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检索条件"任意字段=5th International Conference on Informatics in Control Automation and Robotics, ICINCO 2008"

共 191 条记录，以下是61-70 订阅

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A new approach of gray images binarization for artificial vision systems with threshold methods

A new approach of gray images binarization for artificial vi...

引用

5th international conference on informatics in control, automation and robotics

作者： Hossu, Andrei Hossu, Daniela Univ Politehn Bucuresti Fac Control & Comp Dept Automat & Ind Informat RO-77206 Bucharest Romania

ISBN: (纸本)9789898111319

this paper presents some aspects of the (gray level) image binarization methods used in artificial vision systems. It is introduced a new approach of gray level image binarization for artificial vision systems dedicated to the specific class of applications for moving scene in industrial automation - temporal thresholding. In the first part of the paper are remarked some limitations of using the global optimum thresholding in gray level image binarization. In the second part of this paper are presented some aspects of the dynamic optimum thresholding method for gray level image binarization. In the third section are introduced the concepts of temporal histogram and temporal thresholding, starting from classic methods of global and dynamic optimal thresholding of the gray level images. In the final part are presented some practical aspects of the temporal thresholding method in artificial vision applications for the moving scene in robotic automation class;highlighting the influence of the acquisition frequency on the methods results.

关键词： vision systems gray level image binarization gray level histogram global optimum thresholding dynamic optimum threshold temporal histogram temporal thresholding and moving scene in robotic automation

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Two-sided assembly line - Estimation of final results

Two-sided assembly line - Estimation of final results

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5th international conference on informatics in control, automation and robotics

作者： Grzechca, Waldemar Silesian Tech Univ Inst Automat Control PL-44100 Gliwice Poland

ISBN: (纸本)9789898111302

the paper considers simple assembly line balancing problem and two-sided assembly line structure. In the last four decades a large variety of heuristic and exact solutions procedures have been proposed to balance one-sided assembly line in the literature. Some heuristic were given to balance two-sided lines, too. Some measures of solution quality have appeared in line balancing literature: balance delay (BD), line efficiency (LE), line time (LT) and smoothness index (SI). these measures are very important for estimation the balance solution quality. Author of this paper modified and discussed the line time and smoothness for two-sided assembly line. Some problems, which appeared during evaluations, are mentioned.

关键词： assembly line balancing two-sided structure line time line efficiency smoothness index

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Combination of breeding swarm optimization and backpropagation algorithm for training recurrent fuzzy neural network

Combination of breeding swarm optimization and backpropagati...

引用

5th international conference on informatics in control, automation and robotics

作者： Bahrampour, Soheil Ghorbanpour, Sahand Ramezani, Amin Univ Tehran Sch ECE Control & Intelligent Proc Ctr Excellence Tehran 14174 Iran Douran Co Tehran Iran

ISBN: (纸本)9789898111302

the usage of recurrent fuzzy neural network has been increased recently. these networks can approximate the behaviour of the dynamical systems because of their feedback structure. the Backpropagation of error has usually been used for training this network. In this paper, a novel approach for learning the parameters of RFNN is proposed using combination of the backpropagation and breeding particle swarm optimization. A comparison of this approach with previous methods is also made to demonstrate the effectiveness of this algorithm. Particle swarm is a derivative free, globally optimizing approach that makes the training of the network easier. these can solve the problems of gradient based method, which are instability, local minima and complexity of differentiating.

关键词： recurrent fuzzy neural network identification breeding swarm optimization

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Multi-level control of an intelligent wheelchair in a hospital environment using a Cyber-Mouse simulation system

Multi-level control of an intelligent wheelchair in a hospit...

