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检索条件"任意字段=5th International Conference on Informatics in Control, Automation and Robotics"

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A comparison of general-purpose foss compression techniques for efficient communication in cooperative multi-robot tasks 11

A comparison of general-purpose foss compression techniques ...

引用

11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Martins, Gonçalo S. Portugal, David Rocha, Rui P. Institute of Systems and Robotics University of Coimbra Coimbra3030-290 Portugal

ISBN: (纸本)9789897580406

the efficient sharing of information is a commonly overlooked problem in methods proposed for cooperative multi-robot tasks. However, in multi-robot scenarios, especially when the communication network's quality of service is less than desirable, either in bandwidth or reliability, efficient information exchange is a key aspect for the successful deployment of coordinated robotic teams with proper exchange of information. Compression is a popular, well-studied solution for transmitting data through constrained communications channels, and many general-purpose solutions are available as free and open-source software (FOSS) projects. there are various benchmarking tools capable of comparing the performance of these techniques, but none that differentiate between them in the compression of the typical data exchanged among robots in a cooperative task. thus, choosing a compression technique to be used in this context is still a challenge. In this paper, the issue of efficiently communicating data among robots is addressed by comparing the performance of various compression techniques in a case study of multi-robot simultaneous localization and mapping (SLAM) scenarios using occupancy grids, a cooperative task usually requiring the exchange of large amounts of data.

关键词： Multipurpose robots

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Knowledge discovery, rehabilitation robotics, and serious games: Examining training data 5

Knowledge discovery, rehabilitation robotics, and serious ga...

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5th IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics, BioRob 2014

作者： Moretti, Caio B. Joaquim, Ricardo C. Caurin, Glauco A. P. Krebs, Hermano I. Martins, José Department of Mechanical Engineering University of São Paulo at São Carlos São Carlos SP Brazil Massachusetts Institute of Technology Mechanical Engineering Department CambridgeMA02139 United States University of Maryland School of Medicine Neurology Department BaltimoreMD21201 United States

ISBN: (纸本)9781479931262

In this paper, we present an initial attempt to apply Knowledge Discovery techniques over real performance data from patients enrolled in robotic therapy in order to explore how to better optimize therapy. Performance data sets encompass measurements such as position, velocity and force, as well as final performance measures. We apply the Principal Component Analysis method in an attempt to reduce the dimensionality of the problem, molding subsets that were the input into a Multilayer Perceptron Artificial Neural Network which would carry out data mining with the purpose of discovering the relative significance of each field, in relation to a performance measure. It was possible to notice the impact caused by the lack of each field in terms of specific performance measures, indicating which data are more relevant to use in further experiments.

关键词： Data mining

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informatics in control, automation and robotics - 8th international conference, ICINCO 2011, Revised Selected Papers

Informatics in Control, Automation and Robotics - 8th Intern...

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8th international conference on informatics in control, automation and robotics, ICINCO 2011

ISBN: (纸本)9783642313523

the proceedings contain 15 papers. the topics discussed include: robust output feedback interpolation based control for constrained linear systems;SVM approximation of value function contours in target hitting problems;dynamic obstacle avoidance with simultaneous translational and rotational motion control for autonomous mobile robot;an economical testbed for cooperative control and sensing strategies of RoboticMicro-vehicles;mobile manipulators motion planning based on trajectory tracking control;study and development of the rescue robot to accommodate victims under earthquake disasters;digital traveler assistant;analysis of a class of infinite dimensional frames;using chernoff's bounding method for high-performance structural break detection and forecast error reduction;and analytical-numerical localization of hidden attractor in electrical chua's circuit.

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Proceedings of 2014 IEEE international conference on automation, Quality and Testing, robotics, AQTR 2014

Proceedings of 2014 IEEE International Conference on Automat...

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2014 19th IEEE international conference on automation, Quality and Testing, robotics, AQTR 2014

ISBN: (纸本)9781479937318

the proceedings contain 87 papers. the topics discussed include: an LMI approach for observer design for Takagi-Sugeno descriptor models;fault-tolerant predictive control for Markov linear systems;synthesis of train traffic control system with evolutionary computing;optimistic planning with long sequences of identical actions for near-optimal nonlinear control;internal model control for a hydraulically driven robotic arm;linear quadratic optimal control of an inverted pendulum using the artificial bee colony algorithm;digitization of continuous interval transfer functions: a revisited method and its application on a case study;and fuzzy-based gain scheduling of exact feedforward linearization control and sliding mode control for magnetic ball levitation system: a comparative study.

