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2003 ieee/RSJ international conference on intelligent Robots and systems

作者： Huang, Hui-Min Albus, James Kotora, Jeffrey Liu, Roger Natl. Inst. of Std. and Technology Gaithersburg MD 20899 JAUS Working Group Titan Systems Huntsville AL 39824 Army Systems Engineering Office Fort Monmouth NJ 07703

The robotic architecture framework standards, as required by the US Department of Defense (DoD), were discussed. The defense domain requirements were based on obtaining the architectures that enable the collection, processing, analysis, and integration of information and technology (IT) features. The dissemination and reusability features of the the framework provide aid in achieving interoperability objectives. In this regard, the architectural framework based on Command, Control, Communications, Computers, Intelligence, Surveillance and Reconnaissance (C4ISR) system modeling was discussed.

关键词： intelligent robots

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Advances in neural networks research: An introduction

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NEURAL NETWORKS 2009年第5-6期22卷 489-490页

作者： Kozma, Robert Bressler, Steven Perlovsky, Leonid Venayagamoorthy, Ganesh Kumar Univ Memphis FedEx Inst Technol Memphis TN 38152 USA Florida Atlantic Univ Boca Raton FL 33431 USA Harvard Univ Cambridge MA 02138 USA Missouri Sci & Technol Univ Rolla MO USA

The present Special Issue "Advances in Neural Networks Research: IJCNN2009" provides a state-of-art overview of the field of neural networks. It includes 39 papers from selected areas of the 2009 international joint conference on Neural Networks (IJCNN2009). IJCNN2009 took place on June 14-19, 2009 in Atlanta, Georgia, USA, and it represents an exemplary collaboration between the international Neural Networks Society and the ieee Computational Intelligence Society. Topics in this issue include neuroscience and cognitive science, computational intelligence and machine learning, hybrid techniques, nonlinear dynamics and chaos, various soft computing technologies, intelligent signal processing and pattern recognition, bioinformatics and biomedicine, and engineering applications. (C) 2009 Elsevier Ltd. All rights reserved.

关键词： Neuroscience Cognition Machine Learning Hybrid systems Soft Computing Dynamic systems Image processing Bioinformatics robotics Power systems

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ieee international conference on intelligent Robots and systems

IEEE International Conference on Intelligent Robots and Syst...

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1988 ieee international Workshop on intelligent Robots and systems: Toward the Next Generation Robot and System, IROS 1988

The proceedings contain 130 papers. The topics discussed include: microfabrication of sensors and actuators for micro robots;the application of micro/miniature mechatronics to medical robotics;an integrated micro servosystem;servo controller for electrostatic micro-actuators;robotics in microelectronics manufacturing;grasping in nature and in robotics: a parallel logical concept;three direction sensing tactile sensor;tactile signal processing and tactile feedback control for dexterious handling motion;and a robot workstation for diagnosis and physical therapy.

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Reduced Cable Smart Motors Communicating over the DC Power Bus-Line for High Degree of Freedom systems

Reduced Cable Smart Motors Communicating over the DC Power B...

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2003 ieee/RSJ international conference on intelligent Robots and systems

作者： Wade, Eric Asada, H. Harry Department of Mechanical Engineering Massachusetts Inst. of Technology Cambridge MA 02139 United States

A system of networked smart motors is developed to reduce complex cable harnesses. Motor control signals are sent over the DC power bus line and received by motors with integrated power amplifiers and controllers. Unlike traditional AC power line communication, the noise level and signal attenuation are much lower for the DC power bus communication. This allows for high fidelity, broadband communication among many smart motors without bulky, costly cables. A modem is designed to exploit the features of the DC power bus communication. Experimentation is done to verify that the DC bus line is indeed useful for communication. An experimental setup was developed to identify the noise spectrum and signal transmissibility of the consolidated power-signal line. Optimal carrier frequency and filter parameters are then obtained based on the experiments.

关键词： Servomotors

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intelligent signal processing of mobility management for heterogeneous networks

Intelligent signal processing of mobility management for het...

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2003 international conference on Neural Networks and signal processing, ICNNSP'03

作者： Hongyan, Bing Chen, He Lingge, Jiang Department of Electronic Engineering Shanghai Jiao Tong University Shanghai 200030 China

ISBN: (纸本)0780377028

intelligent signal processing provides a wealth' of technologies, such as fuzzy logic, neural network, evolutionary computation that can be applied to the design and operation of communications systems. In this article, we present applications of fuzzy logic to problems in mobility management of heterogeneous wireless communication network, which including location management and handover management. In both cases, multiple criteria should be considered to implement multiple criteria decision-making (MCDM) because of the heterogeneity of the different system entities (the user, the terminal, the services and the network). Fuzzy based MCDM method is presented for access network selection and the vertical handover decision. © 2003 ieee.

关键词： Fuzzy logic

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Research of signal processing system based on multi-model adaptive control methods

Research of signal processing system based on multi-model ad...

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6th ieee international conference on intelligent Transportation systems

作者： Hu, ZJ Wang, CM Zhu, ZQ Kong, DR Nanjing Univ Sci & Technol Nanjing Peoples R China

ISBN: (纸本)0780381254

Tradition single-model adaptive signal processing system faces many difficulties. when it is applied in complex signals processing and different conditions, such as constant frequency wide-band signal, fast-varying signal and changed disturbing conditions. In this paper, multi-model adaptive signal processing systems based on multi-model adaptive control structure is presented.

