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检索条件"任意字段=IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003"

共 557 条记录，以下是401-410 订阅

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A new robust BP algorithm and its application on the identification of dynamic system

A new robust BP algorithm and its application on the identif...

引用

ieee international conference on robotics, intelligent systems and signal processing

作者： Yan-Jun Sun Jun-Wei Li Su Song Control Engineering College Beijing University of Technology China

ISBN: (纸本)078037925X

In this paper, we propose a new robust BP algorithm that is resistant to the noise effects and is capable of rejecting entrapment into local minima during the identification of dynamic system. The spirit of this algorithm comes from the pioneering work in an old robust BP algorithm by David Chen, but our work improves the old one in two aspects: 1) enhance the stability by employing the relative residual in defining the objective function. 2) prevent entrapping into local minima through letting the learning rate be a specific function of the LS energy function and its gradient. In contrast to the standard BP algorithm, four advantages of the new algorithm are: 1) it need not interpolate all the training data; 2) it is robust against gross errors; 3) its rate of convergence is improved since the influence of incorrect data is suppressed; 4) it prevents entrapping into local minima effectively.

关键词： Training data Working environment noise Nonlinear dynamical systems Least squares approximation System identification Neural networks Noise robustness Iterative algorithms Noise measurement Interpolation

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Torque sensing of finger joint using strain-deformation expansion mechanism

Torque sensing of finger joint using strain-deformation expa...

引用

ieee international conference on robotics, intelligent systems and signal processing

作者： Yong Yu T. Ishitsuka S. Tsujio Department of Mechanical Engineering Kagoshima University Japan

ISBN: (纸本)0780377362

For dexterously performing object grasping and manipulation with multifingered hand of robot, sensing the finger joint torque is required. In general, the size of finger joint is quite small so that it is hard to realize the torque sensing. This paper proposes a novel mechanism called strain-deformation expansion mechanism to sense the joint torque, which is small enough and fitted in the finger joint. The torque sensing mechanism can expand the small joint strain-deformation used for torque sensing expanded without reducing the joint stiffness. In this paper, the torque sensing principle is addressed by analyzing the deformation of the sensing mechanism and the torques acting on the joint shaft theoretically. Then, the sensitivity of the sensing mechanism and its expansion rate of sensitivity are defined, and a design method for realizing the sensing mechanism with high sensitivity is discussed. Lastly, some experiments with robot finger are performed to show the basic characteristics and the effectiveness of the proposed torque sensing mechanism.

关键词： Fingers Shafts Capacitive sensors Robot sensing systems Torque measurement Strain measurement Actuators Gears Mechanical engineering Grasping

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Telephone speech recognition using simulated data from clean database

Telephone speech recognition using simulated data from clean...

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ieee international conference on robotics, intelligent systems and signal processing

作者： Guoyu Zuo Wenju Liu Xiaogang Ruan School of Elechanics Information and Control Engineering Beijing University of Technology Beijing China National Laboratory of Pattem Recognition Institute of Automation Chinese Academy and Sciences Beijing China

ISBN: (纸本)078037925X

Speech recognition over lines forms an integral part of various applications of large vocabulary continuous speech recognition (LVCSR). This paper describes an implementation system completely in software form to produce simulated telephone data starting from clean databases. Filters adopted in this system are well-designed to simulate the frequency properties of analogue transmission equipments in telephone connection. A speech recognizer was trained from speech data extracted from clean corpus piped through a hardware simulator. The recognition performances are evaluated on a real telephone speech set and several test sets simulated from the clean database for test use. The experiments verified the effectiveness and feasibility of software simulation from a recognition testing point of view, and the results showed using simulated data derived from clean corpus could achieve the same recognition performance as real telephone speech.

关键词： Telephony Speech recognition Databases Performance evaluation Testing Application software Vocabulary Software systems Filters Frequency

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Proximity measure image based region merging for texture segmentation through Gabor filtering and watershed transform

Proximity measure image based region merging for texture seg...

