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Bluetooth RSSI based collision avoidance in multirobot environment 5

Bluetooth RSSI based collision avoidance in multirobot envir...

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5th international conference on Advances in Computing, Communications and informatics, ICACCI 2016

作者： Amrita, Lijina P Kumaar, A.A. Nippun Robotics Research Centre Dept of Computer Science and Engineering Amrita School of Engineering Bengaluru Amrita Vishwa Vidyapeetham Amrita University India

ISBN: (纸本)9781509020287

Multi-robot system is gaining its importance in robotic research. One critical issue in multi-robot system is collision among the mobile robots while sharing same workspace. this paper deals with the collision-free path planning for multiple mobile robots using Bluetooth RSSI value. In the proposed collision avoidance algorithm a decentralized approach with fixed priority level for robots is considered. A variable speed technique based on the RSSI value of robots is used and the obstacle avoidance is implemented based on State based Obstacle Avoidance Algorithm. Proposed algorithm is implemented and tested using Webots 3D simulator. © 2016 IEEE.

关键词： Motion planning

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System Identification in Adaptive Inverse control for Electrohydraulic Shaking Table Using Variable Tap-length NLMS Algorithm

System Identification in Adaptive Inverse Control for Electr...

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2017 5th international conference on Mechanical, Automotive and Materials Engineering（CMAME 2017）

作者： Man Wang Dacheng Cong Zhidong Yang Changhong Gao State Key Laboratory of Robotics and System School of Mechatronics EngineeringHarbin Institute of Technology

Adaptive inverse control（AIC） is an advanced control technology which can efficiently learn and control the severely nonlinear and real-time plant,such as the electrohydraulic shaking table（EST）.the foundation of AIC is the system identification of the plant via an adaptive *** traditional adaptive filter theory is known as a fixed tap-length（length of the weight vector） FIR（Finite impulse response） filter whose weights change by adaptive algorithm *** mismatch between plant and the fixed taplength will cause inaccuracy or compute *** paper introduce a variable tap-length NLMS（VTLNLMS） algorithm to find the optimum tap-length（OPTL） of the model of multi-DOF EST,then use AIC to improve the accuracy of time wave *** dynamics response nonlinear model of the EST is built to reflect the experimental *** nonlinear EST model and referred algorithm are simulated in MATLAB/*** show the AIC with OPTL is effective in the EST.

关键词： Adapative Inverse control Electrohydraulic Shaking Table Variable Tap-length Nl MS Nonliner System System Identification

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Trajectory tracking control of an excavator arm using guaranteed cost control 12th

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12th international conference on informatics in control, automation and robotics, ICINCO 2015

作者： Gurko, Alexander Sergiyenko, Oleg Hipólito, Juan Ivan Nieto Kirichenko, Igor Tyrsa, Vera Hernandez, Wilmar Kharkov National Automobile and Highway University Kharkov Ukraine Autonomous University of Baja California MexicaliBaja California Mexico Kharkov Petro Vasylenko National Technical University of Agriculture Kharkov Ukraine Universidad Técnica Particular de Loja Loja Ecuador

ISBN: (纸本)9783319318967

Improving excavators control systems allows increasing efficiency and productivity of thesemachines, reduces loads on an operator and improves his safety. One of the stumbling blocks in the way of improving an excavator control system is uncertainty of high dynamic loads during the bucket and soil interaction. therefore, this paper deals with the problem of robust trajectory tracking control of an excavator bucket during digging. the optimal inverse kinematic solution is used to determine the joint angles, given in the base coordinate system. To control an excavator arm movement, the computed torque control with the guaranteed cost control is designed. themathematical tool of R-functions for state estimation of an excavator arm is used. Simulation results and functional ability analysis for the proposed control system are given. Some intermediate outcomes concerning the sensing part of the robotic excavator prototype, that is being developed, are presented. © Springer international Publishing Switzerland 2016.

关键词： robotics

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A Bio-Inspired Electro-Active Velcro Mechanism Using Shape Memory Alloy for Wearable and Stiffness controllable Layers 8

A Bio-Inspired Electro-Active Velcro Mechanism Using Shape M...

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8th IEEE international conference on Information and automation for Sustainability (ICIAfS) - Interoperable Sustainable Smart Systems for Next Generation

作者： Afrisal, Hadha Sadati, S. M. Hadi Nanayakkara, thrishantha Center for Robotics Research (CoRe) Department of Informatics King's College London Strand-London WC2R 2LS United Kingdom

ISBN: (纸本)9781509061327

Smart attachment mechanisms are believed to contribute significantly in stiffness control of soft robots. this paper presents a working prototype of an active Velcro based stiffness controllable fastening mechanism inspired from micro active hooks found in some species of plants and animals. In contrast to conventional passive Velcro, this active Velcro mechanism can vary the stiffness level of its hooks to adapt to external forces and to maintain the structure of its supported layer. the active hooks are fabricated using Shape Memory Alloy (SMA) wires which can be actuated using Lenz-Joule heating technique via thermo-electric manipulation. In this paper, we show experimental results for the effects of active SMA Velcro temperature, density and number on the attachment resisting force profile in dynamic displacement. We aim to provide new insights into the novel design approach of using active hook systems to support future implementation of active velcro mechanisms for fabrication of wearable stifl" ness controllable thin layers.

