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检索条件"任意字段=International Asia Conference on Informatics in Control, Automation, and Robotics"

共 1479 条记录，以下是1151-1160 订阅

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Comparative, study of robot-designs for a handheld medical robot

Comparative, study of robot-designs for a handheld medical r...

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5th international conference on informatics in control, automation and robotics

作者： Pott, Peter P. Schwarz, Markus L. R. Wagner, Achim Badreddin, Essameddin Heidelberg Univ Med Fac Mannheim OUZ Lab Biomechan & Expt Orthopaed Theodor Kutzer Ufer 1-3 D-68167 Mannheim Germany Univ Mannheim Automat Lab Mannheim Germany

ISBN: (纸本)9789898111319

Robotic systems are used within a great variety of medical disciplines. A handheld robot promises a number of advantages compared to conventional (medical) robots but this approach leads to strict specifications regarding size, weight and dynamic properties. A new hybrid kinematics - the Epizactor - seems to be advantageous and is compared to two well-known parallel kinematics regarding the ratio of workspace and volume the number of kinematic elements, the cost of computation, the stiffness the effects of clearance, actuation (weight), and accuracy using a well-described industrial method for comparison. It becomes clear that the Epizactor has advantages concerning the ratio of workspace and volume, needs a smaller number of kinematic elements and fewer computations, and has less than half the mass than the parallel kinematics. Its accuracy, stiffness and the effects of clearance are comparable. The advantages of this new kinematic set-up lead to a first deployment within the field of medical robotics.

关键词： hybrid kinematics medical robotics comparison

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Robotic wheelchair control considering user comfort - Modeling and experimental evaluation

Robotic wheelchair control considering user comfort - Modeli...

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ICINCO 2008 - 5th international conference on informatics in control, automation and robotics

作者： Solea, Razvan Nunes, Urbano ISR - Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra 3030-290 Coimbra Portugal

ISBN: (纸本)9789898111319

This paper analyzes the comfort of wheelchair users when a sliding-mode trajectory-tracking controller is used. The transmission of the horizontal (fore-and-aft) vibration to the head-neck complex (HNC) in the seated human body may cause unacceptable discomfort and motion sickness. A double-inverted pendulum model with two degrees of freedom is considered as a model for the HNC. The user comfort is examined not only in the time domain (using the fourth power vibration dose value), but also in the frequency domain (using the cross-spectral density method). For measuring the acceleration of the wheelchair, along the trajectory, an inertial measurement unit was used.

关键词： Sliding mode control

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Application of Eitelberg's Method for PI controllers via Particle Swarm Optimization

Application of Eitelberg's Method for PI Controllers via Par...

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10th international conference on control, automation, robotics and Vision

作者： Puangdownreong, Deacha Suwannarongsri, Supaporn SE Asia Univ Fac Engn Dept Elect Engn Bangkok Thailand SE Asia Univ Fac Engn Dept Ind Engn Bangkok Thailand

ISBN: (纸本)9781424422869

In 1987, Eitelberg introduced a useful method by adjusting the input weighting factors to recover system response when a direct tuning of the PI(D)'s parameters was prohibited from adjustment. Because of minimum interruption to an original control system, the Eitelberg's method has been extended to various applications. From previous applications, it was found that the P-element input weighting factor distinctly effects on the system responses. In this paper, the input weighting factor optimization for P-element of PI controllers via the particle swarm optimization (PSO) method is presented. The proposed optimization method is tested against two bench mark-controlled systems. As the simulation results, it was found that the P-element input weighting factor can be appropriated optimized by the PSO-based method and the satisfactory responses can be recovered when the parameter variation occurred.

