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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441-450 订阅

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On the existence of a strategy to maintain a moving target within the sensing range of an observer reacting with delay

On the existence of a strategy to maintain a moving target w...

引用

ieee international Workshop on intelligent Robots and systems (IROS)

作者： R. Murrieta A. Sarmiento S. Hutchinson Beckman Institute for Advanced Science and Technology University of Illinois Urbana-Champaign USA

This paper deals with the problem of computing the motions of a robot observer in order to maintain visibility of a moving target. The target moves unpredictably, and the distribution of obstacles in the workspace is known in advance. Our algorithm computes a motion strategy based on partitioning the configuration space and the workspace in non-critical regions separated by critical curves. In this work, the existence of a solution for a given polygon and delay are determined.

关键词： Delay Target tracking Robot sensing systems Orbital robotics Partitioning algorithms Missiles Motion control Data processing Visual servoing Computational geometry

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Adaptive velocity estimation for disk drive head positioning

Adaptive velocity estimation for disk drive head positioning

引用

ieee/ASME (AIM) international conference on Advanced intelligent Mechatronics

作者： A. Shademan F. Janabi-Sharifi Signal and Image Processing Group School of Intelligent Systems Institute of Studies in Theoretical Physics and Mathematics Tehran Iran Robotics and Manufacturing Automation Laboratory Department of Mechanical Aerospace and Industrial Engineering Ryerson University Toronto ONT Canada

With the rapid increase of data areal density in disk drives, the need for more accurate position sensing and velocity estimation techniques for the disk drive head actuator emerges. This paper studies the application of velocity estimation methods for disk drive head positioning servo-mechanism with a focus on adaptive windowing velocity estimation. The adaptive windowing technique requires no prior knowledge of measurement noise and shows a better performance compared to conventional finite difference method and Kalman filtering technique. We have compared the performance of adaptive velocity estimation methods under study over a noisy position trajectory in terms of measures for error statistics and undesired shifting. The undesired shifting measure has been developed to reflect the estimation delay and outliers. The simulation results show the superiority of adaptive windowing velocity estimation to conventional methods.

关键词： Disk drives Delay estimation Actuators Noise measurement Finite difference methods Kalman filters Adaptive filters Filtering Position measurement Velocity measurement

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A perceptual system for vision-based evolutionary robotics

A perceptual system for vision-based evolutionary robotics

引用

international conference on Neural Networks and signal processing

作者： N. Kubota M. Niwa H. Azuma A. Ueda Interaction and Intelligence PRESTO Japan Science and Technology Corporation Japan Department of Human and Artificial Intelligent Systems Fukui University of Technology Fukui Japan Kyoto R and D Center Kinden Corporation Soraku-gun Kyoto Japan

This paper discusses the perceptual system of a mobile robot from the viewpoint of ecological psychology. The control of the mobile robot is based on the concept of perceiving-acting cycle. We discuss the perceptual system for extracting perceptual information that will be used and required for next action. Based on action outputs, the perceptual module is selected and accommodated in order to persist a specific perception. Furthermore, we apply a steady-state genetic algorithm (SSGA) for extracting perceptual information from an image. The average and divergence used for mutation in the SSGA for detecting a pattern are updated according to the accuracy of detection. The current searching result of SSGA is reflected to the next search of SSGA. In this way, the searching process of the perceptual system for the mobile robot is cyclic according to the spatio-temporal context of the environment. We apply the proposed method for the control of a mobile robot used under an office automation floor. Experimental results show the effectiveness of the proposed method.

关键词： Robot vision systems intelligent robots Mobile robots Data mining Robot sensing systems Humans Competitive intelligence Artificial intelligence Automatic control robotics and automation

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RCUBE - a platform for intelligent autonomous systems

RCUBE - a platform for intelligent autonomous systems

引用

ieee international conference on Industrial Technology (ICIT)

作者： I. Boersch J. Heinsohn H. Loose K.-U. Mrkor FH Brandenburg University of Applied Sciences Brandenburg Germany