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High-order analytical solution of relative motion equation for satellite formation flying in elliptical orbit 11

High-order analytical solution of relative motion equation f...

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11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Wang, Ting Lei, Hanlun Xu, Bo Guan, Tian Guo, Jun School of Astronomy and Space Science Nanjing University 22 Hankou Road Nanjing Jiangsu Province China Mudra Intelligence Home Decorating Company No. 8034 Plaza of International Home Decorating Wuxi214000 China

ISBN: (纸本)9789897580406

the paper studied relative motion equation for satellite formation flying with large separations. the configuration is traditionally designed by the periodic solutions of the C-W equation in circle reference orbit or Lawden equation in elliptic reference orbit. Hence, the linear solutions are more suitable for the configuration with small scale formation than large scale formation. However, in some specific situations, it is necessary to use satellites with large separations. then the paper studied relative motion based on the nonlinear equations in an elliptic reference orbit. the solution is expanded as series form with respect to the eccentricity of the reference orbit, in-plane amplitude and out-of-plane amplitude. Taking the Lawden periodic solution as starting point, the high-order analytical solution is constructed by Lindstedt-Poincare method. Particularly, as the eccentricity is zero, the analytical solution degenerated to express the relative motion in circle reference orbit. Finally, the practical convergence of the analytical solution is discussed in order to examine its validity and applicability.

关键词： Nonlinear equations

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An Arm for a Leg: Adapting a Robotic Arm for Gait Rehabilitation

An Arm for a Leg: Adapting a Robotic Arm for Gait Rehabilita...

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Annual international conference of the IEEE Engineering in Medicine and Biology Society

作者： Giulia Franchi Ulrich Viereck Robert Platt Sheng-Che Yen Christopher J. Hasson the Department of Informatics and Automation Engineering University of Roma Tre Rome RM 00146 Italy the Department of Computer and Information Science Northeastern University Boston MA 02115 USA the Department of Physical Therapy Movement and Rehabilitation Sciences Northeastern University Boston MA 02115 USA

ISBN: (纸本)9781424492695

the purpose of this study was to adapt a multipurpose robotic arm for gait rehabilitation. An advantage of this approach is versatility: a robotic arm can be attached to almost any point on the body to assist with lower- and upper-extremity rehabilitation. this may be more cost-effective than purchasing and training rehabilitation staff to use several specialized rehabilitation robots. Robotic arms also have a more human-like morphology, which may make them less intimidating or alien to patients. In this study a mechanical interface was developed that allows a fast, secure, and safe attachment between a robotic arm and a human limb. the effectiveness of this interface was assessed by having two healthy subjects walk on a treadmill with and without a robotic arm attached to their legs. the robot's ability to follow the subjects' swinging legs was evaluated at slow and fast walking speeds. Two different control schemes were evaluated: one using the standard manufacturer-provided control algorithm, and another using a custom algorithm that actively compensated for robot-human interaction forces. the results showed that both robot control schemes performed well for slow walking. there were negligible differences between subjects' gait kinematics with and without the robot. During fast walking with the robot, similar results were obtained for one subject;however, the second subject demonstrated noticeable gait modifications. Together, these results show the feasibility of adapting a multipurpose robotic arm for gait rehabilitation.

关键词： Leg Adapting a Robotic Arm Gait Rehabilitation robotic arm Leg Locomotion Gait Rehabilitation Lake Restoration mechanical interfaces Robot

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robotics-Assisted Catheter Manipulation for Improving Cardiac Ablation Efficiency 5

Robotics-Assisted Catheter Manipulation for Improving Cardia...

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5th IEEE RAS/EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Khoshnam, Mahta Patel, Rajni V. Western Univ Dept Elect & Comp Engn London ON Canada CSTAR London ON Canada Western Univ Dept Surg London ON Canada

ISBN: (纸本)9781479931262

the quality of contact between the catheter tip and cardiac tissue has been identified as an important factor in the efficacy of the catheter-based cardiac ablation procedures. However, maintaining a constant tip/tissue contact force during the procedure is difficult due to cardiac and respiratory motions. Robotic manipulation of the catheter has the potential to overcome this difficulty and decrease the range of variations in the contact force during the ablation procedure. this paper investigates the possibility of performing motion compensation for conventional steerable ablation catheters using a robotic manipulator. the behavior of such catheters is analyzed in free space as well as in contact with static and moving targets and the limitations in the actuation mechanism are identified. Based on this analysis, a technique for synchronizing the motion of the catheter tip with cardiac motion is proposed. the suggested control system estimates the frequency of the moving target and reshapes the input trajectory accordingly. the performance of the resulting system is evaluated experimentally. the results show that in the experimental setting, the proposed technique reduces the variations in the contact force and noticeably improves the quality of tip/tissue contact.

