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检索条件"任意字段=6th International Conference on Informatics in Control, Automation and Robotics"

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Nonlinear fuzzy selftuning PID control technology and its applications in automated programming robotics

Nonlinear fuzzy selftuning PID control technology and its ap...

引用

4th international conference on informatics in control, automation and robotics, ICINCO 2007

作者： Ganwen, Zeng Qianglong, Zeng Data I/O Corporation 6464 185th Ave NE Readmond WA 98052 United States Dartmouth University Hanover NH 03755 United States

the paper presents an advanced Fuzzy self-tuning PID controller theory and it implement its applications on Data I/O's automated robotic programming systems. Considerable programming technology shift occurred in recent device programmer industry;programming density have been constantly fast growing from lowvolume to high-volume programming for all kinds of non-volatile flash memory devices such as NOR flash, NAND flash, and MMC cards, SD flash cards, serial flash device, serial flash cards, flash-based microcontrollers and flash disks as high performance M-systems DiskOnChip. Device programming mode is more demanding an automatic programming than manual operation mode. It drives the creation and implementation of a high-performance automated programming robotic systems. this paper shows how this proposed advanced Fuzzy self-tuning PID controllers work on these automated programming robotic automation systems.

关键词： Fuzzy control

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the prototype of human - robot interactive voice control system

The prototype of human - robot interactive voice control sys...

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4th international conference on informatics in control, automation and robotics, ICINCO 2007

作者： Holada, Miroslav Kopetschke, Igor Pirkl, Pavel Peic, Martin Matela, Lukáš Horcicka, Jirí Štilec, Jakub Faculty of Mechatronics and Interdisciplinary Engineering Studies Technical University of Liberec Hálkova 6 Liberec Czech Republic

this contribution shows our recent activities of human - robot voice-control system. the keynote lays in design of a system that allows easy control and programming of various robots by a uniform interactive interface. Generally the robots are actuated by sets of control commands, sometimes by a manual control interface (touchpad, joystick). the operator has to know the control commands, syntax rules and other properties necessary for successful robot control. Our system offers commands like move left or elevate arm that are translated and sent into the corresponding device (robot). Speech recognition is based on an isolated-word HMM engine with distributed recognition system (DSR). the vocabulary may contain thousands of word and short phrases. It allows us to design an easy dialogue scenario for the robot control system. the system allows direct robot control like moving or programming short sequences. A video camera is included for displaying the working place and employed algorithms of image processing allow the system to detect the position of objects in the working area and facilitate robot's navigation.

关键词： Video cameras

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A neural-control system for a humanoid artificial Arm

A neural-control system for a humanoid artificial Arm

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4th international conference on informatics in control, automation and robotics

作者： Folgheraiter, Michele Gini, Giuseppina Cavallari, Massimo Politecn Milan Dept Elect & Informat I-20133 Milan Italy

ISBN: (纸本)9789728865825

In this paper we illustrate the architecture and the main features of a bio-inspired control system employed to govern an anthropomorphic artificial Arm. the manipulation system we developed was designed starting from a deeply study of the human limb from the anatomical, physiological and neurological point of view. In accordance with the general view of the Biorobotics field we try to replicate the structure and the functionalities of the natural limb. thanks to this biomimetic approach we obtained a system that can perform movements similar to those of the natural limb. the control system is organized in a hierarchical way. the low level controller emulates the neural circuits located in the human spinal cord and is charged to reproduce the reflexes behaviors and to control the arm stiffness. the high level control system generates the arm trajectory performing the inverse kinematics and furnishing the instantaneous muscles reference position. In particular we implemented the Inverse kinematic using a gradient based algorithm;at each step the actuators movements are arranged in order to decrease the distance between the wrist and the target position. Simulation and experimental results shows the ability of the control system in governing the arm to follow a predefined trajectory and to perform human like reflexes behaviors.

关键词： Biorobotics artificial Arm neural controller humanoids robotics

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Automatic vision-based monitoring of the spacecraft atv rendezvous I separations with the international space station

Automatic vision-based monitoring of the spacecraft atv rend...