关键词： PI controller input weighting factor particle swarm optimization

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Hardware circuit design of NC system based on ARM and FPGA

Hardware circuit design of NC system based on ARM and FPGA

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IEEE INDIN 2008: 6th IEEE international conference on Industrial informatics

作者： Jingmeng, Liu Wheihai, Chen Tianmiao, Wang Youzhu, Ling School of Automation Beihang University Beijing 100083 China Robotics Institute Beihang University Beijing 100083 China Key Laboratory of Electric and Control Anhui University of Technology and Science Wuhu Anhui 241000 China

ISBN: (纸本)9781424421718

This paper presents the hardware design of three-axis NC system based on embedded system , designs the ARM(Advanced RISC Machine) + FPGA(Field Programmable Gate Array) hardware architecture, builds the software development environment, and accomplishes the communication program between ARM and FPGA. All of these provide excellent development platform for the application program developers. According to the requirement of three-axis NC system fine interpolation and complex I/O control, this paper accomplishes internal logic design of FPGA, realizes the fine interpolation pulse transmitting of NC system, receives the feedback pulse signal of encoder and extends many I/O ports to fulfills complex I/O control of three-axis NC system.©2008 IEEE.

关键词： Interpolation

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Real-time servo control architecture for parallel stabilization and manipulation of tele-operated robots

Real-time servo control architecture for parallel stabilizat...

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2008 international conference on automation, robotics and control Systems, ARCS 2008

作者： Amanatiadis, A. Papadakis, S.E. Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace 12 Vas. Sofias Str GR-67100 Xanthi Greece Division of Computing Systems Department of Industrial Informatics Technological Educational Institution of Kavala GR-65404 Kavala Greece

ISBN: (纸本)9781615677146

This paper presents a control architecture for semi-autonomous tele-operated robots. The architecture is based on two parallel behavior modules: automatic mechanical image stabilization control and remote head posing control. All processes are performed in Linux-based Real-time Operating Systems using open source libraries under GPL license. Detailed behavior is executed through priorities to prevent the computation waste and simultaneous and non-synchronized accesses to servo motors. Experimental results showed that our system is capable of satisfying the hard-real time requirements for the servo control, with great precision. The system has an open modular and scalable architecture with high performance and low cost.

关键词： Stabilization

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Wearable computing for patients with coronary diseases

Wearable computing for patients with coronary diseases

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IEEE international conference on automation, Quality and Testing, robotics (AQTR 2008)

作者： Rocha, Valter Seromenho, Ricardo Correia, Joao Mascioletti, Alessandro Picano, Alfredo Goncalves, Gil Agilus I+D LABOR Informatics Engineering Department University of Porto

ISBN: (纸本)9781424425761

Cardiovascular diseases are killing more and more people around the world, striking rich and poor alike. The World Health Organization identifies these diseases as challenges to population health and well being and calls it a global epidemic. These diseases can seriously affect the life of both the patient and family. In tandem with a strategy to provide information and education to individuals at risk, Information and Communication Technologies can be a valuable tool to address the challenges posed by this global epidemic. The HEARTRONIC project is developing an innovative system for prevention and early warning by continuous monitoring the heart conditions. This system is wearable by the patient, monitors and analyzes the heart beat, and in the event of results that could predict a heart attack or stroke an alert message is sent to a server and them relayed to the responsible healthcare professional. The system uses EGC processing for automatic detection of abnormal functioning. First response actions are taken but the healthcare professionals are always in the control loop and can cancel or impose actions other than the ones decided by the system. System integration is starting and first trials are planned. Besides validating systems functionalities, these trials will allow to calibrate the sensitivity of the algorithms: high sensitivity may cause numerous false positives, while low sensitivity may result in misdiagnosis of potentially life threatening conditions.

关键词： Diseases

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Probabilistic prediction of student affect from hand gestures

Probabilistic prediction of student affect from hand gesture...

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2008 international conference on automation, robotics and control Systems, ARCS 2008

作者： Abbasi, Abdul Rehman Dailey, Matthew N. Afzulpurkar, Nitin V. Uno, Takeaki Asian Institute of Technology Bangkok Thailand National Institute of Informatics Tokyo Japan

ISBN: (纸本)9781615677146

Affective information is vital for effective human-to-human communication. Likewise, human-to-computer communication could be potentiated by an "affective barometer" able to infer human affect using a machine vision system. For instance, during a classroom lecture, an affective barometer might provide useful feedback that a real or virtual instructor could use to improve pedagogical strategies. In this paper, we explore the feasibility of using students' unintentional hand gestures during a classroom lecture to predict their affective state. We propose a maximum a posteriori classifier based on a simple Bayesian network model. We then evaluate the classifier's ability to predict one of four affective states from five hand gestures observed in video recordings of a classroom lecture. Using four-fold cross validation, we find that the model's generalization accuracy is 100% over cases where the student reported an affective state, and 79.4% when we include cases where the student reported no affective state. The experiment demonstrates that there is a strong relationship between human affect and visually observable gestures. Future work will explore the applicability of these results in practical applications.