引用

5th international conference on informatics in control, automation and robotics

作者： Braga, Rodrigo A. M. Petry, Marcelo Oliveira, Eugenio Reis, Luis Paulo Univ Porto Artificial Intelligence & Comp Sci Lab LIACC Fac Engn P-4200465 Oporto Portugal

ISBN: (纸本)9789898111319

the development of intelligent wheelchairs is a very good solution to assist severely handicapped people who are unable to operate classical electrical wheelchair by themselves in their daily activities. this paper describes the integration of a robotic simulator with our intelligent wheelchair shared control and planning modules. An adapted version of the free Cyber-Mouse robotic simulator was used to simulate the movement of the intelligent wheelchair in a hospital environment. Adaptations of the subsumption architecture, Strips Planning and A* Algorithms were employed and integrated to allow wheelchair intelligent behavior. the experimental results have demonstrated the success of the integration of these algorithms in our simulator allowing very safe motion of the intelligent wheelchair in the simulated hospital environment. Also, the adapted Cyber-Mouse simulator proved its capability and robustness in simulating the hospital environment and wheelchair physic characteristics.

关键词： intelligent wheelchair intelligent robotics Strips Planning path planning A* algorithm

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Stable states transition approach -: A new strategy for walking robots control in uncertain environments

Stable states transition approach -: A new strategy for walk...

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5th international conference on informatics in control, automation and robotics

作者： Petrisor, Arica Bizdoaca, Nicu George Drighiciu, Adrian Diaconu, Ilie Degeratu, Sonia Canureci, Gabriela Serb, Gabriela Petropol Univ Craiova Fac Electromech Engn Craiova Romania Univ Craiova Fac Automat Comp & Elect Craiova Romania

ISBN: (纸本)9789898111319

A new strategy for walking robots control in uncertain environments, called Stable States Transition Approach (SSTA), is proposed in this paper. All the controls, both the steps succession and the evolution inside each step are established by the evolution environment and by the objective proposed during the evolution. there are no predetermined types of legs movements;they are on-line determined during the robot evolution, irrespective of the ground shape. To apply this strategy it was necessary the robot interpretation as a Variable Causality Dynamic Systems (VCDS). Experimental results are implemented and verified in RoPa, a platform for simulation and design of walking robot control algorithms, to demonstrate the efficacy of the proposed control method.

关键词： walking robot mathematical model control strategy variable causality dynamic system uncertain environment

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An approach to obtain a PLC program from a DEVS model

An approach to obtain a PLC program from a DEVS model

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5th international conference on informatics in control, automation and robotics

作者： Park, Hyeong T. Seong, Kil Y. Dangol, Suraj Wang, Gi N. Park, Sang C. Ajou Univ Dept Ind Informat & Syst Engn Suwon 441749 South Korea

ISBN: (纸本)9789898111319

Proposed in the paper is an approach to generate the PLC code from the Discrete Event System Specification (DEVS) model. DEVS have been widely accepted to model the real system for the discrete event system simulation. the objective of this paper is to generate PLC control code from the DENS model. To achieve it, this paper proposes two steps. First step is to convert the real system into the virtual model using the 'three-phase-modeling procedure'. In the second step, the obtained model is formalized with DEVS formalism. the final model consists of different components, among them the State manager and the Flow controller model plays vital role to generate PLC code. In this paper, proposed steps are described with a work cell example.

关键词： programmable logic controller(PLC) DEVS factory automation simulation

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Prebuffering as a way to exceed the data transfer speed limits in mobile control systems

Prebuffering as a way to exceed the data transfer speed limi...

引用

5th international conference on informatics in control, automation and robotics

作者： Krejcar, Ondrej VSB Tech Univ Ostrava Ctr Appl Cybernet Ostrava Czech Republic

ISBN: (纸本)9789898111319

the proliferation of mobile computing devices and local-area wireless networks has fostered a growing interest in location-aware systems and services. Additionally, the ability to let a mobile device determine its location in an indoor environment supports the creation of a new range of mobile control system applications. Main area of interest is in model of radio-frequency based system enhancement for locating and tracking users of our control system inside buildings. the developed framework described here joins the concepts of location and user tracking as an extension for new control system. the experimental framework prototype uses a Wi-Fi network infrastructure to let a mobile device determine its indoor position. User location is used to data pre-buffering and pushing information from server to user's PDA. All the server data are saved as artefacts with their position info in building. these technique allow to exceed the data transfer speed limits in mobile control systems.