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4th international conference on informatics in control, automation and robotics, ICINCO 2007

作者： Boguslavsky, A.A. Sazonov, V.V. Sokolov, S.M. Smirnov, A.I. Saigiraev, K.U. Keldysh Institute for Applied Mathematics Miusskaya Sq. 4 Moscow Russia RSC ENERGIA Korolev Russia

the system which allows automating the visual monitoring of the spacecraft ATV rendezvous / separations with the international space station is being considered. the initial data for this complex is the video signal received from the TV-camera, mounted on the station board. the offered algorithms of this video signal processing in real time allow restoring the basic characteristics of the spacecraft motion with respect to the international space station. the results of the experiments with the described software and real and virtual video data about the docking approach of the spacecraft with the international Space Station are being presented. the accuracy of the estimation of the motion characteristics and perspectives of the use of the package are being discussed.

关键词： Video signal processing

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Design and implementation of a quasiholonomic mobile robot

Design and implementation of a quasiholonomic mobile robot

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IEEE international conference on robotics and automation

作者： Salerno, Alessio Angeles, Jorge Columbia Univ Dept Mech Engn 220SW Mudd Mail Code 4703500W 120th St New York NY 10027 USA McGill Univ Dept Mech Engn Montreal PQ H3A 2K6 Canada McGill Univ Ctr Intelligent Machines Montreal PQ H3A 2K6 Canada

ISBN: (纸本)9781424406012

Aspects of the mechatronic design and prototyping of a robot designed and realized with the quasiholonomy property are discussed here. After an overview of the motivation and applications of the project at hand, we show how we faced the challenges encountered in the mechatronic design and implementation of the prototype. the actuation system and power supply dimensioning are then described, along with the selection of the on-board control unit and programming of the real-time operating system. Advantages of quasiholonomic robotic systems are substantiated.

关键词： Mobile robots

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Learning to learn

Learning to learn

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6th IEEE international conference on Development Learning

作者： Butko, Nicholas J. Movellan, Javier R. Univ Calif San Diego Dept Cognit Sci La Jolla CA 92093 USA Univ Calif San Diego Inst Neural Computat La Jolla CA 92093 USA

ISBN: (纸本)9781424411153

Empirical evidence shows that infants 10 months of age can learn about 10 times faster than infants 2 months of age that a novel entity is socially contingent. this suggests that during the period from 2 to 10 months of age infants became better learners. One possible explanation for this change is that new brain structures grow, in a genetically predetermined manner, that support more efficient learning. An analogy for this point of view would be the increase in mastication efficiency due to the growth of teeth. An alternative hypothesis is that the increase in learning efficiency is itself the result of a learning process that operates on the time scale of months. Under this view, better learning is the consequence of learning itself. Here we explore the plausibility of the "learning to learn" hypothesis from a computational point of view. We show that with standard reinforcement learning algorithms using an internally generated reinforcement signal it is possible to develop agents that progressively learn to learn within a period of months. the results fit well at a qualitative level empirical evidence regarding the development of social contingency detection in infants. the learning techniques that we explored have potential application for robots that learn to learn on their own.

关键词： infomax control infomax reinforcement learning (IRL) social contingency temporal dynamics of social interaction Probabilistic functionalism developmental robotics social robotics Probabilistic robotics.

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Introducing Fuzzy Cognitive Maps for decision making in precision agriculture

Introducing Fuzzy Cognitive Maps for decision making in prec...