关键词： signal processing adaptive multi-model

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HIERARCHICAL CONTROL-SYSTEM IN intelligent robotics AND MECHATRONICS

HIERARCHICAL CONTROL-SYSTEM IN INTELLIGENT ROBOTICS AND MECH...

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19th Annual international conference on Industrial Electronics, Control and Instrumentation (IECON 93)

作者： FUKUDA, T SHIBATA, T NAGOYA UNIV DEPT MECHANOINFORMAT & SYSTCHIKUSA KUNAGOYA 46401JAPAN

ISBN: (纸本)0780308913

This paper introduces a hierarchical control scheme for intelligent robotics and mechatronics. The scheme has three levels: learning level, skill level and adaptation level. The learning level manipulates symbols to reason logically for control strategies. The skill level produces control references along with the control strategies and sensory information on environments. The adaptation level controls robots and machines while adapting to their environments which include uncertainties. For these levels and to connect them, artificial intelligence, neural networks, fuzzy logic, and genetic algorithms are applied to the hierarchical control system while integrating and synthesizing themselves. To be intelligent, the hierarchical control system learns various experiences both in top-down manner and bottom-up manner. The hierarchical control scheme is effective for intelligent robotics and mechatronics.

关键词： Hierarchical systems

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Discrimination system using neural network for EMG-controlled prostheses - Integral type of EMG signal processing

Discrimination system using neural network for EMG-controlle...

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Proceedings of the 1993 ieee/RSJ international conference on intelligent Robots and systems

作者： Kuribasyashi, Katsutoshi Shimizu, Seiji Okimura, Koji Taniguchi, Takao Yamaguchi univ Yamaguchi Japan

ISBN: (纸本)0780308239

The electromyographic signal from active muscle is observed on the surface of the living body. It has been considered one of the most effective signals to control externally powered upper extremity prostheses. However, the EMG signal depends on physical condition, the state of mind and so on. So, it is difficult that the original EMG signal could be used as a command for controlling an externally powered upper extremity prosthesis directly. In this paper, using an integral type of EMG signal processing and a neural network, a discrimination system for generating commands to control EMG controlled externally powered upper extremity prosthesis is proposed.

关键词： Neural networks

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intelligent Adaptive Motion Control Using Fuzzy Basis Function Networks for Self-Balancing Two-Wheeled Transporters

Intelligent Adaptive Motion Control Using Fuzzy Basis Functi...

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2010 ieee World Congress on Computational Intelligence

作者： Tsai, Ching-Chih Lin, Shui-Chun Lin, Bor-Chih Natl Chung Hsing Univ Dept Elect Engn Taichung 40277 Taiwan Natl Chin Yi Univ Tech Dept Elect Engn Taichung 41101 Taiwan

ISBN: (纸本)9781424469208

This paper presents an intelligent adaptive motion control using fuzzy basis-function networks (FBFN) for a self-balancing two-wheeled transporter (SBTWT). A mechatronic system structure driven by two DC motors is briefly described, and its nonlinear mathematical modeling incorporating the friction between the wheels and the motion surface is derived. With the decomposition of the overall system into two subsystems: yaw control and inverted pendulum, two intelligent adaptive FBFN controllers are proposed to achieve self-balancing, speed tracking and yaw motion control. Simulation results indicate that the proposed controllers are capable of providing appropriate control actions to steer the vehicle in desired manners.

关键词： adaptive neural network control digital signal processing gyroscope inverted pendulum robotics transporter

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Recursive state-parameter estimation of haptic robotic systems

Recursive state-parameter estimation of haptic robotic syste...

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2011 ieee/RSJ international conference on intelligent Robots and systems: Celebrating 50 Years of robotics, IROS'11

作者： Mohtat, Arash Ghaffari Toiserkan, Kamran Kövecses, József Department of Mechanical Engineering Centre for Intelligent Machines McGill University Montreal QC Canada

ISBN: (纸本)9781612844541

In this paper, a nonlinear signal-processing scheme is developed for robotic systems that exploits a joint state-parameter formulation for simultaneous recursive estimation of the states (e.g. joint angles and rates) and uncertain parameters (e.g. inertial and friction parameters), out of noisy measurements (e.g. joint angles). Unscented Kalman filtering was employed to overcome restrictions such as linearity in the parameters and the need for availability of joint velocities and accelerations (present in linear recursive least square methods), and the linearization problems associated with extended Kalman filtering. Owing to the unscented transform concept which requires only input-output evaluations of the dynamic model, a more general and modular implementation is realizable. This allows for the utilization of computational modeling tools without the requirement of symbolically manipulating or deriving the equations of motion. Also, the recursive nature of the scheme allows for both offline processing and online implementation. The practical performance of the proposed scheme was verified through an experiment involving a five-bar linkage based haptic device configured to render a virtual box. The torque pair commands generated by the haptic controller to render the virtual box and the encoder angular measurements acquired through the experiment were processed twice in two different input-output directions: once, for state-parameter estimation of the robot;and, another time for identification of supposedly unknown environmental parameters. Results demonstrate successfulness of the scheme for recursive state-parameter estimation of the robot and the environment, as well as promising applicability in online settings. © 2011 ieee.

关键词： Uncertainty analysis

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