检索结果-内蒙古大学图书馆

2005 ieee international symposium on computational intelligence in robotics and automation CIRA 2005

作者： Seilonen, Ilkka Koskinen, Kari Pirttioja, Teppo Appelqvist, Pekka Halme, Aarne Information and Computer Systems in Automation Helsinki University of Technology P.O.Box 5500 02015 TKK Espoo Finland Automation Technology Laboratory Helsinki University of Technology P.O.Box 5500 02015 TKK Espoo Finland

An approach to intelligent process automation based on a society of BDI-agents is presented in this paper. According to this approach a higher-level multi-agent systems based automation layer supervises an ordinary process automation system. The purpose of the agent layer is to monitor the operation of the lower-level automation system and semi-autonomously reconfigure its control logic when needed. The agent layer operates as a multi-agent system consisting of BDI-agents, which cooperatively create and run reconfiguration sequences on the ordinary automation system in order to adapt its control logic to various situations. The adaptation process may take place both in reactive and deliberative fashion. In this way the approach aims to increase the flexibility and responsiveness properties of the automation system. The approach is demonstrated with a laboratory test process where process startup and fault recovery experiments have been performed. Results from the experiments are described. © 2005 ieee.

关键词： Multi agent systems

来源：评论

学校读者我要写书评

暂无评论

An adaptive task assignment method for multiple mobile robots via swarm intelligence approach

An adaptive task assignment method for multiple mobile robot...

引用

2005 ieee international symposium on computational intelligence in robotics and automation CIRA 2005

作者： Zhang, Dandan Xie, Guangming Yu, Junzhi Wang, Long Intelligent Control Laboratory Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing 100871 China

This paper describes an adaptive task assignment method for a team of fully distributed mobile robots with initially identical functionalities in unknown environments. The method is applicable for mediate- to large-scaled robot groups and tasks. A hierarchical architecture for task assignment is established for each individual robot. In the higher hierarchy, the self-reinforcement learning model inspired by the behaviors of social insects is employed to differentiate the initially identical robots into different kinds of high-level task "specialists";while in the lower hierarchy, Ant System algorithm is adopted to organize low-level task assignment. To avoid using a centralized component, "local blackboard" communication mechanism is utilized for knowledge sharing. The proposed method allows the robot team members to adapt themselves to the unknown dynamic environments, respond flexibly to the environment perturbations and robustly to the modifications in the team arising from mechanical failure. Simulations of a cooperative collection task validate the effectiveness of the presented method. © 2005 ieee.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

A collective moving algorithm in modular robotics: Contribution of communication capacities

A collective moving algorithm in modular robotics: Contribut...

引用

2005 ieee international symposium on computational intelligence in robotics and automation CIRA 2005

作者： Montreuil, Vincent Duhaut, Dominique Drogoul, Alexis Laboratoire d'Informatique et Ses Applications de Vannes et Lorient University of South Britanny rue Saint Maudé 56325 Lorient Cedex France Laboratoire d'Informatique de Paris 6 University of Paris 6 8 rue du capitaine Scott 75015 Paris France

The goal of self-reconfigurable robotics is to replace a complex robot by a swarm of more simple robots called modules which can change the way they are connected, creating thus a robot which can adapt his shape to the environment in which it is evolving. The goal of this approach is to obtain a large robustness against breakdowns. In order to further increase this robustness we can use autonomous modules which can move by their own and which can make/break connections with other modules as desired. We present a behaviour model for autonomous modules to permit the swarm to get over simple difficulties: climbing on straight walls, getting over ditches and moving down straight walls. Our model is an identical finite state machine implanted in all modules which is dedicated to the movement of autonomous modules swarm. We also present three simulations in which we study three different levels of communication, thus estimating influence of these capacities on the modules swarm speed to get over three consecutive difficulties. © 2005 ieee.

关键词： robotics

来源：评论

学校读者我要写书评

暂无评论

Linear synchronous motor servo drive based on adaptive wavelet neural network

Linear synchronous motor servo drive based on adaptive wavel...

