检索结果-内蒙古大学图书馆

12th international conference on informatics in control automation and robotics (ICINCO)

作者： Roveda, Loris Vicentini, Federico Pedrocchi, Nicola Tosatti, Lorenzo Molinari Italian Natl Res Council CNR Inst Ind Technol & Automat ITIA Via Bassini 15 I-20133 Milan Italy

ISBN: (纸本)9789897581496

In the presented paper an analytically force overshoots-free approach is described for the execution of robotics interaction tasks involving a compliant (of unknown geometrical and mechanical properties) environment. Based on the impedance control, the aim of the work is to perform force-tracking applications avoiding force overshoots that may result in task failures. the developed algorithm shapes the equivalent stiffness and damping of the closed-loop manipulator to regulate the interaction dynamics deforming the impedance control set-point. the force-tracking performance are obtained defining the control gains analytically based on the estimation of the interacting environment stiffness (performed using an Extended Kalman Filter). the method has been validated in a probing task, showing the avoidance of force overshoots and the achieved target dynamic performance.

关键词： Force Overshoots Avoidance Force-tracking Impedance controls Interacting robotics Applications Compliant Environments

来源：评论

学校读者我要写书评

暂无评论

On the quantitative analysis of sparse RBMs 17th

On the quantitative analysis of sparse RBMs

引用

17th Pacific-Rim conference on Multimedia, PCM 2016

作者： Zhang, Yanxia Yang, Lu Meng, Binghao Cheng, Hong Zhang, Yong Wang, Qian Zhu, Jiadan School of Mathematical Sciences University of Electronic Science and Technology of China Chengdu611731 China Department of Mathematics and Information Engineering Chongqing University of Education Chongqing400067 China School of Automation Engineering Center for Robotics University of Electronic Science and Technology of China Chengdu611731 China Ricoh Software Research Center of Beijing Beijing100044 China

ISBN: (纸本)9783319488899

With the development of deep neural networks, the model of restricted Boltzmann machine(RBM) has gradually become one of the essential aspects in deep learning researches. Because of the presence of the partition function, it is intractable to get the model selection, control the complexity, and learn an exact maximum likelihood in RBM model. A kind of effective measure is approximate inference that adopts annealing importance sampling(AIS) scheme only to evaluate a RBM’s performance. At present, there is little quantitative analysis on discrepancies generated by different RBM models. So we focus on the innovation research on some quantitative evaluation of the generalization performance of all kinds of sparse RBM models, including the classical sparse RBM(SpRBM) and the log sum sparse RBM(LogSumRBM). We discuss the influence and efficiency of the AIS strategy for these sparse RBMs’ estimations. Particularly, we confirm that the LogSumRBM is the optimal model in RBM and sparse RBMs for its smaller deviations in the assessment results regardless of the training MNIST data and the test, which provides a guarantee on some theories and experience in the choice of the deep learning models in the future. © Springer international Publishing AG 2016.

关键词： Importance sampling

来源：评论

学校读者我要写书评

暂无评论

Incrementally assisted kinesthetic teaching for programming by demonstration 16

Incrementally assisted kinesthetic teaching for programming ...

引用

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

作者： Martin Tykal Alberto Montebelli Ville Kyrki Aalto University Finland School of Informatics University of Skövde Sweden Department of Electrical Engineering and Automation Aalto University Finland

ISBN: (纸本)9781467383707

Kinesthetic teaching is an established method of teaching robots new skills without requiring robotics or programming knowledge. However, the inertia and uncoordinated motions of individual joints decrease the intuitiveness and naturalness of interaction and impair the quality of the learned skill. this paper proposes a method to ease kinesthetic teaching by combining the idea of incremental learning through warping several demonstrations into a common frame with virtual tool dynamics to assist the user during teaching. In fact, during a sequence of demonstrations the stiffness of the robot under Cartesian impedance control is gradually increased, to provide stronger assistance to the user based on the demonstrations accumulated up to that moment. therefore, the operator has the opportunity to progressively refine the task's model while the robot more docilely follows the learned action. Robot experiments and a user study performed on 25 novice users show that the proposed approach improves both usability as well as resulting skill quality.

关键词： Robot kinematics Education Dynamics Trajectory Force Robot sensing systems

来源：评论

学校读者我要写书评

暂无评论

Reactive Planning on a Collaborative Robot for Industrial Applications 12

Reactive Planning on a Collaborative Robot for Industrial Ap...

