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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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Catadioptric vehicle undercarriage imaging with visual path planning

Catadioptric vehicle undercarriage imaging with visual path ...

引用

international conference on Autonomous Robots and Agents, ICARA

作者： Robert Ross John Devlin Anthony de Souza-Daw Department of Electronic Engineering La Trobe University Melbourne VIC Australia Centre of Technology RMIT International University Ho Chi Minh Vietnam

this paper describes a mobile robot system used to image vehicle undercarriages. the approach uses a visual image processing technique to identify and paramaterise tyres as fiduciary markers from which pose estimation can be performed. After pose estimation is performed a path planning algorithm is used to navigate the mobile robot underneath the vehicle whilst imaging the vehicle undercarriage using a wide angle catadioptric imaging system. the images of the undercarriage are then re-projected to a flat plane and template matching assisted by odometry is used to generate a mosaic view of the vehicle undercarriage. the mobile robot imaging approach is evaluated visually, with images including imitation improvised explosive devices (IED's) and is shown to be significantly more versatile and safer for operators compared to alternate methods of undercarriage inspection.

关键词： Vehicles Mobile robots Cameras Inspection Robot vision systems

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PVDF film micro fabrication for the robotics skin sensor having flexibility and high sensitivity

PVDF film micro fabrication for the robotics skin sensor hav...

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2011 5th international conference on Sensing Technology, ICST 2011

作者： Han, Hiro Nakagawa, Yuusaku Takai, Yasuyuki Kikuchi, Kunitomo Tsuchitani, Shigeki Dept. of Opto-Mechatronics Faculty of Systems Engineering Wakayama University Wakayama Japan

ISBN: (纸本)9781457701672

this paper provide a novel and potential method to realize a flexible and high sensitive, high resolution skin sensor useful for the application of robotic skin. MEMS technology was applied and by etching process 140∼300/40- μm of micro structures were realized easily directly on the elongated and polarized polyvinylidene fluoride (β - PVDF) film that will be used as the sensing element in the skin sensor. the effects of PVDF film etching condition, especially the experienced temperature history to the PVDF important sensing parameter of piezoelectric constant was evaluated by experiment. PVDF film etching characteristics were introduced also. N,N′-dimethyl acetamide (DMA, C4H9NO) solution was used as the wet etching etchant, and O2 gas for the RIE dry etching process. Under the temperature of less than 55°C , the PVDF film piezoelectric constant was got almost no change, and at the range over 55°C , the constant start to deteriorate linearly according with the temperature rise about 0.3×10 -12;(C/N)/°C. At about 100°C , there was only 50% of deterioration on the PVDF film piezoelectric constant. Such a strong piezoelectric activity will be useful to the sensitivity of the skin sensor. By photo mask design and control of the process condition, much fine and complex micro structure could be fabricated directly on the PVDF film without noticeable degradation of its piezoelectric constant, and it will be useful to realize the required soft and high sensitive, high-resolution skin sensor. © 2011 IEEE.

关键词： robotics

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Reactive rhythm activities and offline classification of imagined speeds of finger movements

Reactive rhythm activities and offline classification of ima...

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international conference on Bioinformatics and Biomedical Engineering

作者： Fu, Yunfa Xu, Baolei Pei, Lili Li, Hongyi State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate School of the Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781424450893

Reactive rhythm bands to imagined speeds of index finger movement and offline classification of imagined speeds were explored in the paper. EEG was recorded when 4 subjects executed motor imagery of two tasks at first-person perspective that involved left index fingers at two speeds (4Hz and 1Hz, trained and paced by metronome). Relatively prominent rhythmic activities around 10˜13 Hz and 24˜26 Hz over C3, 12˜13 Hz over Cz, and 11˜13 Hz, 8˜10Hz, and 25˜26 Hz over C4 were found by spectrum analysis. the most significant band 9- 13Hz was used to construct the feature space. the Fisher discriminant analysis method (FDA), multi-layer perceptron neural network (MLP), and distinction sensitive learning vector quantization (DSLVQ) were applied in offline identification of imagined speeds respectively. the best average misclassification rates between fast and slow movement imagination by only three derivations C3, Cz, and C4 with FDA, MLP, and DSLVQ were 27.5±1%, 31.2±3.7%, and 34.6% at 3260 ms respectively. the results showed that FDA in this study was better than MLP and DSLVQ. this study demonstrated that discrimination for imagined speeds of finger movement was possible and feasible. Classification of imagined movement speeds with high accuracy based on EEG is also possible through improving methods in the paper. the study may provide a strategy to realize fine control of robots by brain-controlled robot interface. © 2011 IEEE.

