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A small-scale research platform for intelligent transportation systems

A small-scale research platform for intelligent transportati...

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2011 ieee international conference on robotics and Biomimetics, ROBIO 2011

作者： La, Hung Manh Lim, Ronny Salim Du, Jianhao Sheng, Weihua Li, Gang Zhang, Sijian Chen, Heping Center for Advanced Infrastructure and Transportation Rutgers the State University of New Jersey Piscataway NJ 08854 United States School of Electrical and Computer Engineering Oklahoma State University Stillwater OK 74078 United States College of Electrical Engineering Zhejiang University Hangzhou Zhejiang 310027 China Ingram School of Engineering Texas State University San Marcos TX 78666 United States

ISBN: (纸本)9781457721373

In this paper, we propose and develop a small-scale research platform for intelligent transportation systems. Our platform has four main parts: an arena;an indoor localization system;automated radio controlled (RC) cars;and roadside monitoring facilities. First, to mimic the traffic environments we build an arena with a wooden floor, mock buildings and streets. Second, for the indoor localization system, a motion tracking system (Opti-Track) is set up to track the RC cars for control purpose. Third, for the automated RC cars, both manually and automatically controlled RC cars are developed. The automatic one is equipped with a micro controller, an Xbee RF module, a microphone and a speaker. The manual RC car is similar to the automatic one but equipped with a small wireless camera. The designed circuit inside the RC cars allow them to: (1) receive control signal from the computer through Xbee, and (2) control the front and rear wheels through motors. The control algorithm is developed to allow the RC car to track predefined trajectories. Fourth, we develop the roadside monitoring facilities, which consists of an IP-based fish-eye camera and the associated video processing modules including image segmentation, object identification and tracking. Several experiments are conducted to demonstrate the effectiveness of the designed platform. © 2011 ieee.

关键词： intelligent systems

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Small intelligent robotics suiting for multirobot system, toward the fundamental abilities of object-searching, object-fetching and object-classifying

Small intelligent robotics suiting for multirobot system, to...

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ieee international conference on robotics, intelligent systems and signal processing

作者： S. Ichikawa F. Hara Tokyo University of Science Japan

This paper introduce the possibility of the technology of real simple intelligent robotics for multirobot system. The essentials are giving a simple mechanical function and giving a simple algorithm to robot modules as much as possible. This paper deals with fundamental abilities of multirobot system, object-searching, object-fetching and object-classifying. At first, placing robots on a square area bounded with walls, the robots are given an algorithm for simple locomotion with obstacle avoidance. Then, increasing the population size of the robots, their moving pattern is being like one of random-walk manner. Second, adding signal-transmission algorithm for local communication to the robots, in enough size of the population the directions of the transmitted signals make a coordinate vector field. Then, placing another robots given a locomotion algorithm for following the direction of signal reception in the vector field, the robots individually converge to the original signal transmission robot. The third, contacting enough robots around two-dimensional object in close order. The robots relayed a signal transmission in going around the object. Then, the frequencies of the emitting signal in time steps were shown in a specific pattern corresponding to the shape of the object. It is expected to classify the object. Finally, we summarize those emergent behaviors from the viewpoint of small intelligent robotics for multirobot system.

关键词： intelligent robots Multirobot systems Robot kinematics Chemical elements signal processing algorithms Power engineering and energy Robustness signal processing Legged locomotion Relays

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A scaled-down testbed for human driver modeling and evaluation

A scaled-down testbed for human driver modeling and evaluati...

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ieee international conference on robotics, intelligent systems and signal processing

作者： Yeung Yam Kai Man Tong Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong New Territories Hong Kong China

ISBN: (纸本)078037925X

This paper reports the setup of a driving system, whereby an operator can remote control a toy car via a steering wheel and an accelerating paddle. A wireless-linked mini-camera attached to the front of the car allows the operator to see the front view of the vehicle on a monitor. The system simulates the situation of an automobile, and the operator can "drive" the car through a set of scaled-down roadways. The setup is aimed at investigating the issues of modeling, evaluating, integrating, and simulating human driving skills. Preliminary experiments and results are presented.

关键词： Testing Humans Automobiles Computational modeling Wheels Remote monitoring intelligent robots Control systems Computer simulation Performance evaluation

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Conceptual network based courseware organization and navigation

Conceptual network based courseware organization and navigat...