引用

2005 ieee international symposium on computational intelligence in robotics and automation CIRA 2005

作者： Lin, Faa-Jeng Shen, Po-Hung IEEE Department of Electrical Engineering National Dong Hwa University Hualien 974 Taiwan

An adaptive wavelet neural network (AWNN) control system is proposed to control the position of the mover of a permanent magnet linear synchronous motor (PMLSM) servo drive system to track periodic reference trajectories in this study. In the proposed AWNN control system, a WNN with accurate approximation capability is employed to approximate the unknown dynamics of the PMLSM, and a robust term is proposed to confront the inevitable approximation errors due to finite number of wavelet basis functions and disturbances including the friction force. The adaptive learning algorithm that can learn the parameters of weight, dilation and translation of the WNN on line is derived using Lyapunov stability theorem. Moreover, to relax the requirement for the bound of uncertainty in robust term, which comprises a minimum approximation error, optimal parameter vectors, higher-order terms in Taylor series and friction force, an adaptive bound estimation law is investigated where a simple adaptive algorithm is utilized to estimate the bound of uncertainty. Furthermore, the experimental results due to periodic reference trajectories show that the dynamic behaviors of the proposed control systems are robust with regard to uncertainties. © 2005 ieee.

关键词： Synchronous motors

来源：评论

学校读者我要写书评

暂无评论

Learning by observation of robotic tasks using on-line PCA-based eigen behavior

Learning by observation of robotic tasks using on-line PCA-b...

引用

2005 ieee international symposium on computational intelligence in robotics and automation CIRA 2005

作者： Jiang, Xianhua Motai, Yuichi Department of Electrical and Computer Engineering University of Vermont Burlington VT 05405 United States

This paper presents a new framework for learning the behavior of an articulated body. The motion capturing method has been developed mainly for analysis of human movement, but very rarely used to teach a robot human behavior in an on-line manner. In the traditional teaching method, robotic motion is captured and converted into the virtual world, and then analyzed by human interaction with a graphical user interface. However such a supervised learning framework is often unrealistic since many real-life applications may involve huge datasets in which exhaustive sample-labeling requires expensive human resources. Thus in our learning phase, we initially apply the supervised learning to just small instances using a traditional principal component analysis (PCA) in the off-line phase, and then we apply the incremental PCA learning technique in the on-line phase. Our on-line PCA method maintains the reconstruction accuracy, and can add numerous new training instances while keeping reasonable dimensions of the eigenspace. In comparison to other incremental on-line learning approaches, which use each static image, our proposed method is new since we consider image sequences as a single unit of sensory data. The extensions of these methodologies include the robotic imitation of human behavior at the semantic level. The experimental results using a humanoid robot, demonstrate the feasibility and merits of this new approach for robotic teaching. © 2005 ieee.

关键词： robotics

来源：评论

学校读者我要写书评

暂无评论

Developing and improving transportation systems: The structure and operation of ieee intelligent transportation systems society

引用

ieee Transactions on Intelligent Transportation Systems 2005年第3期6卷 261-264页

作者： Wang, Fei-Yue Herget, Charles Zeng, Daniel IEEE ITSS Chinese Academy of Sciences Institute of Automation Beijing 100080 China University of Arizona Department of Systems and Industrial Engineering Tucson AZ 85721 United States IEEE ITSS Herget Associates Alameda CA 94501 United States IEEE ITSS University of Arizona Department of Management Information Systems Tucson AZ 85721 United States Program for Advanced Research in Complex Systems University of Arizona Tucson Key Laboratory of Complex Systems and Intelligence Science Chinese Academy of Sciences ITS Department of the IEEE Intelligent Systems IEEE ITS Society IEEE SMC Board of Governors Herget Associates Alameda CA IEEE Standards ITS US Department of Transportation Department of Management Information Systems University of Arizona INFORMS AAAI and ACM IEEE ITS Society Technical Activities of the Chinese Association for Science and Technology United States

This editorial introduces the structure and operation of the ieee Intelligent Transportation Systems Society (ITSS). A brief history of the ITSS is presented, along with its mission, organizational structure, and a re... 详细信息

