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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41-50 订阅

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Collision-avoidance mechanism of multi agent system

Collision-avoidance mechanism of multi agent system

引用

ieee international conference on robotics, intelligent systems and signal processing

作者： Huang, QW Ma, HX Zhang, H Natl Univ Def Technol Dept Automat Control Changsha Hunan Peoples R China

ISBN: (纸本)078037925X

This paper mainly concentrates on obstacle avoidance of multi robot system in 2-D environment. An efficient and practical collision-avoidance mechanism is developed for multi agent system. The mechanism will be used in combination with a cooperation mechanism to accomplish an complicated task. Based on the problem of "The Tower of Babel", some obstacles are added in the environment, the agents must reach their destination without colliding with the obstacles and other agents. A typical kind of multi robot system is studied in this paper, and problem of collision-avoidance in multi robot system is discussed. Our purpose is to study a practical and efficient obstacle avoidance method under central control mode, which has been proved effective through simulation experiments results, and this obstacle avoidance method can solve the problem of "deadlock" to a satisfying extent.

关键词： collision avoidance multi-agent systems multi-robot systems collision avoidance mechanism multiagent system obstacle avoidance multirobot system 2D environment cooperation mechanism central control mode deadlock avoidance

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A dialogue system based on keyword spotting technology

A dialogue system based on keyword spotting technology

引用

ieee international conference on robotics, intelligent systems and signal processing

作者： Ru, HB Chen, YN Liu, J Liu, RS Tsinghua Univ Dept Elect Engn Beijing Peoples R China

ISBN: (纸本)078037925X

This paper presented a practical dialogue system, Smart-Panda System, which used a keyword spotting (KWS) scheme. In this KWS scheme, decoding and spotting processes were designed to be independent of the vocabulary and any explicit filler model was not needed so that it can be implemented easily for any other desired tasks. A word level confidence measure was incorporated into this system for improving the accuracy of semantic understanding by rejecting uncompetitive keyword hypothesis, which was typically generated by OOV (Out-of-Vocabulary) speech. Testing results of both the KWS scheme itself with 100 keywords and the Smart-Panda System which employed this scheme were reported. The experiments showed that the correct acceptance accuracy of the Smart-Panda System based on the new KWS recognition engine had reached 9.5.2% at the incorrect acceptance rate of 0.5%.

关键词： speech processing interactive systems computational linguistics natural languages keyword spotting technology practical dialogue system out-of-vocabulary speech speech recognition correct acceptance accuracy

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A control architecture of autonomous robots and its realization using multiple DSP devices and RTOS based platform

A control architecture of autonomous robots and its realizat...

引用

ieee international conference on robotics, intelligent systems and signal processing

作者： Liu, XH Yuan, K Wang, W Zou, W Chinese Acad Sci Inst Automat Beijing 100080 Peoples R China

ISBN: (纸本)078037925X

This paper presents a control architecture for robots in dynamic and unstructured environments. It is based on the combination of several parallel behavior modules: reactive behaviors and directive behaviors with path planning and behavior state feedback, which makes behavioral closed loop. A Finite State Automata model is used to describe the activity sequence the robot must follow. Detailed behavior planning including path planning is executed by stages to prevent the computation waste and the sensing function is activated whenever possible. At last, a distributed computational mechanism of multiple DSP devices is developed and functional modules are implemented in the way of multitask on a RTOS platform. The system has an open modular and scalable architecture, and a high performance with a low cost.

关键词： control system synthesis digital signal processing chips mobile robots path planning closed loop systems finite automata multiprogramming state feedback real-time systems operating systems (computers) autonomous robots control architecture DSP devices RTOS based platform parallel behavior modules path planning behavior state feedback behavioral closed loop finite state automata model sensing function distributed computational mechanism open modular architecture scalable architecture digital signal processing

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Integrated design for routing and network in AGV systems using co-evolution

Integrated design for routing and network in AGV systems usi...

引用

ieee international conference on robotics, intelligent systems and signal processing

作者： Chiba, R Ota, J Arai, T Univ Tokyo Dept Precis Engn Bunkyo Ku Tokyo 1138656 Japan

ISBN: (纸本)078037925X

Integrated design process for Automated Guided Vehicle (AGV) systems is proposed in this paper. There are two problems to design AGV systems: transporter routings and flow-path network. These two should be solved at the same time, because one problem depends on the other. This issue is solved with cooperative co-evolution in this paper. Both problems are represented as different species and Genetic Algorithm is applied to them. AGV systems are evaluated through simulations.

关键词： AGV flow-path design transporter routing

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Realization of the biologically-inspired dynamic walking controller of a quadruped robot

Realization of the biologically-inspired dynamic walking con...

引用

ieee international conference on robotics, intelligent systems and signal processing

作者： Zhao, LY Zheng, HJ Zhang, XL Cheng, ZF Tsing Hua Univ Dept Precis Instruments & Mechanol Beijing 100084 Peoples R China

ISBN: (纸本)078037925X

This paper introduces a control system design for an autonomous quadruped robot walking on irregular terrain. Biological cybernetics approach is used and the control of our walking robot can be considered hierarchical and modular The upper computer functioning as the brain make decisions on what behavior is to be selected and the overall elements of its execution, such as the speed and the direction in the case of walking. The actual pattern activation of the legs of the quadruped robot is made locally by groups of neural oscillators termed CPGs (centralpattern generators) implemented in the lower DSP (Digital signal processor) controller The peripheral feedback provides information from proprioceptor and exteroceptor The output of CPGs can be controlled by higher level computer while simultaneously modulated or adjusted by interactions between the CPGs upper controller and the sensory information from the robot body or circumstances. Consequently, locomotion of the quadruped robot is robust and coordinated.

