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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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Concept of actuation and control for the EO smart connecting car (EO scc)

Concept of actuation and control for the EO smart connecting...

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5th international conference on Intelligent robotics and Applications, ICIRA 2012

作者： Jahn, Michael Schröer, Martin Yoo, Yong-Ho Yüksel, Mehmed Kirchner, Frank German Research Center for Artificial Intelligence DFKI Bremen Robotics Innovation Center Robert-Hooke-Str. 5 28359 Bremen Germany

ISBN: (纸本)9783642335082

this paper describes the mechanical structure, electrical layout and control concept of the four-wheeled electric vehicle EO smart connecting car (EO scc). this car is able to change its shape, a feature provided by a foldable chassis, which also allows the coupling with suitable vehicle modules to thereby reconfigurable automobile unions. A concept for modular vehicle unions and extended maneuverability is provided by an innovative suspension. this suspension features 5 degrees of freedom for each wheel that can be controlled individually, being implemented as a parallel hybrid structure. the software control and the mechanical and electronic components, as well as simulation-based design of construction and mobility concepts of the EO scc are described. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Maneuverability

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Bio-Inspired Models of Network, Information, and Computing Systems - 5th international ICST conference, BIONETICS 2010, Revised Selected Papers

Bio-Inspired Models of Network, Information, and Computing S...

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5th international ICST conference on Bio-Inspired Models of Network, Information, and Computing Systems, BIONETICS 2010

ISBN: (纸本)9783642326141

the proceedings contain 70 papers. the topics discussed include: biologically inspired modeling of smart grid for dynamic power-flow control;path heuristics using ACO for inter-domain routing in mobile ad hoc and sensor networks;coevolution of game strategies, game structures and network structures;reconstructing history of social network evolution using web search engines;learning and generalization in random automata networks;collective evolutionary dynamics and spatial reciprocity under the N-person snowdrift game;an evolutionary game theoretic framework for adaptive, cooperative and stable network applications;evolving the asymmetry of the prisoner's dilemma game in adaptive social structures;feature and kernel evolution for recognition of hypersensitive sites in DNA sequences;and a phenomic algorithm for inference of gene networks using S-systems and memetic search.

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Towards WirelessHART protocol decentralization: A proposal overview

Towards WirelessHART protocol decentralization: A proposal o...

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Joint Proceedings of the 12th international conference on Next-Generation Teletraffic and Wired/Wireless Advanced Networking, NEW2AN 2012 and 5th conference on Internet of things and Smart Spaces, ruSMART 2012

作者： Müller, Ivan Winter, Jean Michel De Freitas, Edison Pignaton Netto, João Cesar Pereira, Carlos Eduardo Electrical Engineering Department Federal University of Rio Grande Do Sul Brazil Institute of Informatics Federal University of Rio Grande Do Sul Brazil Electrical Engineering Department University of Brasília Brasília Brazil

ISBN: (纸本)9783642326851

Wireless industrial equipments for monitoring and process control are being widely adopted nowadays. their main advantage lies in the ease of installation when compared with wired devices. However, link reliability and the strict real time communication requirements are frequently cited as real obstacles. To cope with this, adequate wireless protocols for industrial automation must present features such as deterministic temporal behavior, clock synchronization, and mesh topology. these characteristics lead to the adoption of centralized architectures such as the WirelessHART, the most relevant wireless communication protocol for industrial automation commercially available. By means of thorough analysis of this protocol and the current state of the art, several improvements can be proposed. this paper proposes a decentralized network manager, which should be able to coordinate with other network managers in order to perform a distributed message scheduling. this brings up several advantages such as the faster join and leave of field devices, faster and efficient scheduling schemes, increase of overall reliability and new possible mixed topologies. On the other hand, the proposal raises issues that must be solved in order to obtain practical results. the proposal is introduced in this paper as well as the first evaluations. © 2012 Springer-Verlag.