关键词： Transportation

来源：评论

学校读者我要写书评

暂无评论

Poincaré-map-based reinforcement learning for biped walking

Poincaré-map-based reinforcement learning for biped walking

引用

2005 ieee international Conference on robotics and automation

作者： Morimoto, Jun Nakanishi, Jun Endo, Gen Cheng, Gordon Atkeson, Christohper G. Zeglin, Garth Computational Brain Project ICORP JST 2-2-2 Hikaridai Soraku-gun Seika-cho Kyoto 619-0288 Japan ATR Computational Neuroscience Laboratories 2-2-2 Hikaridai Soraku-gun Seika-cho Kyoto 619-0288 Japan Sony Intelligence Dynamics Laboratories Inc. 2-2-2 Hikaridai Soraku-gun Seika-cho Kyoto 619-0288 Japan Robotics Institute Carnegie Mellon University 5000 Forbes Ave Pittsburgh PA 15213 United States

ISBN: (纸本)078038914X

We propose a model-based reinforcement learning algorithm for biped walking in which the robot learns to appropriately modulate an observed walking pattern. Via-points are detected from the observed walking trajectories using the minimum jerk criterion. The learning algorithm modulates the via-points as control actions to improve walking trajectories. This decision is based on a learned model of the Poincare map of the periodic walking pattern. The model maps from a state in the single support phase and the control actions to a state in the next single support phase. We applied this approach to both a simulated robot model and an actual biped robot. We show that successful walking policies are acquired. ©2005 ieee.

关键词： Learning systems

来源：评论

学校读者我要写书评

暂无评论

Voronoi toolpaths for PCB mechanical etch: Simple and intuitive algorithms with the 3D GPU

Voronoi toolpaths for PCB mechanical etch: Simple and intuit...

引用

2005 ieee international Conference on robotics and automation

作者： Vona, Marsette A. Rus, Daniela Department of Electrical Engineering and Computer Science Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA 02139

ISBN: (纸本)078038914X

We describe Vlsolate (Voronoi Isolate), a system which performs geometric computations associated with toolpath planning for mechanical etch (also called isolation routing) of printed-circuit boards, including the computation of a novel Voronoi-based toolpath with some advantages over the current industry practice. We highlight how we use the 3D Graphics Processing Unit (GPU) to implement simple, intuitive algorithms in Vlsolate, including polygon overlap detection, 2D offset, and constrained generalized Voronoi diagram computation, building on a method from [1]. Thus, this work also illustrates how we can employ the GPU as a rudimentary 'mind's eye' for the machine, allowing us to rapidly implement visually-intuitive geometric algorithms. ©2005 ieee.

关键词： computational geometry

来源：评论

学校读者我要写书评

暂无评论

computational intelligence for high-precision industrial robots

Computational intelligence for high-precision industrial rob...

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： S. Moberg ABB Automation Technologies-Robotics Sweden

Summary form only given. ABB has launched its fifth generation robot controller, the IRC5. The basic motion control of the IRC5 controller includes the TrueMove and QuickMove functionality for best possible production rate and quality. In addition to this, the MultiMove function enables new production concepts and more cost-effective solutions. To penetrate new market segments, ease-of-use, high precision and cost-effectiveness are important factors. The availability of low-cost computational power and, in some cases, sensor integration enables the use of cost-effective industrial robots for high-precision tasks.

关键词： computational intelligence Computer industry Service robots Intelligent robots robotics and automation Motion control Automatic control Motion planning Production Physics

来源：评论

学校读者我要写书评

暂无评论

Cooperative reinforcement learning: exploring communication and cooperation problems

Cooperative reinforcement learning: exploring communication ...

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： C. Oliveira e Sousa L. Custodio Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal

In this paper some methods of dealing with the problem of cooperative learning in a multi-agent environment are presented. A system is developed that learns by reinforcement and deals with the problems of communicatio... 详细信息

关键词： Learning Robots Multiagent systems Stochastic processes Search problems Working environment noise Accelerated aging State-space methods Costs Decision making

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：