关键词： Speed

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Multi-agent systems for real time resource allocation, scheduling, optimization and controlling: Industrial applications

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5th international conference on Industrial Applications of Holonic and Multi-Agent Systems, HoloMAS 2011

作者： Skobelev, Petr Knowledge Genesis Group of Companies Software Engineering Company "Smart Solutions" Ltd 95 Sanfirovoy St. Samara443080 Russia Institute of Control of Complex Systems of Russian Academy of Science 61 Sadovaja St. Samara443020 Russia Volga State University of Informatics and Telecommunications 23 Lev Tolstoy St. Samara443010 Russia

ISBN: (纸本)9783642231803

the paper describes industrial application of multi-agent systems for real time resource allocation, scheduling, optimization and controlling in transportation, manufacturing and other applications. Multi-agent technology for adaptive scheduling and functionality of industrial multi-agent solution for transportation and manufacturing is presented. Future vision of new generation of network-centric multi-agent systems is given. Industrial experience and key learnings of practical applications are discussed. © Springer-Verlag Berlin Heidelberg 2011.

关键词： Multi agent systems

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A Novel Motion Estimate Method of Human Joint with EMG-Driven Model

A Novel Motion Estimate Method of Human Joint with EMG-Drive...

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international conference on Bioinformatics and Biomedical Engineering (ICBBE)

作者： Qichuan Ding Xingang Zhao Anbin Xiong Jianda Han State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Chinese Academy and Sciences Beijing China Chinese Academy of Sciences Beijing Beijing CN

Electromyography (EMG) has been widely used as control commands for prosthesis, powered exoskeletons and rehabilitative robots. In this paper, an EMG-driven state-space model is developed to estimate joint angular velocities and angles throughout elbow flexion/extension. the state equation of the model combines the Hill-based muscle model with the forward dynamics of joint movement, and expresses the kinematic variables as a function of neural activation levels. then, EMG features including integral of absolute value and waveform length are extracted, and two quadratic equations which associate the kinematic variables with EMG features are fitted to represent the measurement equation. Based on the proposed model, the joint angular velocities and angles are estimated just using the EMG signals with the Extended Kalman Filter (EKF), and the estimation results are used to control a manipulator. the experimental results demonstrate the efficiency of EMG-based motion control with the proposed model.

关键词： Electromyography Muscles Joints Mathematical model Elbow Equations Feature extraction

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Smart home technology and special needs reporting UK activity and sharing implemention experiences from Scotland

Smart home technology and special needs reporting UK activit...

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international conference on Pervasive Computing Technologies for Healthcare, PervasiveHealth

作者： Jeremy Linskell Electronic Assistive Technology Service Ninewells Hospital NHS Tayside Dundee UK

this position paper discusses experiences gained in Scotland over the last 10 years in supporting the planning, design and implementation of solutions for independent living, based on off-the-shelf, structured cabling, smart home technology. It reports on successful implementations, the inclusion of preparatory cabling in other projects, considers the case for wider application and expands on some issues to be considered. these experiences are presented in the context of related developments within the UK, ascertained from a review carried out by the author.

关键词： Smart homes Technological innovation automation Contracts Plugs informatics Wireless communication

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Computer-based remote programming and control of stimulation units

Computer-based remote programming and control of stimulation...