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ieee international conference on robotics, intelligent systems and signal processing

作者： Sha Sha Wenyan Lu Hanli Liang Sanding Luo College of Information S&E Central South University Changsha Hunan China

ISBN: (纸本)078037925X

We present a conceptual network model for the organization of courseware and the related information. Using the hierarchy and association rules of the concepts, we organize components and courseware episodes as a multi-layer knowledge network, which has a reasonable classification and discloses the complicated interdependent relations among the knowledge. With retrieval based on concept and association among concepts, people can manage and develop courseware, and lead the course for self-organizing and study.

关键词： Courseware Navigation Education Computer aided instruction Educational institutions Partial response channels Databases Adaptive systems World Wide Web Engines

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Global robust output regulation for output feedback systems

Global robust output regulation for output feedback systems

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ieee international conference on robotics, intelligent systems and signal processing

作者： Zhiyong Chen Jie Huang Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong New Territories Hong Kong China

ISBN: (纸本)078037925X

A fundamental limitation to the solvability of the nonlinear robust output regulation problem is the polynomial assumption imposed on the solution of the regulator equations. This assumption is due to the failure of finding an internal model to account for more complex nonlinearities than polynomials. Very recently, it was discovered that a nonlinear internal model could be constructed under some assumption much milder than the polynomial assumption. In this paper, we will show that this kind of internal 'model can be used, to solve the global robust output regulation problem for a, class of nonlinear systems in output feedback form.

关键词： Robustness Output feedback Polynomials Nonlinear systems Regulators Nonlinear equations Automation Nonlinear dynamical systems Linearity Backstepping

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Distributed control system for modular self-reconfigurable robots

Distributed control system for modular self-reconfigurable r...

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ieee international conference on robotics, intelligent systems and signal processing

作者： Jinxiang Shen Jiangping Liu Hui Zhang Lingyun Zhou Jianbing Tang Department of Mechtronic and Automation National University of Defense Technology Changsha Hunan China

ISBN: (纸本)078037925X

Modular, self-reconfigurable robots(MRR) show the promise of great versatility, simplicity, robustness and low cost. However, control system is one of the most important components of the robotic systems. It will depend on the control system to realize those promises. In this paper, we present a master/slave distributed control system for this type of robot. Because of excellent performance and high integration, the DSP controller-TMS320LF2406 is selected to compose the smallest system for the module DC motor control, with the individual controllers communicating with other modules and the master using a controller area network(CAN).

关键词： Distributed control Robot kinematics Control systems robotics and automation Shape Robot control Mars Automatic control Manipulators Robustness

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Time-frequency decomposition-based weighted ensemble learning for motor imagery EEG classification

Time-frequency decomposition-based weighted ensemble learnin...

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2021 ieee international conference on Real-Time Computing and robotics, RCAR 2021

作者： Zheng, Liangsheng Ma, Yue Li, Mengyao Xiao, Yang Feng, Wei Wu, Xinyu Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Shenzhen518055 China Chongqing University of Posts and Telecommunications Chongqing400065 China

ISBN: (纸本)9781665436786

Motor imagery brain-computer interface system based on Electroencephalogram (EEG) is an effective way to help the disabled recover part of their motor abilities. However, decoding the movement intention contained in the EEG signal accurately presents many challenges. In this paper, we propose a time-frequency decomposition-based weighted ensemble learning (TFDWEL) method, which aims to improve the classification performance of motor imagery EEG signals. The TFDWEL method divides the EEG signal into multiple subsets, and uses four time-frequency processing methods to extract the time-frequency sub-bands of each subset. Then the feature extraction model and classifier model of each subset trained by the common spatial pattern (CSP) algorithm and the support vector machine (SVM) algorithm are used to build a set of base learners. The least square error estimation method is used to learn the weight of each base learner, and finally the weighted summation method is used to obtain the final decision. The classification performance of the TFDWEL method is evaluated on the BCI Competition IV Data Set 2b, and the results show that the classification accuracy of 81.58% can be obtained. Superior classification performance indicates that the TFDWEL method can be used in further research to help the rehabilitation of the disabled. © 2021 ieee.

