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Movement control of robot using fuzzy PID algorithm 3

Movement control of robot using fuzzy PID algorithm

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3rd international conference on Electrical, Electronics, Engineering Trends, Communication, Optimization and Sciences, EEECOS 2016

作者： Bambulkar, Rohan R. Phadke, Gargi S. Salunkhe, Shamal Ramrao Adik Institute of Technology India

ISBN: (纸本)9781785618260

Fuzzy Logic is a investigative control system method that contributes to performance in systems. It covers almost every electronic circuit, very large computer networks, process automation to household gadgets. It can be used very effectively to develop a better hardware and software combination. Fuzzy logic provides us the flexibility to jump to an unambiguous result to a blurred input. Its approach enables us to emboss human like thinking which is in certain cases based upon a blurred input;onto a machine. While designing a control system, controller selection and tuning of its parameters must be taken into account. Because of Fuzzy PID control it is now possible to design a control system which is capable of taking decisions faster and certain based on blurred input, just like Humans. In this Paper, a comparison of fuzzy PID controller and Conventional PID controller is done for the most complete case of robotic applications. The Fuzzy-PID performance is summarized in terms of its input and output variables, which allows us to analyse the Fuzzy-PID response and to compare it with the Conventional PID. The tuning has been tested using Matlab Simulation. © 2016 Institution of Engineering and technology. All rights reserved.

关键词： Fuzzy logic

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A Case Study for the Enhanced Performance Measurement Model in Mobile Business Environment 3

A Case Study for the Enhanced Performance Measurement Model ...

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3rd international conference on Platform technology and Service (PlatCon)

作者： Kim, Ahyoung Lee, Junwoo Kim, Mucheol Elect & Telecommun Res Inst Smart Content Res Sect Daejeon South Korea Sungkyul Univ Dept Multimedia Anyang South Korea

ISBN: (纸本)9781467386852

Due to drastic growth of mobile users in recent days, mobile business has brought a paradigm shift and expanded its application areas with mass production of various mobile business fields. Consequently, diverse attempts are being made in order to analyze the mobile business for its successful performance. In this work, we propose performance metrics to measure the performance of mobile business and suggest the enhanced performance measurement model for analyzing the mobile business using proposed performance metrics. The performance metrics are categorized into three types, the acquisition metrics, the engagement metrics, and the crawling metrics according to the type of measure. We automatically collected the raw data from mobile applications and the crawling data from mobile market in order to measure performance metrics of mobile business and statistically analyzed the three performance metrics above using big data processing system based on cloud environment. In this work, we suggest the enhanced performance measurement model in mobile business environment and present the results analyzed with the proposed model as case study. The proposed model should support efficient decision making in mobile business field such as mobile marketing and mobile commerce.

关键词： Mobile Business Performance Measure Business intelligence Measure Metrics Data Mining

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A Multiple Sensor Platform with Dedicated CMOS-LSIs for robot applications 11

A Multiple Sensor Platform with Dedicated CMOS-LSIs for Robo...

引用

11th IEEE Annual international conference on Nano/Micro Engineered and Molecular Systems (NEMS)

作者： Shao, Chenzhong Nakayama, Takahiro Hata, Yoshiyuki Bartley, Travis Nonomura, Yutaka Tanaka, Shuji Muroyama, Masanori Tohoku Univ Sendai Miyagi Japan Toyota Motor Co Ltd Toyota Aichi Japan Toyota Cent Res & Dev Labs Inc Nagakute Aichi Japan Meijo Univ Nagoya Aichi Japan

ISBN: (纸本)9781509019472

In recent years, there has been an increasing interest in robots' tactile sense, which enables safer, more reliable and accurate human-robot communication for the future society. So far, we have developed a capacitive type tactile sensor network system for implementing a large number of sensors with MEMS-CMOS integration technologies [1-3, 9]. Considering practical use for the robot, multiple kind sensors in addition to numerous sensor distributions are necessary in terms of accurate object recognition and wide coverage of sensor requirements such as high-sensitivity, large dynamic range, high-reliability and low-cost. Thus, we proposed a sensor platform with dedicated CMOS-LSIs [6], which can utilize three types of sensors: on-chip temperature, off-chip capacitive and resistive tactile sensors. The CMOS-LSI is well designed for integration with MEMS. This paper describes the first implementation results of the multiple kind sensors with the CMOS-LSIs. We successfully constructed the multi sensor system, which has the temperature sensor, capacitive and resistive type force sensors.

关键词： robot Application CMOS-LSI sensor platform multiple sensors tactile sensor network system

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Fast and Robust Mapping with Low-cost Kinect V2 for Photovoltaic Panel Cleaning robot

Fast and Robust Mapping with Low-cost Kinect V2 for Photovol...