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6th European conference on Precision Agriculture, ECPA 2007

作者： Markinos, Ath. Papageorgiou, El. Stylios, Chr. Gemtos, th. Department of Agriculture Laboratory of Farm Mechanization University of Thessaly Greece Department of Electrical and Computer Engineering Laboratory for Automation and Robotics University of Patras Greece TEI of Epirus Department of Telecommunications Informatics and Management Artas Epirus Greece

ISBN: (纸本)9789086860241

A Fuzzy Cognitive Maps (FCMs) is a modelling methodology based on exploiting knowledge and experience. It comprises the main advantages of fuzzy logic and neural networks, representing a graphical model that consists of nodes-concepts (describing elements of the system) which are connected with weighted edges (representing the cause and effect relationships among the concepts). FCMs have proved to be a promising modeling methodology with many successful applications in different areas especially for simulating system design, modeling and control. In this work, FCMs are introduced to model a decision support system for precision agriculture (PA). the FCM model developed consists of nodes which describe soil properties and cotton yield and of the weighted relationships between these nodes. the nodes of the FCM model represent the main factors influencing cotton crop production i.e. essential soil properties such as texture, pH, OM, K, and P. the proposed FCM model addresses the problem of crop development and spatial variability of cotton yield, taking into consideration the spatial distribution of all the important factors affecting yield. the first results of the study are very promising;our model achieves a 70% average success rate on yield class prediction between two possible categories (low and high) for three different years. this model will be further investigated to achieve better results by introducing learning algorithms into FCMs.

关键词： Crops

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ProBoNO: Transferring knowledge of virtual environments to real world situations 07

ProBoNO: Transferring knowledge of virtual environments to r...

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6th international conference on Interaction Design And Children, IDC 2007

作者： Göttel, Timo Applied and Social Informatics University of Hamburg Vogt-Kodielln-Str. 30 22527 Hamburg Germany

ISBN: (纸本)9781595937476

this paper presents a software environment for children at the age of four to six years. It is designed to teach navigational knowledge in a virtual environment. A prototype of a prop based input device is proposed in this regard. We report on a study at a day-care centre that was conducted to compare cursor and mouse control to the prototype. Furthermore the evaluation examined whether a transfer of knowledge from a virtual environment to a real world situation is discernible. It became obvious that cursor and mouse control is too difficult for children at the predefined age. A transfer of knowledge might be facilitated by using tangible user interfaces. Copyright 2007 ACM.

关键词： Data transfer

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Design and implementation of petrinet based distributed control architecture for robotic manufacturing systems

Design and implementation of petrinet based distributed cont...

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6th Mexican international conference on Artificial Intelligence, MICAI 2007

作者： Yasuda, Gen'ichi Department of Human and Computer Intelligence Faculty of Informatics Nagasaki Institute of Applied Science 536 Aba-machi Nagasaki 851-0193 Japan

ISBN: (纸本)9783540766308

In this paper, the methods of the modeling and decomposition of the large and complex discrete event manufacturing systems are considered, and a methodology is presented for hierarchical and distributed control, where the cooperation of each controller is implemented so that the behavior of the overall system is not deteriorated and the task specification is completely satisfied. First, the task specification is defined as a Petrinet model at the conceptual level, and then transformed to the detailed Petrinet representation of manufacturing processes. Finally, the overall Petrinet is decomposed and the constituent subnets are assigned to the machine controllers. the machine controllers are coordinated so that the decomposed transitions fire at the same time. System coordination through communication between the coordinator and machine controllers, is presented. Modeling and control of large and complex manufacturing systems can be performed consistently using Petrinets. © Springer-Verlag Berlin Heidelberg 2007.

关键词： robotics

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Proceedings - 6th international conference on Computer Information Systems and Industrial Management Applications, CISIM 2007

Proceedings - 6th International Conference on Computer Infor...

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6th international conference on Computer Information Systems and Industrial Management Applications, CISIM 2007

ISBN: (纸本)0769528945

the proceedings contain 66 papers. the topics discussed include: should Normal Distribution be normal? the student's T alternative;a new approach for computer support of strategic decision making in enterprises by means of a new class of understanding based management support systems;GUI patterns and Web semantics;finding a needle in a haystack- from Baldwin effect to quantum computation;introduction of humatronics- towards integration of web intelligence and robotics;benchmark problems of signal processing and control for testing emergent architectures and programming techniques of DSP's, FASIC's, and PLD's;location prediction methods with Markovian approach and extended random walk model;architecture of a predictive maintenance framework;and the theoretical framework of the optimization of public transport travel.

关键词： Normal distribution

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