引用

ieee international conference on robotics, intelligent systems and signal processing

作者： Hongwei Zhu O. Basir Department of Systems Design Engineering University of Waterloo Canada

ISBN: (纸本)078037925X

In this paper, an unsupervised texture segmentation scheme is proposed, based on region merging which is carried out on the proximity measure image. A bank of Gabor filters are first applied to the texture image to be segmented, and the proximity measure image, as the feature image, is then constructed by fusing all individual proximity measure images in which pixel intensity reflects the statistical similarity of local histograms in a given neighborhood. Based on the feature image, the task of texture segmentation is thus casted as a problem of region merging and edge detection. To efficiently classify different textures, precisely detect and locate the boundaries of distinct textures, the watershed transform is applied to the feature image for initial segmentation. A region merging procedure is then realized to deal with the over-segmentations resulted from the watershed transform, by iteratively grouping adjacent regions. To demonstrate the effectiveness of the proposed scheme, experiments are carried out on both texture composites and real-world images. Results show that the proposed scheme performs well, in terms of both segmentation accuracy and precision in locating boundaries between distinct textures.

关键词： Merging Image segmentation Gabor filters Filtering Histograms Pixel Image databases Robots signal processing Design engineering

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Integration of sensing, computation, communication and cooperation for distributed mobile sensor networks

Integration of sensing, computation, communication and coope...

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ieee international conference on robotics, intelligent systems and signal processing

作者： Jindong Tan Ning Xi Electrical and Computer Engineering Michigan Technological University Houghton MI USA Electrical and Computer Engineering Michigan State University East Lansing MI USA

ISBN: (纸本)078037925X

This paper presents a novel semantic model and a hybrid perceptive frame approach for the integration of sensing, computation, communication and control of reconfigurable mobile sensor networks composed of a collection of mobile robotic sensing nodes. In this paper, the entire mobile sensor network is modelled as a dynamical system, which has sensing, computation, communication and locomotion capabilities. A semantic model of mobile sensor networks is proposed to describe the relationship of different sensor nodes and the corresponding multi-modal sensory information at varying abstraction levels. Based on this model, the hybrid perceptive frame describes the hybrid nature of cooperative sensor networks and integrates sensing, communication and cooperation by perceptive references and perceptive semantics. The hybrid perceptive reference frame approach allows the mobile sensor nodes to respond to the unpredictable environments and coordinate with each other based on communication and the perception of environments.

关键词： Computer networks Distributed computing Mobile communication Mobile computing Sensor phenomena and characterization Multimodal sensors Communication system control Mobile robots Robot sensing systems Robot kinematics

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Dynamic force/torque closure for 2D and 3D objects by means of rolling contacts with robot fingers

Dynamic force/torque closure for 2D and 3D objects by means ...

引用

ieee international conference on robotics, intelligent systems and signal processing

作者： S. Arimoto M. Yoshida J.-H. Bae Department of Robotics Ritsumeikan University Japan

ISBN: (纸本)078037925X

This paper is concerned with problems of force/torque closure for 2D and 3D objects in a dynamic sense by using a pair of robot fingers with spherical ends that induce rolling contacts with object surfaces. In case of the use of frictionless fingers it is well known that three fingers suffice to immobilize (realize form closure of) any 2D object with triangular shape but four fingers are needed for immobilizing a parallelepiped. In contrast, the paper shows that only two fingers with spherical ends are enough to realize force/torque closure for any convex polygonal objects under the effect of gravity force. Moreover, the force/torque closure can be achieved in a dynamic sense by controlling locations of contact points on object surfaces through rollings between finger ends and object surfaces without knowing location of the object mass center. These discussions are extended to a class of problems of force/torque closure for 1) 3D objects with two flat parallel surfaces and 2) with two flat but non-parallel surfaces.

关键词： Fingers Robot sensing systems Robot kinematics Humans Shape Gravity Force control Torque control Weight control Biophysics

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Development of a hospital service robot for transporting task

Development of a hospital service robot for transporting tas...

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ieee international conference on robotics, intelligent systems and signal processing

作者： W.K. Fung Y.Y. Leung M.K. Chow Y.H. Liu Y. Xu W. Chan T.W. Law S.K. Tso C.Y. Wang Chinese University of Hong Kong New Territories HK Joint Center for Intelligent Sensing and Systems National University of Defense Technology China Department of Automation & Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China

ISBN: (纸本)078037925X

This paper presents a mobile robot fro routine delivery tasks of medicine, specimen, and medical devices from one station to another in hospitals. This hospital transport robot uses the fluorescent lamps on the ceiling of the corridor as natural landmarks to localize its position and orientation. A simple and efficient algorithm has been developed based on motion continuity and features matching for on-line computation of the position and orientation. A robust method is also presented for the robot to avoid collisions with static obstacles and people moving in the hospital. We have implemented this transport robot in a hospital in Hong Kong. An experimental result was demonstrated to confirm the performance of the localization and navigation algorithms.