An intelligent robot platform for autonomous systems with vision capabilities has been developed by the University of Applied Sciences Brandenburg in cooperation with SME's. The system is suitable as a research and education platform for universities, a basis for industrial applications and for private developers of robots. This paper presents an architecture overview and application details of the RCUBE system. RCUBE is available in 2 modular versions: (1) a cost-effective platform for reactive robots and private developers (2) a performant platform for intelligent robots with image processing capabilities suitable for research, development and education in the field of service robotics. The system consists of 3 ready-to-program hardware modules with a basic software layer. They can be combined in different configurations. The modularity provides the flexibility to configure an RCUBE system for different application areas, but also single modules can be used in applications such as autonomous intelligent cameras or planning robots (e.g. lawnmower, vacuum cleaner). A key feature is the capability to autonomous image processing combined with sensors and actors, small size and low power consumption. RCUBE opens the way to small independent seeing robots.

关键词： intelligent systems intelligent robots Educational robots Service robots Image processing Application software intelligent sensors Robot sensing systems Machine vision Hardware

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Force-guided assembly of micro mirrors

Force-guided assembly of micro mirrors

引用

ieee international Workshop on intelligent Robots and systems (IROS)

作者： Yantao Shen Ning Xi Wen Jung Li Department of Electrical and Computer Engr Michigan State University East Lansing MI USA Department of Automation and Computer-Aided Engr Chinese University of Hong Kong Hong Kong China

ISBN: (纸本)0780378601

This paper aims at developing the force-guided microassembly technology with in-situ PVDF piezoelectric force sensing and control. By using the designed force sensors with the effective signal processing techniques, the micro contact force/impact signal and its derivative can be extracted and processed. Furthermore, based on a new sensor-referenced control scheme, micro mirrors can be reliably assembled by regulating the micro contact force. Experimental results verify the performance of the developed micro force sensing and control system. Ultimately the technology will provide a critical and major step towards the development of automated manufacturing processes for batch assembly of micro devices.

关键词： Assembly Mirrors Force control Force sensors signal processing Automatic control Microassembly signal design Control systems Manufacturing processes

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Multisensory HIT/DLR dexterous robot hand

Multisensory HIT/DLR dexterous robot hand

引用

ieee/ASME (AIM) international conference on Advanced intelligent Mechatronics

作者： L. Jiang M.H. Jin X.H. Gao Z.W. Xie L. Yang P. He Y.W. Liu R. Wei H.G. Cai H. Liu N. Seitz M. Grebenstein G. Hirzinger Robot Research Institute Harbin Institute of Technology Harbin China Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany

This paper describes the current work progress of HIT/DLR dexterous hand. Based on the technology of DLR hand II, HIT and DLR are jointly developing a smaller and easier manufactured robot hand with multisensory system. The prototype of one finger has been successfully built. The finger has three DOF and four joints; last two joints are mechanically coupled by a rigid linkage. All the actuators are commercial brushless DC motors with integrated analog hall sensors. DSP based control system is implemented in PCI bus architecture and the serial communications between the hand and DSP needs only 2 lines. The fingertip force can reach 10N.

关键词： Fingers Couplings Digital signal processing Manufacturing Robot sensing systems Prototypes Actuators Brushless DC motors Communication system control Control systems

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Study on integrated micro inertial navigation system/GPS for land vehicles

Study on integrated micro inertial navigation system/GPS for...

引用

international conference on intelligent Transportation

作者： J.P. Wang W.F. Tian Z.H. Jin Department of Instrumentation Engineering Shanghai Jiaotong University China

With the rapid development of micro electron mechanical system, the performance of micro inertial sensors is being improved. Features of low cost and small volume of these sensors make them be applied widely in military and commercial fields. Because vehicle location and navigation system (VLNS) is the indispensable section in intelligent transportation system (ITS), study on micro inertial technique for VLNS is significant. In this paper a micro inertial navigation system (/spl mu/-INS) is designed using three single-axis microgyroscopes (EWTZ9G) and three microaccelerometers (ADXL150). The system has three modules, i.e., sensors module to measure angular rate and acceleration, data acquisition module to convert analog signal outputs of the sensors to digital signal, and data processing module to calculate necessary navigation information. Besides the loosely coupled Kalman filter, a simpler GPS-aided method is studied in the paper. Results of experiments show that integrated /spl mu/-INS/GPS meets the demand of location accuracy for VLNS in ITS.