关键词： Forecasting

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Selection for visualization: Voronoi tessellation of large scale and sparsely distributed data

Selection for visualization: Voronoi tessellation of large s...

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2008 IEEE/ASME international conference on Advanced Intelligent Mechatronics, AIM 2008

作者： Zhengxu, Zhao Jinsheng, Fan School of Computing University of Derby Kedleston Road Derby DE22 1GB United Kingdom School of Computing and Informatics Shijiazhuang Tiedao Institute Shijiazhuang Hebei Province China

ISBN: (纸本)9781424424955

Visualizing data specifically selected among a large scale and sparsely distributed database can often be instantaneous and has to be low complexity in computation, especially when simulation process is involved. This article presents a novel method of selection for visualization. It uses Voronoi tessellation to decompose the database into Voronoi data cells, then it adapts the Point Location and the Nearest Neighbor Searching algorithms to reduce data search time over the large data set so that visualization and simulation can be instantaneously realized. The method is successfully implemented in large scale and complex virtual environment systems and is tested with applications in satellite tracking and controls. © 2008 IEEE.

关键词： Visualization

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Analysis of the kinematics of module climbing caterpillar robots

Analysis of the kinematics of module climbing caterpillar ro...

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2008 IEEE/ASME international conference on Advanced Intelligent Mechatronics, AIM 2008

作者： Wang, Wei Wang, Yingying Wang, Kun Zhang, Houxiang Zhang, Jianwei Robotics Institute Beihang University Beijing 100083 China TAMS Department of Informatics University of Hamburg Vogt-Kölln-Straße 30 Hamburg 22527 Germany Cognitive Technology Laboratory Shenzhen Institute of Advanced Technology No. 1019 Nanhai Avenue Shekou Shenzhen China

ISBN: (纸本)9781424424955

Based on the vermicular motion of the pine caterpillar and inchworm, this paper presents two novel module climbing caterpillar kinematics models. The analysis of the valid gaits and climbing safety of them indicates the differences of two models. The pine caterpillar model with all active joints has the disadvantage of introducing the redundant actuating to its locomotion but higher security than the inchworm model because of its more valid gaits. Two prototypes following the above two models are respectively constructed from some newly developed real adhesion and actuation modules to testify the climbing abilities of two caterpillar-like robots. The experiments show the sideslip of the suckers on the pine caterpillar robot induced by the redundant actuating and the locomotion ability of the inchworm robot on vertical wall. Besides that, an unsymmetrical gait is adopted by the inchworm robot to improve its adhesion reliability on the wall. At last, a new kinematics model of the pine caterpillar robot based on passive joints is proposed to solve the redundant actuating problem. © 2008 IEEE.

关键词： Robots

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Observability and controllability analysis of nonlinear systems by linear methods

Observability and controllability analysis of nonlinear syst...

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international conference on control, automation, robotics and Vision (ICARCV)

作者： Alexey N. Zhirabok Department of radio electronics and informatics Far-Eastern State Technical University Vladivostok Russia

The paper is devoted to the development of approach to analyze the observability and controllability of nonlinear dynamic systems by linear methods. The main idea of this approach is as follows: the observability (controllability) of the initial nonlinear system linear part is checked and if it is unobservable (uncontrollable), it is examined whether or not the nonlinear term violates this conclusion.

关键词： Observability controllability control system analysis Nonlinear systems control systems Nonlinear dynamical systems Nonlinear equations robotics and automation Automatic control Nonlinear control systems

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