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

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Learning to dribble on a real robot by success and failure

Learning to dribble on a real robot by success and failure

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IEEE international conference on robotics and automation (ICRA)

作者： Martin Riedmiller Roland Hafner Sascha Lange Martin Lauer Department of Mathematics and Informatics Institute of Computer Science and Institute of Cognitive Science University of Osnabrück

Learning directly on real world systems such as autonomous robots is a challenging task, especially if the training signal is given only in terms of success or failure (reinforcement learning). However, if successful, the controller has the advantage of being tailored exactly to the system it eventually has to control. Here we describe, how a neural network based RL controller learns the challenging task of ball dribbling directly on our middle-size robot. The learned behaviour was actively used throughout the RoboCup world championship tournament 2007 in Atlanta, where we won the first place. This constitutes another important step within our Brainstormers project. The goal of this project is to develop an intelligent control architecture for a soccer playing robot, that is able to learn more and more complex behaviours from scratch.

关键词： control systems robotics and automation Cognitive robotics Learning Biological neural networks Intelligent robots System testing USA Councils Mathematics informatics

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Power control schemes in Wireless Sensor Networks for homecare e-Health Applications 08

Power control schemes in Wireless Sensor Networks for homeca...

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1st international conference on Pervasive Technologies Related to Assistive Environments, PETRA 2008

作者： Pantazis, Nikolaos A. Vergados, Dimitrios D. Miridakis, Nikolaos I. Vergados, Dimitrios J. Department of Information and Communication Systems Engineering University of the Aegean Karlovassi Samos GR-832 00 Greece Department of Informatics University of Piraeus 80 Karaoli and Dimitriou St. GR-185 34 Piraeus Greece School of Electrical and Computer Engineering National Technical University of Athens Iroon Polytexneiou 7 Zografou Athens GR-157 73 Greece Department of Electronics Technological Educational Institution of Athens 21 Ag. Spyridonos St. Aigaleo GR-122 10 Greece

ISBN: (纸本)9781605580678

Power control is an important research topic for ad-hoc Wireless Sensor Networks (WSNs). In today's sophisticated and competitive wireless environment, the control of the energy consumption in a WSN for homecare e-health makes it possible to guarantee basic levels of system performance, such as connectivity, throughput, delay, QoS and survivability in the presence of both mobility-immobility and a large number of sensor nodes. Recent advances in sensor fabrication technology, low-power digital and analogue electronics, and low-power wireless communication systems have made it possible to develop low-cost, robust and survivable WSNs to support activities such as assisted living and ambient intelligence (Aml). A large variety of approaches for intelligent energy-efficient schemes have been simulated over different performance metrics. In this paper, various decision support schemes are proposed evaluating the selection of different network infrastructures in terms of routing optimization and signal strength selection. Copyright 2008 ACM.

关键词： Power control

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Language teaching in a mixed reality games environment 08

Language teaching in a mixed reality games environment

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1st international conference on Pervasive Technologies Related to Assistive Environments, PETRA 2008

作者： Powers, David M. W. Leibbrandt, Richard Pfitzner, Darius Luerssen, Martin Lewis, Trent Abrahamyan, Arman Stevens, Kate AILab. Department of Informatics and Engineering Flinders University Adelaide SA Australia HeadLab. Department of Informatics and Engineering Flinders University Adelaide SA Australia MARCS Auditory Laboratories University of Western Sydney NSW Australia

ISBN: (纸本)9781605580678

How do you develop a game that is provably educational, that is engaging from pre-school to adult, and that independently targets different language ability and world experience/maturity? Our purpose is to teach students of German or English as a Second Language in the same way that a baby learns a First Language. Children acquire language automatically without overt teaching, without conjugating verbs, looking up dictionaries or taking complex classes in syntax and morphology. They acquire through being immersed in an environment in which they have to learn to communicate in the language in order to achieve a variety of social and personal goals. In this project we provide a mixed environment with real toys for the learner to play with, and a simulated environment and a simulated teacher/caregiver to interact with. Whilst young children may be happy building towers and bridges out of wooden blocks, older children and adults cannot be expected to find motivating goals from the same tasks as a baby tackles as s/he simultaneously learns about the world and his/her language, culture and society. This paper explores the methodology we are developing to independently control for degree of language knowledge and degree of world experience. Copyright 2008 ACM.

关键词： Serious games

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automation and robotization of production processes in shipbuilding

Automation and robotization of production processes in shipb...