关键词： Inertial navigation Global Positioning System Land vehicles intelligent sensors Sensor systems Mechanical sensors intelligent transportation systems signal processing Electrons Mechanical systems

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Fast convergence algorithm for adaptive IIR notch filter using combination of genetic search and variable step-size algorithm

Fast convergence algorithm for adaptive IIR notch filter usi...

引用

international conference on intelligent Transportation

作者： C. Benjangkaprasert S. Phuvasitkul W. Limwong K. Janchitrapongvej Research Center for Communications and Information Technology (ReCCIT) and Department of Information Engineering Faculty of Engineering King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand

In this paper, the combination of genetic algorithm and a new variable step-size algorithm for a second-order adaptive IIR notch filter is presented. The objective of the new algorithm is to optimize the filter coefficient. The results of computer simulation show that the new algorithm provides a good performance such as fast convergence rate, low mean square error and noise robustness. In addition, the new algorithm is also applied to cancel 50-Hz power line interference in the recording of electrocardiograms signal.

关键词： Convergence Adaptive filters IIR filters signal processing algorithms Genetic algorithms Genetic engineering Mean square error methods Noise cancellation Transfer functions Adaptive signal processing

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Nonlinear GPS models for position estimate using low-cost GPS receiver

Nonlinear GPS models for position estimate using low-cost GP...

引用

international conference on intelligent Transportation

作者： X. Mao M. Wada H. Hashimoto Institute of Industrial Science University of Tokyo Meguro Tokyo Japan PRESTO Japan Science and Technology Agency Meguro Tokyo Japan

This paper presents the results obtained in our research about application of advanced signal processing to GPS based position estimation. This technique can be used in low-cost standalone GPS receiver with robust and high accuracy. The motivation of this research is to address the GPS positioning problems in vehicle navigation under bad circumstances where the visible satellites are visible satellites are variable frequently or less than four. A new model for position and velocity estimation are developed for nonlinear filtering. The model is nonlinear and has variable measurement number for coping with an arbitrary number of satellites. The model is investigated applying it to unscented Kalman filter for position estimation. The first experimental results that comprise the comparison of estimation results obtained with different algorithms are then presented. Comparison shows that our approaches provide better estimation than other solutions.

关键词： Global Positioning System Satellite navigation systems Vehicles Iterative algorithms signal processing algorithms intelligent transportation systems intelligent sensors Nonlinear filters Least squares methods Clocks

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Non-conventional processing of noisy signal in the adaptive control of hydraulic differential servo cylinders

Non-conventional processing of noisy signal in the adaptive ...

引用

ieee international Symposium on intelligent signal processing

作者： J.K. Tar I.J. Rudas A. Szeghegyi K. Kozlowski John van Neumann Faculty of Informatics Budapest Polytechnic Budapest Hungary Karoly Keleti Faculty of Economics Budapest Polytechnic Budapest Hungary Control Robotics and Computer Science Poznan University of Technology Poznan Poland

Hydraulic differential electric servo cylinders are strongly nonlinear, coupled multivariable electromechanical tools applicable for driving e.g. manipulators. The primary controllable physical agent in such systems is the time-derivative of the pressure of the working fluid in the appropriate chambers of the cylinder. Besides the nonlinearities of hydrodynamical origin discontinous ones described by the Stribeck model originate from the friction between the cylinder and the piston. This model contains the terms of the viscous, the static, and the adhesive contributions of friction. Whenever the velocity of the piston changes its sign alternating friction force of considerable amplitude appears. Such behavior means serious difficulty in feedback-based continuous path (CP) dynamic control whenever a nominal trajectory asymptotically approaching a zero velocity segment is needed: the system itself generates a noise-like acceleration signal to be used in the control. Since hydraulic drives have considerable advantages in comparison with electric ones it would be desirable to extend their application to dynamic CP control, too. For this purpose a special adaptive nonlinear control dealing with the system-generated noisy signals was elaborated. The method is rather based on a novel branch of soft computing slightly supported by a nonconventional noise filtering. The capabilities of the improved controller are illustrated via simulation.

关键词： signal processing Adaptive control Servomechanisms Control systems Friction Pistons Velocity control Couplings Pressure control signal generators

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