引用

international conference on Advanced robotics and Mechatronics (ICARM)

作者： Li, Mantian Zhang, Mingming Fu, Yu Guo, Wei Zhong, Xingneng Wang, Xin Chen, Fei Harbin Inst Technol State Key Lab Robot & Syst 2 Yikuang Rd Harbin Peoples R China Northeast Forestry Univ Harbin Peoples R China Shenzhen Acad Aerosp Technol Shenzhen Peoples R China Ist Italiano Technol Genoa Italy

ISBN: (纸本)9781509033645

Solar photovoltaic system maybe underperformanned because of too much dust, dirt and bird droppings, etc. 3D mapping for the cleaning robot still remains challenging in this large scale scenario. This paper presents a robust mapping system with Kinect V2 for automated photovoltaic cleaning system. Firstly, Kinect V2 is well-calibrated for a remedy to the production variety and the approach is fast and accurate. Secondly, robost mapping algorithm is proposed with the consideration of vibration, occlusion and loop closure. Gloally consistent 3D map will be built after online loop detection. And lastly, 3D pointcloud will be transformed into octree-based data structure. The data is easy to save, reload and more suitable for motion planning problem. Extensive experimental results show that the system is robust with enough accuracy for automated motion planning and navigation.

关键词： Motion planning

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Relating bisimulations with attractors in boolean network models 3rd

Relating bisimulations with attractors in boolean network mo...

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3rd international conference on Algorithms for Computational Biology, AlCoB 2016

作者： Figueiredo, Daniel Department of Mathematics CIDMA - Center for Research and Development in Mathematics and Applications University of Aveiro Campus Universitário de Santiago Aveiro3810-193 Portugal

ISBN: (纸本)9783319388267

When studying a biological regulatory network, it is usual to use boolean network models. In these models, boolean variables represent the behavior of each component of the biological system. Taking in account that the size of these state transition models grows exponentially along with the number of components considered, it becomes important to have tools to minimize such models. In this paper, we relate bisimulations, which are relations used in the study of automata (general state transition models) with attractors, which are an important feature of biological boolean models. Hence, we support the idea that bisimulations can be important tools in the study some main features of boolean network models. We also discuss the differences between using this approach and other well-known methodologies to study this kind of systems and we illustrate it with some examples. © Springer international Publishing Switzerland 2016.

关键词： Biological systems

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Large-scale Gesture Recognition with a Fusion of RGB-D Data Based on the C3D model 23

Large-scale Gesture Recognition with a Fusion of RGB-D Data ...

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23rd international conference on Pattern Recognition (ICPR)

作者： Li, Yunan Miao, Qiguang Tian, Kuan Fan, Yingying Xu, Xin Li, Rui Song, Jianfeng Xidian Univ Sch Comp Sci & Technol Xian Peoples R China

ISBN: (纸本)9781509048472

The gesture recognition has raised attention in computer vision owing to its many applications. However, video-based large-scale gesture recognition still faces many challenges, since many factors like background may disturb the accuracy. To achieve gesture recognition with large-scale videos, we propose a method based on RGB-D data. To learn gesture details better, the inputs are expanded into 32-frame videos first, and then the RGB and depth videos are sent to the C3D model to extract spatiotemporal features respectively. Next these features are combined to boost the performance, which can also avoid unreasonable synthetic data due to the uniform dimension of C3D features. Our approach achieves 49.2% accuracy on the validation subset of the Chalearn LAP IsoGD Database just with a linear SVM classifier. It also outperforms the baseline and other methods in the challenge and wins the first place at 56.9% on testing set.

关键词： Videos Feature extraction Gesture recognition Three-dimensional displays Solid modeling Databases Hidden Markov models

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Dynamic identification of a 3-PRS parallel robot with scissor-type prismatic joint: A cloud-based approach

Dynamic identification of a 3-PRS parallel robot with scisso...

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3rd IEEE/IFToMM international conference on Reconfigurable Mechanisms and robots, ReMAR 2015

作者： Yang, Jian Wang, Xin Chen, Xue Feng Department of Mechanical and Automation Engineering Harbin Institute of Technology Shenzhen Graduate School Shenzhen China

ISBN: (纸本)9783319233260

3-PRS parallel robot is now used for lots of applications. However, prismatic joints cannot satisfy some height limited situations. In order to decrease the vertical dimension of this type of robots, the scissor-type mechanism, which changes the vertical movement to horizontal, can be used to instead traditional prismatic pairs. Additionally, online identification of dynamic parameters is required when it comes to real-time control issues. Normally, common online identification approach, especially for parallel robots, lose accuracy for fast computation due to limitations of onboard computing and storage resources. In order to avoid those drawbacks of traditional online identification methods, a cloud-based approach, which leaves computing works to dynamic extendable resources with parallel computing capacities remotely, is suitable for this heavy computing task. Besides, cloud side storage can save all the data from the robots for machine-learning based algorithms or for remote fault diagnosis. In this paper, full dynamic model of this parallel robot is obtained by substituting scissor-types equivalent force to the Gibbs-Appell equation of the customary 3-PRS model. Then a cloud-based approach to online identification is introduced and the results appear in a good agreement between measured value and identified model outputs. © Springer international Publishing Switzerland 2016.