关键词： Stiffness

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Stability feature selection using cluster representative Lasso 5

Stability feature selection using cluster representative Las...

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5th international conference on Pattern Recognition Applications and Methods, ICPRAM 2016

作者： Gauraha, Niharika Systems Science and Informatics Unit Indian Statistical Institute 8th Mile Mysore Road RVCE Post Bangalore Bangalore India

ISBN: (纸本)9789897581731

Variable selection in high dimensional regression problems with strongly correlated variables or with near linear dependence among few variables remains one of the most important issues. We propose to cluster the variables first and then do stability feature selection using Lasso for cluster representatives. the first step involves generation of groups based on some criterion and the second step mainly performs group selection with controlling the number of false positives. thus, our primary emphasis is on controlling type-I error for group variable selection in high-dimensional regression setting. We illustrate the method using simulated and pseudo-real data, and we show that the proposed method finds an optimal and consistent solution. © Copyright 2016 by SCITEPRESS-Science and Technology Publications, Lda. All rights reserved.

关键词： Feature extraction

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Novel Trends in the Development of Autonomation and robotics in Metrology for Production in the Future

Novel Trends in the Development of Autonomation and Robotics...

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17th IFAC conference on international Stability, Technology and Culture (TECIS)

作者： Durakbasa, N. M. Bauer, J. M. Bas, G. Kraeuter, L. Vienna Univ Technol Inst Prod Engn & Laser Technol Dept Interchangeable Mfg & Ind Metrol Getreidemarkt 9 B409 A-1060 Vienna Austria Buenos Aires Univ Technol Nacl Fac Reg Buenos Aires DF Argentina

Today's manufacturing industry is going through a period of transition to the novel production technology down to micro/nanoscale of complex shapes and increasing efficiency and functionality. To meet high-level demands both from industrial and from private customers in the future, manufacturing enterprises must be high flexible and agile enough to respond quickly to product demand changes also according technological developments especially in the field of precision engineering at micro, nano and pico scale production. New levels of manufacturing precision are the key requirements to enable advanced machining processes that demands improved techniques of metrology with high flexibility, universality and high accuracy. New models for alternative configurations of future industrial organisations in general which are usually applied and especially for small and medium sized enterprises (SMEs) need to be investigated. those new models can be developed on the basis of intelligent production technologies and integrated management systems as well as extensive use of the IT technologies, automation, robotics, parallel-processing computing and advanced engineering data exchange techniques. (C) 2016, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Autonomation advanced production integrated management factory integration intelligent quality system intelligent metrology robotics

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Artificial Intelligence Applications and Innovations 1st ed. 2016

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丛书名： IFIP Advances in Information and Communication Technology

2016年

作者： Lazaros Iliadis Ilias Maglogiannis

ISBN: (数字)9783319449449

ISBN: (纸本)9783319449432

this book constitutes the refereed proceedings of the 12th IFIP WG 12.5 international conference on Artificial Intelligence Applications and Innovations, AIAI 2016, and three parallel workshops, held in thessaloniki, Greece, in September 2016. the workshops are the third Workshop on New Methods and Tools for Big Data, MT4BD 2016, the 5th Mining Humanistic Data Workshop, MHDW 2016, and the First Workshop on 5G - Putting Intelligence to the Network Edge, 5G-PINE 2016. the 30 revised full papers and 8 short papers presented at the main conference were carefully reviewed and selected from 65 submissions. the 17 revised full papers and 7 short papers presented at the 3 parallel workshops were selected from 33 submissions. the papers cover a broad range of topics such as artificial neural networks, classification, clustering, control systems - robotics, data mining, engineering application of AI, environmental applications of AI, feature reduction, filtering, financial-economics modeling, fuzzy logic, genetic algorithms, hybrid systems, image and video processing, medical AI applications, multi-agent systems, ontology, optimization, pattern recognition, support vector machines, text mining, and Web-social media data AI modeling.

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Analyzing impact of path loss models on probability characteristics of wireless network with licensed shared access framework

Analyzing impact of path loss models on probability characte...