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international IEEE/EMBS conference on Neural Engineering, CNE

作者： Robin Passama David Andreu David Guiraud Robotics Department of the LIRMM Université Montpelher II France INRIA DEMAR INRIA Institute of Rennes Montpellier France

this paper describes the architecture of the functional electrical stimulation systems developed in the context of the TIME European project. Contributions are the definition of a generic FES architecture and the specialization of this architecture, depending on the applicative context, by the deployment, the programming and the control of hardware units, notably stimulation ones. this specialization process is managed by a dedicated software environment, named SENIS Manager.

关键词： Computer architecture Cathodes Software Random access memory User interfaces Real time systems

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Distance monitoring of the power quality

Distance monitoring of the power quality

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作者： Gourov, Nikolay Tzvetkov, Plamen Milushev, George Gourova, Elissaveta Department of Electrical Measurements Technical University Sofia 8 Kliment Ohridski Blvd. 1000 Sofia Bulgaria Faculty of Mathematics and Informatics Sofia University 125 Tzarigradsko shosse Blvd. bl. 2 Sofia Bulgaria

ISBN: (纸本)9789604742707

Nowadays, increasing attention is paid to the electrical power quality. Any deviation from its quality standards leads to disruption and damage to electrical appliances and equipment coupled to the power system, and hence, to economic losses and even danger to life and health of service staff. Since the power quality is important for both suppliers and consumers, more and more systems for its monitoring are introduced. they follow a large number of parameters and adjust them in order to obtain optimal values and to achieve cost efficiency. this paper considers electrical power as a product which should meet certain quality norms. It describes the parameters of power quality according to the standard EN 50160, and discusses some approaches to monitoring the quality of electrical energy. On this base, two configurations for remote control of the power quality are shown which allow to establish connection between power quality analyser and control computer. the approaches could be applied in any case when Internet access or GSM coverage are available.

关键词： Power quality

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Supporting stakeholder needs by ceding control: the benefits of listening to end-users

Supporting stakeholder needs by ceding control: The benefits...

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international conference on Pervasive Computing Technologies for Healthcare, PervasiveHealth

作者： Anthony P. Glascock David M. Kutzik Department of Culture and Communication Drexel University Philadelphia PA USA

this paper reports on the progressive design process and actual use and evaluation in situ of an informatics system-the Home Care informatics System-that transmits information obtained by home based pervasive health care systems to caregivers and clients in a timely manner and easily usable format. Since 2006, three versions of the system have been tested in a series of studies with care provision organizations in the United States, the United Kingdom and the Netherlands. Findings from the studies have driven the development of the different iterations with the result being a customized model of pervasive health care that relies on the needs of the end-users, rather than the goals of the developers. Barriers encountered during the testing, that appear to be generalizable to the successful adoption of pervasive health care systems in general, are discussed and possible solutions suggested.

关键词： Organizations Human computer interaction informatics Monitoring Geriatrics Blogs

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Kornati bathymetry survey data-set for navigation and mapping

Kornati bathymetry survey data-set for navigation and mappin...

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Mediterranean conference on control and automation (MED)

作者： Simone Zandara Pere Ridao David Ribas Ricard Campos Angelos Mallios Institute of Informatics and Applications Universitat de Girona Spain

this paper reports a navigation and mapping data-set collected in the Croatian Kornati Archipelago during the "Breaking the Surface 2010" international Interdisciplinary Field Training of Marine robotics and Applications event. A sensor ridge including a navigation and mapping sensor suite, to be later installed in the GIRONA500 AUV being developed a the university of Girona, was attached to a motor boat to collect geo-referenced data. the sensor suite includes a Multibeam sonar profiler, an AHRS, a DGPS, a sound-speed profiler including a depth cell, a video camera and a mechanical scanning sonar profiler. the paper reports the experiment performed as well as the navigation and mapping results using: 1) GPS only (used as a ground truth), 2) Dead Reckoning only, and 3) a preliminary method fusing dead reckoning with surface registration based on a simple modification of the well known ICP algorithm. Preliminary, but promising, results show that a better performance may be achieved using the last method.

关键词： Robot sensing systems Global Positioning System Trajectory Iterative closest point algorithm Sonar

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