引用

12th international conference on informatics in control automation and robotics (ICINCO)

作者： Dumonteil, Gautier Manfredi, Guido Devy, Michel Confetti, Ambroise Sidobre, Daniel Siemens Ind Software SAS Miniparc 2478 Rue Decouverte F-31670 Labege France CNRS LAAS F-31400 Toulouse France Univ Toulouse UPS LAAS F-31400 Toulouse France

ISBN: (纸本)9789897581496

A challenge for roboticists consists in promoting collaborative robotics for industrial applications, i.e. allowing robots to be used close to humans, without barriers. Safety becomes the key issue. For manipulation tasks, a part of the problem is solved using new arms like the KUKA LWR, which is able to physically detect a collision from torque measurements on each joint. Nevertheless it is better to avoid collisions, especially if the obstacle is the arm or the head of an operator. this paper describes how obstacles could be detected and avoided, using a single Kinect sensor for the monitoring of the workspace and the reactive planner of the KineoWorks (TM) software library for the real-time selection of an avoidance trajectory. Experimental results are provided as a proof that this dynamic obstacle avoidance strategy works properly.

关键词： Industrial robotics Cobot Reactive Planning Obstacle Detection ROS Architecture

来源：评论

学校读者我要写书评

暂无评论

informatics in control, automation and robotics: 10th international conference, ICINCO 2013 Reykjavk, Iceland, July 29-31, 2013 Revised Selected Papers

引用

2014年

作者： Jean Louis Ferrier Oleg Yu Gusikhin Kurosh Madani Jurek Z Sasiadek

ISBN: (纸本)9783319108902

the present book includes a set of selected papers from the tenth international conference on informatics in control automation and robotics (ICINCO 2013), held in Reykjavk, Iceland, from 29 to 31 July 2013. the conference was organized in four simultaneous tracks: Intelligent control Systems and Optimization, robotics and automation, Signal Processing, Sensors, Systems Modeling and control and Industrial Engineering, Production and Management. the book is based on the same *** 2013 received 255 paper submissions from 50 countries, in all continents. After a double blind paper review performed by the Program Committee only 30% were published and presented orally. A further refinement was made after the conference, based also on the assessment of presentation quality, so that this book includes the extended and revised versions of the very best papers of ICINCO 2013.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Bio-inspired morphing caudal fin using shape memory alloy composites for a fish-like robot: Design, fabrication and analysis 12

Bio-inspired morphing caudal fin using shape memory alloy co...

引用

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

作者： Coral, William Rossi, Claudio Martin, Irene Perrino Centre for Automation and Robotics Universidad Politécnica de Madrid Madrid Spain

ISBN: (纸本)9789897581236

In this paper, we present the design and fabrication of a bio-inspired caudal fin actuator for propulsion and maneuvering purposes in a fish-like robot. Shape memory alloy (SMA) composite actuator is customized to provide the necessary work out for the caudal fin. the pocket holes guide, electrical wiring and attachment pads for SMA actuators are all embedded in a single layer of cellulose acetate film, sandwiched between two layers of silicone rubber. Instead of using joints, four SMAs are fixed along the soft structure of the caudal fin and bend this to a certain mode shape. the caudal fin actuator was inspired by Largemouth Bass, which uses sub-carangiform mode swimming and the caudal fin during steady swimming and maneuvering.

关键词： Fabrication

来源：评论

学校读者我要写书评

暂无评论

Inverse Kinematic Model and Simulation of a Prosthetic Upper Limb 5

Inverse Kinematic Model and Simulation of a Prosthetic Upper...

引用

5th IEEE international conference on control System, Computing and Engineering (ICCSCE)

作者： Sattar, Neelum Yousaf Farooq, Umer Kausar, Zareena Khan, Liaquat Ali Air Univ Dept Mechatron Engn Islamabad Pakistan Mohammad Ali Jinnah Univ Dept Mech Engn Islamabad Pakistan

ISBN: (纸本)9781479982523

this research aims at Inverse Kinematic Modeling of a Prosthetic Upper Limb which consist of four degree of freedom (DOF). Focus of this research is to obtain desired joint angles for specified positions and orientations of arm model with respect to reference frame based on the orientation and configuration. Inverse Kinematics play an important role in automation of Robotic Manipulators. Analytical Inverse Kinematic (IK) model is presented and explained in detail. Achieved results are being verified by using PeterCorke robotics Toolbox (PRT) which runs in Matlab (R) environment. IK model simulated results are discussed as well. this simulation can be done for all the desired orientations and configurations. Trajectory planning of manipulators is an active area since many tasks requires special characteristics to be satisfied. Joint Space Trajectory of proposed model has also been discussed.