关键词： Managers

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Design and analysis of a network control structure with a switched PD compensator

Design and analysis of a network control structure with a sw...

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international conference on Methods and Models in automation and robotics (MMAR)

作者： Octavian Stefan Alexandru Codrean Toma-Leonida Dragomir Department of Automation and Applied Informatics Polytechnic University of Timisoara Timisoara Romania

the current paper proposes a new network control structure based on a nonlinear network transmission model recently proposed by the authors, a switched PD time delay compensator and a state feedback controller. the design methodology described for the control structure consists in a coupling between analytical tuning methods and numerical optimization methods. the stability is assessed in the framework of switched linear systems through a switched quadratic Lyapunov function. Finally, the results are validated on a numerical example.

关键词： Switches Stability analysis State feedback Delay effects Process control Delay

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Proposal and evaluation of integer inverse kinematics for multijoint small robot

Proposal and evaluation of integer inverse kinematics for mu...

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5th international conference on Intelligent robotics and Applications, ICIRA 2012

作者： Morishita, Takeshi Tojo, Osamu Toin University of Yokohama Department of Robotics 1614 Kugogane-cho Aoba-ku Yokohama Japan

ISBN: (纸本)9783642335143

In this paper, we propose an integer inverse kinematics method for multijoint robot control. the method reduces computational overheads and leads to the development of a simple control system as the use of fuzzy logic enables linguistic modeling of the joint angle. A small humanoid robot is used to confirm via experiment that the method produces the same cycling movements in the robot as those in a human. In addition, we achieve fast information sharing by implementing the all-integer control algorithm in a low-cost, low-power microprocessor. Moreover, we evaluate the ability of this method for trajectory generation and confirm that target trajectories are reproduced well. the computational results of the general inverse kinematics model are compared to those of the integer inverse kinematics model and similar outputs are demonstrated. We show that the integer inverse kinematics model simplifies the control process. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Inverse kinematics

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Correct motion advice on rehabilitation instruction robot by superimposing instructor CG model

Correct motion advice on rehabilitation instruction robot by...

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5th international conference on Intelligent Networks and Intelligent Systems, ICINIS 2012

作者： Yoshino, Kazuyoshi Kouda, Masafumi Zhang, Shanjun Dept. of Robotics and Mechatronics Kanagawa Institute of Technology 1030 Shimo-Ogino Atsugi Kanagawa 243-0292 Japan Dept. of Information Sciences Kanagawa University 2946 Tsuchiya Hiratsuka Kanagawa 259-1293 Japan

ISBN: (纸本)9780769548555

this paper describes a means for advising a correct motion on a rehabilitation instruction robot that instructs a patient the stretching exercises in rehabilitation. Rehabilitation is one of the ways for people to keep and recover physical functions that are needed in daily life. the rehabilitation is generally performed by a physical therapist or an occupational therapist in a hospital or rehabilitation facility. Recently, the number of therapists has been insufficient because the number of elderly people has increased. We have been studying a robot system to help with the instruction of rehabilitation processes. the instruction robot not only can show a patient how to perform an exercise, but also can evaluate the accuracy of the patient's exercise. In addition, the robot advises the patient how to correct his/her posture if the exercise is incorrect. the rehabilitation instruction robot advises the patient to correct his/her exercises by both the computer-generated voice and the correct exercise shown by the robot. Depending on the contents of rehabilitation exercises, it is difficult to advise a patient in words which body site to correct or how to correct his body site. In this paper, we improve the correct motion advice by superimposing an instructor model created by computer graphics (CG) onto the video image of the patient. Furthermore, the system displays the CG part of the patient body site of the incorrect exercise with a different color. By combining a verbal advice and a visual advice, the system is able to give a patient an easily understandable advice. © 2012 IEEE.

关键词： Robots

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Intuitive control for robotic rehabilitation devices by human-machine interface with EMG and EEG signals

Intuitive control for robotic rehabilitation devices by huma...