关键词： Hospitals Service robots Mobile robots Medical robotics Humans Robot sensing systems Lamps Navigation Computer aided engineering Computer aided manufacturing

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Self-reconfigurable modular robots -hardware and software development in AIST

Self-reconfigurable modular robots -hardware and software de...

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ieee international conference on robotics, intelligent systems and signal processing

作者： E. Yoshida S. Murata A. Kamimura K. Tomita H. Kurokawa S. Kokaji Intelligent Systems Institute National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan Department of Computational Intelligence and Systems Science Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology Yokohama Kanagawa Japan

In this paper we present the development of hardware and software of self-reconfigurable modular robots in National Institute of Advanced Industrial Science and Technology (AIST), Japan. Thanks to their flexibility, versatility and fault-tolerance, self-reconfigurable modular robots are expected to be used in various application fields, such as space, rescue or micro-sized world. Our research group has been pioneering this new field and developed several hardware prototypes and corresponding software that exploit the robots' potential. We have been successfully demonstrated the feasibility of the self-reconfigurable modular robots based on experiments from different aspects. Starting from two-dimensional (2D) self-assembling and self-repairing machine fractum, we review hardware development in diverse directions, like to micro-world, three-dimensional (3D) structures and motions; as well as the progress of control software, including distributed control and recent evolutionary motion inquisition.

关键词： Programming Orbital robotics Service robots Hardware Space technology Distributed control Computer industry Fault tolerance Application software Software prototyping

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Comparisons of a combined wavelet and a combined principal component analysis classification model for BCG signal analysis

Comparisons of a combined wavelet and a combined principal c...

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ieee international conference on robotics, intelligent systems and signal processing

作者： Xinsheng Yu Dejun Gong Xianghong Shuen Siren Li Yongping Xu Institute of Oceanology Chinese Academy and Sciences China The Affiliated Hospital of Medical College Qingdao University of China China

ISBN: (纸本)078037925X

Heart disease is one of the main factors causing death in the developed countries. Over several decades, variety of electronic and computer technology have been developed to assist clinical practices for cardiac performance monitoring and heart disease diagnosis. Among these methods, ballistocardiography (BCG) has an interesting feature that no electrodes are needed to be attached to the body during the measurement. Thus, it is provides a potential application to asses the patients heart condition in the home. In this paper, a comparison is made of two neural network based BCG signal classification models. One system uses a principal component analysis (PCA) method, and the other a discrete wavelet transform, to reduce the input dimensionality. It is indicated that the combined wavelet transform and neural network classifier has a more reliable performance than the combined PCA and neural network system. Moreover, the wavelet transform requires no prior knowledge of the statistical distribution of data samples and the computation complexity and training time are reduced.

关键词： Wavelet analysis Principal component analysis signal analysis Discrete wavelet transforms Neural networks Cardiac disease Patient monitoring Computerized monitoring Electrodes Application software

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Integration of PC-based 3D immersion technology for bio-mimetic study of human interactive robotics

Integration of PC-based 3D immersion technology for bio-mime...

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ieee international conference on robotics, intelligent systems and signal processing

作者： Z.W. Luo M. Onishi T. Odashima K. Oyama F. Asano S. Hosoe Bio-Mimetic Control Research Center RIKEN Japan School of Engineering Nagoya University Japan Bio-Mimetic Control Research Center RIKEN

ISBN: (纸本)078037925X

Two novel immersion type experimental platforms integrating low cost PC-based 3D VR technology are developed and actively used for bio-mimetic study on new paradigm of human interactive robotics. The first platform integrated PC-based immersion-type display with a motion capture system as well as a 3D dynamic simulator, which makes it possible for human subject to feel as if he/she is immersed within the same environment of the robot. It can be used to simulate and evaluate the physical interaction with human while not really damage him/her. The second one consists of real and virtual dual-arm robot equipped with vision and force sensors. Through force display and HMD, human operator can feel as if he/she is immersed within the robot body and perform tele-manipulation easily based on our unilateral control approach.

关键词： Human robot interaction Robot sensing systems Service robots Force sensors Computational modeling Computer displays Costs Biological system modeling Auditory displays Robot vision systems

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