关键词： Electroencephalography

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Method to characterize and classify atrial fibrillation based on kurtosis

Method to characterize and classify atrial fibrillation base...

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ieee international conference on Industrial Technology, ICIT 2016

作者： Oliveira, Alfredo Queiroz, Jonathan Araujo Lucena, Fausto Barros, Allan Kardec Biological Information Processing Laboratory Federal University of Maranhão São Luís - MA Brazil

ISBN: (纸本)9781467380751

Atrial fibrillation (AF) is the most common cardiac arrhythmias worldwide. So large are the efforts to implement systems that support the diagnosis of AF. Thus, some authors have attempted to characterize the signal with AF through statistical lower order, which require assumptions of linearity and gaussianity [1], [2]. To work around these assumptions, other authors use methodologies that require more preprocessing steps, complicating the implementation of such methodologies in embedded systems [3], [4]. Therefore, we propose to characterize and classify the signal with AF using the kurtosis. The great difference of this method is that instead of considering the irregularity of the RR time series [5], we consider the irregularities of the FA signal itself. Our methodology is based on kurtosis to be a statistic of high order (Papoulis and Pillai, 2002), due to the characteristic of the ECG signal to be sparse. The proposed methodology also requires small number of preprocessing steps, allowing implementations in embedded systems. To evaluate the proposed methodology, we use signals obtained from the MIT-BIH bases of Atrial Fibrillation data and MIT-BIH Normal Sinus Rhythm referring to patients with AF and with normal heart rhythm, respectively. The results present a specificity and a sensitivity of 94.44% and 78.95%, respectively and accuracy of 86.49%. © 2016 ieee.

关键词： Embedded systems

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Multi-receiver system for improved signal reception in spectrum monitoring

Multi-receiver system for improved signal reception in spect...

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2013 international conference on robotics, Biomimetics, intelligent Computational systems, ROBIONETICS 2013

作者： Markom, Marni Azira Adom, Abdul Hamid Mohd Muslim Tan, Erdy Sulino Sha'Ameri, Ahmad Zuri School of Mechatronic Engineering Universiti Malaysia Perlis 02600 Ulu Pauh Malaysia Digital Signal Processing Laboratory Universiti Teknologi Malaysia 86000 Skudai Johor Malaysia

ISBN: (纸本)9781479912087

In the communications field, many methods have been introduced in order to improve the quality of signal reception. This is because various parameters can limit the quality of signal reception such as multipath fading and interference that results the signal with low signal-to-noise ratio (SNR) or no signal reception. This paper presents a multi-receiver system to improve signal reception and classification accuracy in radio communication system. Three receivers were utilized and each consists of antenna system, radio frequency (RF) front-end and down-conversion, time-frequency analysis, parameter estimation and signal classification. Then, the signal classification results are combined to obtain the final decision which is implemented using triple modulo redundancy (TMR) majority voting algorithm. The system was tested using six modulation signals (ASK1, ASK2, ASK3, FSK1, FSK2 and FSK3) with 100 trials for SNR from 2dB to 20dB. The performance of single-receiver and multi-receiver system is compared in terms of classification accuracy. Results show that the multi-receiver system was able to achieve 80 percent accuracy at minimum SNR of 2dB and the accuracy increases as the SNR increased. © 2013 ieee.

关键词： signal to noise ratio

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A potential field based approach to multi robot formation navigation

A potential field based approach to multi robot formation na...

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ieee international conference on robotics, intelligent systems and signal processing

作者： F.E. Schneider D. Wildermuth Research Establishment for Applied Sciences (FGAN) Wachtberg Germany

This paper presents a directed potential field approach for motion co-ordination in formations of multi-robot-systems. First a short introduction to the application of MRS formation navigation is given. The approach is briefly compared to related work. For the sub-task of moving in formation, a solution based on a potential field approach is presented. Different forces belonging to other robots, obstacles and the aspired shape of formation are combined and used to move each robot to its desired position inside the formation. While moving in formation, the group is able to avoid obstacles and approach towards a specified target. First results in simulation and with real robots in the presence of obstacles are presented.

关键词： Navigation Shape Robot sensing systems Orbital robotics Mobile robots Communication networks Decontamination Waste management Agriculture Surveillance

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