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international conference on Ultra Modern Telecommunications and Workshops (ICUMT)

作者： Ekaterina Markova Ilya Dzantiev Irina Gudkova Sergey Shorgin Peoples' Friendship University of Russia (RUDN University) Moscow Russian Federation Institute of Informatics Problems Federal Research Center “Computer Science and Control” of the Russian Academy of Sciences Moscow Russian Federation

In the modern world there is an intensive increasing of global mobile data traffic in multi-service mobile networks, in particular networks based on LTE technology. In 5th generation (5G) wireless network some of the key drivers of data traffic growth are machine type communications (MTC) or machine-to-machine (M2M) services. Various MTC devices such as smart meters and sensors form the basis of smart cites and homes. Expanding the range of services provided through the mobile networks leads to increasing of quality of service (QoS) requirements by the mobile operators. It is necessary to use the frequency spectrum as efficiently as possible, to provide the services with the required QoS level. therefore, in this paper we investigate the question how to more efficiently transmit the information in particular from MTC devices via a wireless network, which is primarily used for human-to-human (H2H) communications. the efficiency of data transmission is affected by the applied radio resource management (RRM) mechanism and the selected RRM scheduler. Also, the transfer of information depends on such secondary parameters as the MTC devices positons within a cell, the uniqueness of the terrain, etc. these characteristics have a significant effect on the reduction in power density (attenuation) or so-called path loss (PL). We propose an approach for analyzing the performance measures of one of the 3GPP wireless network models by implementing different PL scenarios. For more eDcient usage of frequency spectrum we consider scheme model within licensed shared access (LSA) framework.

关键词： Mobile communication Wireless networks Mathematical model Meters Mobile computing Machine-to-machine communications Bit rate

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A new recognition of crop row based on its structural parameter model

A new recognition of crop row based on its structural parame...

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5th IFAC conference on Sensing, control and automation Technologies for Agriculture (AGRIcontrol)

作者： Zhao, Shuailing Zhang, Zhibin Inner Alongolia Univ Sch Comp Sci Hohhot 010021 Peoples R China

the recognition of crop rows under complex field conditions is essential for vision-based guidance systems of an agricultural robot. this paper reports the development of an intelligent recognition algorithm of crop row structure. this algorithm consists of four core parts: 1) a sector-scan for extracting potential crop row lines along a horizontal line across the crop row (defined as the base line. BL) for reducing required computation time;2) a structural parameter model for obtaining structural information about irregular crop rows with complicated field backgrounds;3) a crop TOW density model for searching the candidate crop TOWS: 4) a logistic regression for selecting the second crop row nearest to the reference row to determine the inter-row spacing. To minimize the computation time, green vegetation feature extraction is used to preprocess field images, and a statistical filter is also used to filter out isolated or small patch noises induced by residuals, stones, shadows, and weeds in those images. the developed algorithm has been tested in fields of different crops of maize, wheat, rape, and strawberry, with sonic of the testing fields being purposely selected to include large amounts of Weeds, different soil backgrounds, or large non-crop regions. Experimental results verify that the developed algorithm can achieve a 97.7% recognition rate for a reference row and a 94.3% recognition rate for the second crop row. the mean of angle error is 0.06 rad with the standard deviation 0.06s. Although the average computation time from acquiring the image to obtaining the guidance parameters is 6.0 s, those results indicate that the developed algorithm can effectively, accurately and robustly get the needed guidance information even under the complicated field conditions for guiding loss-speed agricultural equipment operating in different crop fields. (C) 2016, IFAC (international Federation of Automatic control) Hosting Elsevier Ltd. All rights reseirved.

关键词： Sector scan Structural parameter model of crop Density model of row Modening and identification robotics and Mechatronics for Agricultural automation

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Multiple methods of data acquisition for a LEGO NXT 2 mobile robot. the use of a second NXT 2 hardware platform 16

Multiple methods of data acquisition for a LEGO NXT 2 mobile...

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5th international conference on Mechatronics and control Engineering, ICMCE 2016

作者： Savu, Diana Moldovan, Cristian Sandru, Lucian Alexandru Dolga, Valer Crainic, Marius Florin Preitl, Stefan Politehnica University Timisoara / Department of Mechatronics Timisoara Romania Politehnica University Timisoara / Department of Automation and Applied Informatics Timisoara Romania

ISBN: (纸本)9781450352154

Mechatronics is a multidisciplinary and application oriented science and a methodology used to achieve an optimal design of an electromechanical product. Education in mechatronics at the Politehnica University Timisoara is organized on three levels: bachelor, master and PhD studies. these activities refer to: mechatronic components, computer interfacing electronics, systems (modelling, analysis, simulation, and control). the project discussed in the paper is a Mechatronic Demonstrator using the LEGO NXT-2 Platform. this demonstrator, named humanoid robot, is built at a low price and is suitable for studying the key elements of mechatronic systems: mechanical system dynamics, sensors, computer interfacing, and application development. this paper describes how the demonstrator has been used to validate the methods for data acquisition under experimental conditions. the article aims to describe the demonstrator construction (1), (2) to present the methods for data acquisition (method using two NXT platforms, method using a NXT platforms and oscilloscope, method using Matlab-Simulink) and to formulate conclusions (3). © 2016 ACM.

关键词： Data acquisition

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