关键词： legged locomotion biocybernetics control system synthesis digital signal processing chips motion control autonomous quadruped robot walking biological cybernetics DSP controller digital signal processor controller control system design central pattern generators neural oscillators higher level computer peripheral feedback proprioceptor exteroceptor

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Global robust output regulation for output feedback systems

Global robust output regulation for output feedback systems

引用

ieee international conference on robotics, intelligent systems and signal processing

作者： Chen, ZY Huang, J Chinese Univ Hong Kong Dept Automat & Comp Aided Engn Shatin Hong Kong Peoples R 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 can 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： Polynomials

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Improvement of bispectrum estimation based on one new 2-D combined lag window

Improvement of bispectrum estimation based on one new 2-D co...

引用

ieee international conference on robotics, intelligent systems and signal processing

作者： Chen, ZS Yang, YM Wen, XS Natl Univ Def Technol Coll Mechatron Engn & Automat Changsha 410073 Peoples R China

ISBN: (纸本)078037925X

Higher-order Spectrum (HOS) has been used as a strong tool for non-Gaussian and nonlinear signal processing in many fields and bispectrum is usually employed. Using windows is one important way to improve bispectrum estimation and appropriate window function can reduce the variance and suppress noise, but sidelodes in spectrum of window functions will result in spectrum leak. Thus it is one urgent problem needed to be solved for application of bispectrum that how to find one appropriate 2-D window. In this paper one new 2-D combined lag window is constructed by Hanning-Poisson window without sidelobes, which then is used for non-parametric bispectrum estimation instead of rectangle window. In the end simulation is done on QPC signals encountered in fault diagnosis of rotating machinery. The results demonstrate that using the constructed window function can restrain spectrum leak and reduce the variance of estimation better than single windows, like rectangle window.

关键词： interference suppression fault diagnosis electric machines spectral analysis signal processing estimation theory 2-D combined lag window higher-order spectrum nonlinear signal processing window function noise suppression spectrum leak Hanning-Poisson window nonparametric bispectrum estimation fault diagnosis rotating machinery

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Study of manufacturing system based on neural network multi-sensor data fusion and its application

Study of manufacturing system based on neural network multi-...

引用

ieee international conference on robotics, intelligent systems and signal processing

作者： Jia, YP Wang, PX Li, Y Tai Yuan Heavy Machinery Inst Dept Machinery & Elect Engn Taiyuan 030024 Peoples R China

ISBN: (纸本)078037925X

A detailed introduction of intelligent inspection and monitoring system for Flexible Manufacturing System (FMS) based on Distributed Artificial Intelligence(DAI) is given in this paper This paper deals with a multi-sensor system applied to mechanical fault diagnosing fusion pattern based on neural network, the uncertainty of diagnosis system can be decreased greatly. The methods for data preprocessing, features extraction and construction of the neural network are discussed The real-time data sampling, information fusion and control, management and decision, and operating process of the complex industrial systems are researched. The schemes of distributed hierarchical intelligent control, methods of multi-sensor in formation fusion and controller expert fuzzy neural networks are proposed for complex industrial process. Applying the redundancy technology and multi-sensor information fusion technology, the synchronized automated data acquisition, processing and malfunction warning is realized by computer. The results of application in a textile machinery plant for the FMS showed the effectiveness of the proposed hierarchical intelligent control system.

关键词： flexible manufacturing systems inspection fuzzy neural nets sensor fusion learning (artificial intelligence) fault diagnosis distributed control intelligent control fuzzy control diagnostic expert systems redundancy data acquisition textile industry flexible manufacturing system FMS fuzzy neural networks controller expert system multisensor data fusion intelligent inspection monitoring system distributed artificial intelligence DAI multisensor system mechanical fault diagnosing fusion pattern data preprocessing features extraction real time data sampling complex industrial systems decision making distributed hierarchical intelligent control system multisensor information fusion technology complex industrial process redundancy technology automated data acquisition malfunction warning textile machinery plant

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Distributed control system for modular self-reconfigurable robots

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

引用

ieee international conference on robotics, intelligent systems and signal processing

作者： Shen, JX Liu, JP Zhang, H Zhou, LY Tang, JB Nation Univ Def Technol Dept Mechatron & Automat Changsha Hunan Peoples R China

ISBN: (纸本)078037925X

Modular self-recoqfiigurable 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 masterlslave 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 parameter control systems

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Coordinated motion control of multiple mobile manipulators based on virtual 3-D caster

Coordinated motion control of multiple mobile manipulators b...

引用

ieee international conference on robotics, intelligent systems and signal processing, rissp 2003

作者： Hirata, Y. Kume, Y. Wang, Zhi-Dong Kosuge, K. Department of Machine Intelligence and Systems Engineering Tohoku University Aoba-yama 01 Sendai980-8579 Japan

In this paper, we propose two types of cooperation system, of multiple mobile manipulators based on the caster-like dynamics referred to as virtual 3-D caster for handling a single object in 3-D space. One is the human-robots cooperation system, in which a human handle a single object in cooperation with multiple mobile manipulators. The other is the leader-follower type cooperation system, in which a mobile manipulator referred to as leader handle a single object together with other mobile manipulators referred to as follower. In both control algorithms, the grasping point of each mobile manipulator is controlled as if it has a caster-like dynamics in 3-D space, so that the multiple mobile manipulators could realize the cooperation for handling a single object without using the geometric relations among the robots. The proposed control algorithms are experimentally applied to multiple mobile manipulators, and the validities of the proposed control algorithms are illustrated by the experimental results. © 2003 ieee.

关键词： Manipulators

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