traffic characteristics and the mobility of users demonstrate the superior performance of the proposed APF-Q scheduler.

关键词： Adaptive scheduling MIMO Base stations Transmitting antennas Delay Scheduling algorithm Throughput Traffic control Round robin Telecommunication traffic

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Development of Space Tethered Autonomous Robotic Satellite

Development of Space Tethered Autonomous Robotic Satellite

引用

international conference on Recent Advances in Space Technologies (RAST)

作者： M. Nohmi Kagawa University Takamatsu Kagawa Japan

Space tethered autonomous robotic satellite (STARS) is being developed for technical verification of tethered space robot (TSR), which is a new type of space robot system proposed in the previous work. The STARS consists of mother and daughter satellites connected by tether. The mother satellite deploys tether having the daughter satellite at its end. The daughter satellite is TSR, and has one arm link, whose end is attached to tether. Then, attitude control by arm link motion is possible under condition that tether tension is applied. Main mission of the STARS follows sequence as: the mother satellite release the daughter satellite; attitude of the daughter satellite is controlled by arm link motion; the camera mounted on the daughter satellite takes a picture during deployment; the daughter satellite docks with the mother satellite. The system of the STARS consists of power, data handling, communication, camera, attitude control, structure, deployment, and robotic subsystems. Deployment and robotic subsystems are specific compared to other pico-satellite. Main objective of the deployment subsystem is to deploy and to retrieve tether. On the other hand, main objective of the robotic subsystem is to control attitude of the daughter satellite.

关键词： Orbital robotics Satellite broadcasting Communication system control Attitude control Robot vision systems Cameras Motion control Artificial satellites Data handling Bluetooth

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Improving the signal-to-noise ratio in recordings with thin-film longitudinal intra-fascicular electrodes using shielding cuffs

Improving the signal-to-noise ratio in recordings with thin-...

引用

international IEEE/EMBS conference on Neural Engineering, CNE

作者： Milan Djilas Ken Yoshida Mathijs Kurstjens Christine Azevedo-Coste Laboratory of Computer Science Robotics and Microelectronics Montpellier France Department of Health Science and Technology Center for Sensory-Motor Interaction Aalborg Denmark

An elegant solution to the problem of instrumenting paralyzed limbs with artificial sensors for use with closed-loop FES systems is to use natural sensors, such as muscle afferent activity as feedback for the artificial controller. Longitudinal intra-fascicular electrodes (LIFEs) are electrodes that have shown promise in this application. As a peripheral nerve interface, they are designed to be placed inside the peripheral nerve, but near potentially active muscles and the stimulating electrode. Artefacts from EMG and stimulation remain limiting factors in signal acquisition. Here, we present a technique for improving the signal-to-noise ratio which consists of wrapping a shield around the implant site of the recording electrode. Preliminary results obtained during in-vivo experiments suggest that the shielding increases the level of the neural signal in the recordings.

关键词： Signal to noise ratio Transistors Electrodes Sensor systems Muscles Instruments control systems Electromyography Wrapping Implants

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