关键词： Wi-Fi 802.11b PDA localization framework predictive buffering

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Object exploration with a humanoid robot -: Using tactile and kinesthetic feedback

Object exploration with a humanoid robot -: Using tactile an...

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5th international conference on informatics in control, automation and robotics

作者： Gorges, Nicolas Gaa, Stefan Woern, Heinz Univ Karlsruhe Inst Proc Control & Robit Karlsruhe Germany

ISBN: (纸本)9789898111319

this work deals with the reactive and autonomous exploration of objects with a humanoid robot using only tactile and kinesthetic sensor feedback. To coordinate the flow of the exploration, a novel hierarchical exploration system is introduced. the lowest level extracts contacts points and elementary features based on the direct contact with the object. It furthermore provides elementary movement primitives. the intermediate level consists of different controlling behaviors to generate exploration movements according to the sensor feedback. this level enables the robot to explore an object pointwisely or continously. the highest level evaluates the process of the exploration and determinates the reactive behavior of the underlying components. the evaluation scenario comprises the exploration of edges, which are arbitrarily located in space. the evaluation platform consists of a robot arm, a force-torque sensor, and a tactile sensor matrix. the proposed approach is evaluated and the different reactive behaviors as well as the used sensor modalities are compared.

关键词： tactile sensing object exploration robot control and humanoid robot

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Asymptotic theory of the reachable sets to linear periodic impulsive control systems

Asymptotic theory of the reachable sets to linear periodic i...

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5th international conference on informatics in control, automation and robotics

作者： Goncharova, E. V. Ovseevich, A. I. Russian Acad Sci Siberian Branch Inst Syst Dynam & Control Theory 134 Lermontov St Irkutsk 664003 Russia Inst Mech Problems Russian Acad Sci Moscow Russia

ISBN: (纸本)9789898111326

We study linear periodic control systems with a bounded total impulse of control. the main result is an asymptotic formula for the reachable set, which, at the same time, reveals the structure of the attractor - the set of all limit shapes of the reachable sets. the attractor is shown to be parameterized by a (finite-dimensional) toric fibre bundle over a circle. the fibre of the bundle can be described via the Floquet multipliers (monodromy matrix) of the linear system. Moreover, the limit dynamics of shapes of reachable sets can be parametrized by an explicit curve on the toric bundle.

关键词： linear periodic dynamic systems impulsive control reachable sets shapes of convex bodies

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Parallel machine earliness-tardiness scheduling - Comparison of two metaheuristic approaches

Parallel machine earliness-tardiness scheduling - Comparison...

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5th international conference on informatics in control, automation and robotics

作者： Bazyluk, Marcin Koszalka, Leszek Burnham, Keith J. Wroclaw Univ Technol Chair Comp Syst & Networks PL-50370 Wroclaw Poland Coventry Univ Control Theory & Applicat Ctr Coventry W Midlands England

ISBN: (纸本)9789898111302

this paper considers the problem of parallel machine scheduling with the earliness and tardiness penalties (PMSP_E/T) in which a set of sequence-independent jobs is to be scheduled on a set of given machines to minimize a sum of the weighted earliness and tardiness values. the weights and due dates of the jobs are distinct positive numbers. the machines are diverse - each has a different execution speed of the respective jobs, thus the problem becomes more complex. To handle this, it two heuristics are employed, namely: the genetic algorithm with the MCUOX crossover operator and the tabu search. the performances of the both approaches are evaluated and their dependency on the shape of the investigated instances examined. the results indicate the significant predominance of the genetic approach for the larger-sized instances.

关键词： task scheduling parallel machines heuristics genetic algorithms tabu search

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