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international conference on control, automation and Systems ( ICCAS)

作者： Jae-Hoon Kim Samsung Heavy Industries

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Development of a low-cost flexible modular robot GZ-I

Development of a low-cost flexible modular robot GZ-I

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

作者： Zhang, Houxiang Gonzalez-Gomez, Juan Xie, Zhizhu Cheng, Sheng Zhang, Jianwei TAMS Department of Informatics University of Hamburg Hamburg Germany School of Engineering Universidad Autonoma de Madrid Madrid Spain Shenzhen Institute of Advanced Technology Shenzhen Guangdong China

ISBN: (纸本)9781424424955

This paper presents a low-cost modular robot called GZ-I which is an improved version of the Y1 modular robot. After a related survey on the previous work, all aspects of the new modular robot are introduced systematically. GZ-I features an easy-to-build mechanical structure, four connecting faces, an onboard easy-to-use electric controller, and a friendly programming environment. Each module owns one rotational degree of freedom. After connecting in different modes, active joints actuated by RC servos endow the connecting modules with the ability of changing shapes in two dimensions. Then two kinds of modular robots, a snake-like robot and a three-legged robot, are built as examples to confirm the feasibility of our design principle and the robot's capabilities. In the end a conclusion and an outlook on future work are given. © 2008 IEEE.

关键词： controllers

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Irreducibility and reduction of nonlinear control systems: Unification and extension via pseudo-linear algebra

Irreducibility and reduction of nonlinear control systems: U...

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

作者： U. Kotta P. Kotta M. Halas Institute of Cybernetics at TUT Tallinn Estonia Institute of Control and Industrial Informatics Fac. of Electrical Engineering and IT Slovak University of Technology Bratislava Slovakia

The paper applies the pseudo-linear algebra to unify the study of irreducibility and reduction for continuous-and discrete-time nonlinear control systems. The necessary and sufficient condition for irreducibility of nonlinear input-output equation is presented in terms of the common left factor of two polynomials describing the behaviour of the system. Besides unification, the tools of pseudo-linear algebra allow to extend the results for systems defined by difference, q-shift and q-difference operators.

关键词： Nonlinear control systems Algebra Polynomials control systems Nonlinear equations Automatic control robotics and automation Robot control Service robots Robot vision systems

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

作者： Deacha Puangdownreong Supaporn Suwannarongsri Department of Electrical Engineering Faculty of Engineering South East asia University Bangkok Thailand Department of Industrial Engineering Faculty of Engineering South East asia University Bangkok Thailand

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 benchmark-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： Particle swarm optimization control systems Optimization methods Electrical equipment industry Industrial control Artificial intelligence Pi control Automatic control robotics and automation asia

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Modern approaches in power system control

Modern approaches in power system control

引用

IEEE international conference on automation, Quality and Testing, robotics, AQTR

作者： S. St. Iliescu Ioana Fagarasan Automatic Control and Industrial Informatics Department Automatic Control and Computers Faculty University Politehnica of Bucharest Romania

The structure and coordination of the electrical power system (EPS) are presented in this paper with respect to three concepts: system theory, systems analysis and multi-agent techniques. The above mentioned concepts are discussed approaching the EPS behaviour and functioning based on actual problems regarding the globalisation of the energy production and transportation, integration of different renewable sources of energy with the conventional power systems and the safety aspects of connecting the distributed generation to the interconnected large system.

关键词： control systems Power systems Process control Power generation Artificial intelligence Medical services Multiagent systems

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Parity equations for fault detection and isolation

Parity equations for fault detection and isolation

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IEEE international conference on automation, Quality and Testing, robotics, AQTR

作者： I. Fagarasan S.St. Iliescu Automatic Control and Industrial Informatics Department Automatic Control and Computers Faculty University Politehnica of Bucharest Romania

Sensors, actuators or physical components in engineering systems are often subjected to un-permitted or unexpected deviations from usual operating conditions. With a relatively small computing effort and with good results to unmeasured disturbances, the parity equations build for a specific process are proven to be very useful to provide fault detection residuals in order to identify the fault.

关键词： Mathematical model Equations Fault detection Sensors Generators Additives Temperature sensors

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Non-commutative determinants in nonlinear control theory: Preliminary ideas

Non-commutative determinants in nonlinear control theory: Pr...

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

作者： U. Kotta A. Leibak M. Halas Institute of Cybernetics at TUT Tallinn Estonia Institute of Control and Industrial Informatics Fac. of Electrical Engineering and IT Slovak University of Technology Bratislava Slovakia

The paper suggests how to compute the order of the minimal realization of the discrete-time nonlinear control system, described by the set of input-output difference equations, or alternatively, by the two polynomial matrices with the entries in the non-commutative skew polynomial ring. For that purpose the Ore determinant is specified further by including certain additional restrictions and proved that under these additional restrictions the degree of the dieudonne determinant is equal to the degree of the Ore determinant. Finally, the system order is shown to be equal to the degree of the determinant of one polynomial matrix. Only the special case of two output systems is considered in this paper.

关键词： control theory Polynomials control systems Nonlinear control systems Transfer functions Automatic control robotics and automation Difference equations Robot control Service robots

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