关键词： Catheters Delay effects Force Frequency control Frequency estimation Heart Robots

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How Electromyography Readings from the Human Forearm are Made Cryptic, Trivial, or Non-Trivial Information for Use in Synthetic Systems

How Electromyography Readings from the Human Forearm are Mad...

引用

2015 5th international conference on Biomedical Engineering and Technology

作者： A.Y.Bani Hashim Z.Fu Z.Jamaludin I.S.Mohamad Department of Robotics & Automation Faculty of Manufacturing Engineering Universiti Teknikal Malaysia Melaka Faculty of Mechanical Engineering Universiti Teknikal Malaysia Melaka

the success of reading potentials generating from human muscle activities is evident that proves that the human body's neural system is naturally electronics. Now, modern engineering is accepting it as one field of engineering science. Due to this, the concept of a cyborg is beginning to realize as products such as exoskeletons and neuroprostheses. the object of this work, however, is to view from a different perspective as to how this is beneficial to the functions beyond the mentality of today's applications. We hypothesized that the recorded potentials from muscle activities may be regarded similar as to the signals that jump between synapses in the biological neurons. We suggest that these signals, instead of mere electrical in nature, their waveforms might include emotion characteristics from uniquely combined muscle activities and feeling. the system codes the signals where the newly created information may be made cryptic, trivial, or nontrivial depending on how they are going to be utilized in the synthetic systems. So that the artificial system could sense, for instance, the emotion of the human host.

关键词： Electromyography neurons forearm muscle

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A Software Architecture for Generally Intelligent Humanoid robotics 5

A Software Architecture for Generally Intelligent Humanoid R...

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5th Annual international conference on Biologically Inspired Cognitive Architectures (BICA)

作者： Goertzel, Ben Hanson, David Yu, Gino OpenCog Fdn Hong Kong Hong Kong Peoples R China Hanson Robot Hong Kong Hong Kong Peoples R China Hong Kong Polytech Univ Sch Design Hong Kong Hong Kong Peoples R China

this paper summarizes the authors' thinking regarding the design of a software framework for interfacing between general-intelligence-oriented software systems and complex mobile robots, including humanoid robots. the framework describes incorporates perception synthesis, action orchestration, and high level control, and is designed to effectively leverage existing relevant software frameworks such as ROS and Blender. An initial case study motivating this work is the use of the OpenCog AGI (Artificial General Intelligence) software framework to help control humanoid robots created by Hanson robotics.

关键词： Consciousness Information Integration Global Workspace Nonlinear Dynamics

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From artificial cognitive systems and open architectures to cognitive manufacturing systems

From artificial cognitive systems and open architectures to ...

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international conference on Industrial informatics

作者： Sergii Iarovyi Jose L. Martinez Lastra Rodolfo Haber Raúl del Toro Factory Automation Systems and Technologies Lab Tampere University of Technologies Tampere Finland Centre for Automation and Robotics CAR-CSIC Ctra. de Campo Real km. 0.200 La Poveda Madrid

ISBN: (纸本)9781479966509

Considering constantly increasing demand for shift from mass production to mass customization and the need to maintain high level of automation despite permanent changes in manufacturing technologies and tools new approaches and solutions have to be provided in manufacturing. Cyber-Physical Systems and Industrial Internet of things are enabling smart manufacturing to tackle the challenge of data processing, integration and interpretation, but beyond uniformed data collection and visualization. the cognitive approach is argued to introduce brain and biologically-inspired algorithms capable to better adapt industrial systems for unforeseen conditions. Such approach should provide flexible and robust solution for manufacturing systems, enabling new level of adaptability and re-configurability in the system by self-X capabilities. In this paper contemporary solutions applicable for introduction of cognitive capabilities in manufacturing systems are studied and the architecture for cognitive manufacturing system employing benefits of Industrial Internet and Cognitive control is proposed.

关键词： Cognitive Manufacturing Open Architecture System Integration Cognitive control CPS SOA Knowledge Representation

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