关键词： Real time control

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Natural Scene Digit Classification Using Convolutional Neural Networks 12th

Natural Scene Digit Classification Using Convolutional Neura...

引用

12th international conference on Intelligent Computing (ICIC)

作者： Wang, Ziqin Jiang, Peilin Zhang, Xuetao Wang, Fei Xi An Jiao Tong Univ Inst Artificial Intelligence & Robot 28 Xianning West Rd Xian 710048 Peoples R China Xi An Jiao Tong Univ Sch Software Engn 28 Xianning West Rd Xian 710048 Peoples R China Xi An Jiao Tong Univ Natl Engn Lab Visual Informat Proc & Applicat 28 Xianning West Rd Xian 710048 Peoples R China Xi An Jiao Tong Univ Shaanxi Digital Technol & Intelligent Syst Key La 28 Xianning West Rd Xian 710048 Peoples R China

ISBN: (纸本)9783319422947;9783319422930

We used a convolutional neural networks based model to classify scene digits. We proposed the Horizontal and Vertical Feature Block to extract feature from different fields of the input images, which is efficient and has fewer parameters. We introduced a multi-input strategy to add location information to our model, while the traditional methods only use a part of information from the source annotations. More importantly, we released a new dataset for scene digit classification. The new dataset is collected from Baidu street view and mobile photos. The samples in the dataset are from the real world, and they are collected from many kinds of scenes in our daily lives, so that this dataset has huge potential in many applications.

关键词： Natural scene digit classification Convolutional neural networks HV-Block Multi-input

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Issues with Path Representation in Transition Systems

Issues with Path Representation in Transition Systems

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international conference on Applied Computing and Information technology

作者： Yi Zheng Chi-Chang Chang Pei He Yafen Liu School of Computer Science and Educational Software Guangzhou University School of Medical Informatics Chung Shan Medical University

ISBN: (纸本)9781509048724

Structured analysis of transition systems concerns paths, building blocks, representations, and effective computations of semantics, thus having significant influence on practical applications of graph theory. For instance, part of these results plays important roles in formal language studies, compiler designs and genetic programming. This paper aims to introduce relations among them, and to present related algorithms for calculating of them.

关键词： Artificial intelligence Finite state transition system Building block Detection algorithm Abstract representation

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Preparation And Characterisation of Nd_0.6(Sr_0.2Ba_0.2)_0.4 CoO₃ Cathode Material for Solid Oxide Fuel Cell applications 1

Preparation And Characterisation of Nd<sub>0.6</sub>(Sr<sub>...

引用

1st international conference on Emerging Trends in Engineering, technology and Science (ICETETS)

作者： Subashini, A. Kavitha, A. L. Kalasalingam Univ Virudunagar Tamil Nadu India Kings Coll Engn Dept Chem Punalkulam Tamil Nadu India

ISBN: (纸本)9781467367257

The single-phase nano-crystalline Nd-0.6(Sr0.2Ba0.2)(0.4)CoO3 powder was synthesized by a microwave assisted combustion method within a very short time of 50 minutes and the substitution of Sr and Ba for Nd preserved the NdCoO3 structure. The synthesized material was characterized by X-ray diffraction (Xrd), SEM, porosity, BET surface area, thermal expansion coefficient (TEC) and the electrical conductivity measurement studies to know the performance of the cathode material. The average particle size of the prepared cathode material was similar to 24nm. Both the Sr (0.2) and Ba (0.2) doping does not affect the orthorhombic perovskite structure. The synthesized nano-crystalline Sr and Ba doped NdCoO3 samples could be densified to similar to 97.93% of theoretical density even at low sintered temperature of 800K for 5h. Doping of Sr and Ba was improved the electronic conductivity of NdCoO3 and the maximum conductivity was attained at 600 degrees C for Nd-0.6(Sr0.2Ba0.2)(0.4)CoO3.

关键词： Microwave assisted combustion method orthorhombic perovskite structure Improved Electronic Conductivity

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