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international conference on Methods and Models in automation and robotics (MMAR)

作者： Alexandr Borgul Alexey Margun Konstantin Zimenko Artem Kremlev Alexandr Krasnov Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics Saint Petersburg Russia

this article presents a system of intuitive control the upper extremity exoskeleton and other mechatronic devices with EMG and EEG for people with different degrees of musculoskeletal system damage. the technology let control an apparatus by thinking about it. Various identification methods for control signals like neural networks, wavelet analysis, fastICA, Fourier series are given below. Algorithms were tested on real objects and simulator.

关键词： Electromyography Electroencephalography Exoskeletons Noise Man machine systems Humans Wavelet analysis

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Design and performance evaluation of a rotary series elastic actuator

Design and performance evaluation of a rotary series elastic...

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5th international conference on Intelligent robotics and Applications, ICIRA 2012

作者： Donald, Mitchell Li, Qingguo Bio-Mechatronics and Robotics Laboratory Department of Mechanical and Materials Engineering Queens University Kingston ON K7L 3N6 Canada

ISBN: (纸本)9783642335082

the purpose of rotary series elastic actuators (RSEAs) is to reduce the interface stiffness between an actuator and the user, while achieving torque control, less inadvertent damage, high shock tolerance, and energy storage. In this paper we developed a RSEA test platform and control system for identifying the factors that affect performance. the effectiveness of a RSEA is studied by a sequence of experiments where a series of torque profiles are supplied to a handle, which the user holds while providing rotation about the elbow joint. By comparing desired torque outputs with those found via the spring deflection and those measured by an in-system load cell, the performance of the system is analyzed. the results indicated that the system is mostly limited by the torsion spring, its attachment, and the nonlinearities associated with it. the spring itself has a large impact on the torque/frequency bandwidth of the RSEA. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Torque

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the study of a vision-based pedestrian interception system

The study of a vision-based pedestrian interception system

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5th international conference on Intelligent robotics and Applications, ICIRA 2012

作者： He, Wanfeng Fang, Yongchun Zhang, Xuebo Institute of Robotics and Automatic Information Systems Nankai University Tianjin 300071 China

ISBN: (纸本)9783642335082

this paper designs a vision-based pedestrian interception system with a mobile robot, which can be potentially utilized in such applications as service robots. Specifically, by employing the Histograms of Oriented Gradients(HOG), together with some Edge Detection (ED) method, we first propose a novel HOG-ED approach to detect a human being from the series of acquired images accurately, based on which the depth information is successfully extracted on the basis of some geometrical analysis. After that, a two-level vision-based control scheme integrating depth extraction is presented to drive a mobile robot to intercept the pedestrian. the accuracy of the proposed depth estimation method and the interception controller are validated through experimental results. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Mobile robots

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Multichannel NRZ-to-RZ modulation format conversion using cross-gain modulation in a semiconductor optical amplifier

Multichannel NRZ-to-RZ modulation format conversion using cr...

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2012 5th international conference on Advanced Technologies for Communications, ATC 2012

作者： Nguyen Tan, Hung Katafuchi, Tomoya Matsuura, Motoharu Quang, Nguyen-the Kishi, Naoto Department of Communication Engineering and Informatics University of Electro-Communications Tokyo 182-8585 Japan Center for Frontier Science and Engineering University of Electro-Communications Tokyo 182-8585 Japan

ISBN: (纸本)9781467343527

We propose the use of cross-gain modulation (XGM) for multichannel NRZ-to-RZ data format conversion in a single semiconductor optical amplifier (SOA). Four 10Gb/s WDM NRZ signals are converted simultaneously to RZ format without logic inversion. the proposed technique is advantageous over previous schemes due to its particular simplicity, polarization independency, and wavelength-shift-free operation. It maintains good performance under 16.5dB input power dynamic range, and large time and wavelength offsets between input signals and control clock. © 2012 IEEE.

关键词： Semiconductor optical amplifiers

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