关键词： Inverse Kinematics Joint Angle Orientation and Configuration PeterCorke robotics Toolbox

来源：评论

学校读者我要写书评

暂无评论

Transfer of Contact Skills to New Environmental Conditions

Transfer of Contact Skills to New Environmental Conditions

引用

IEEE-RAS international conference on Humanoid Robots

作者： Aljaz Kramberger Andrej Gams Bojan Nemec Casper Schou Dimitrios Chrysostomou Ole Madsen Ales Ude Humanoid and Cognitive Robotics Lab Dept. of Automatics Biocybernetics and Robotics Jozef Stefan Institute Robotics & Automation Group Dept. of Mechanical and Manufacturing Engineering Aalborg University

ISBN: (纸本)9781509047192

Robots operating in contact with the environment should typically take into account the knowledge of both position/orientation trajectories as well as the accompanying force/torque profiles for successful execution. Pure position control is not appropriate because even small errors in the desired trajectory can cause significant forces at the contact points. In this paper we present a method that computes an appropriate control policy for a given condition of a contact task, with the peg-in-hole (PiH) assembly tasks as example use-cases. Our method is based on statistical generalization of successfully recorded executions at different values of the external condition. the major novelty of the method is that it provides not only generalized position and orientation trajectories, but a complete skill, consisting of desired position/orientation trajectories and the accompanying force/torque profiles. To improve the execution of the skill after generalization, we combine the proposed approach with an adaptation method to refine the newly generated movement. the versatility of the proposed approach was shown by applying it to firstly, two different types of robot arms: a humanoid 7-axis Kuka LWR-4 arm and a 6-axis industrial Universal robot UR5 arm and secondly, two different peg-in-hole problems: insertion of a square peg and insertion of a round peg.

关键词： Trajectory Libraries Service robots Manipulators Robot kinematics Quaternions

来源：评论

学校读者我要写书评

暂无评论

the 5th international conference on Science & Engineering in Mathematics, Chemistry and Physics 2017 (ScieTech 2017), the Ramada Bintang Hotel, Kuta, Bali, Indonesia 21 - 22 January 2017

引用

Journal of Physics: conference Series 2017年第1期820卷

Keynote Speakers 1. Prof. Dr Igor Kotenko, St. Petersburg Institute for informatics and automation of Russian Academy of Sciences (SPIIRAS), Russian Federation Title: Visual Analytics for Cyber Security: Mathematical Models, Techniques and Practical Solutions In this talk visual analytics models, techniques and practical solutions for visualization and subsequent analysis in critical operational domains on the example of cyber security situation assessment will be considered. Methods of visual analytics can significantly improve efficiency when working with big data, as they combine the power of intelligent data processing methods, and particularities of the human visual perception of the information. In this talk we analyze existing methods of visual data analysis to solve various problems of protection against cyber attacks. the effectiveness of visual analysis is demonstrated by the example of existing and developed by the authors techniques and tools of visual analytics, including areas of network perimeter monitoring, policy assessment, vulnerability assessment, traffic analysis, attack detection, security metrics representation, fraud investigation, etc. We consider different visual models such as matrices, graphs, histograms, treemaps, spiral view, starburst, clock view, 3D scatter plots, 3D visualization, metaphoric host behavior, etc. the talk discusses a visual analytics technique implemented for displaying a set of security metrics used to assess overall computer network security status and evaluate the efficiency of protection mechanisms. the technique can assist in solving such security tasks which are important for security information and event management systems. the approach suggested is suitable for displaying security metrics of large networks and support historical analysis of the data. To demonstrate and evaluate the usefulness of the proposed technique we implemented a use case corresponding to the Olympic Games scenario and different ways of c

关键词：

来源：评论

学校读者我要写书评

暂无评论

informatics in control, automation and robotics: 8th international conference, ICINCO 2011 Noordwijkerhout, the Netherlands, July 28-31, 2011 Revised ...

引用

2014年

作者： Jean Louis Ferrier Alain Bernard Oleg Yu Gusikhin Kurosh Madani

ISBN: (纸本)9783642431975

the present book includes a set of selected papers from the eighth "international conference on informatics in control automation and robotics"(ICINCO 2011), held in Noordwijkerhout, the Netherlands, from 28 to 31 July 2011. the conference was organized in four simultaneous tracks: "Intelligent control Systems and Optimization", "robotics and automation", "Signal Processing, Sensors, Systems Modeling and control" and "Industrial Engineering, Production and Management". the book is based on the same *** received 322 paper submissions, not including those of workshops or special sessions, from 52 countries, in all continents. After a double blind paper review performed by the Program Committee only 33 submissions were accepted as full papers and thus selected for oral presentation, leading to a full paper acceptance ratio of 10%. Additional papers were accepted as short papers and posters. A further refinement was made after the conference, based also on the assessment of presentation quality, so that this book includes the extended and revised versions of the very best papers of ICINCO *** to high quality standards is a major concern of ICINCO that will be maintained in the next editions of this conference, including not only the stringent paper acceptance ratios but also the quality of the program committee, keynote lectures, workshops and logistics.

关键词：

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：