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Integrated system of assisted mechatronic design for oriented computer to automatic optimising of structure of service robots (SIDEMAR)

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8th international conference on Climbing and Walking Robots (CLAWAR 2005)

作者： Castejon, C. Gimenez, A. Jardon, A. Rubio, H. Garcia-Prada, J. C. Balaguer, C. Univ Carlos III Madrid Dept Mech Madrid Spain Univ Carlos III Madrid Robot Lab Madrid Spain

ISBN: (纸本)3540264132

Service robotics is one of the main priority areas of research in the robotics and automation field. The application of these robots for service tasks (personal assistance, education, social tasks, etc.) has a lot of influence in their design [1], [2]. Several parameters will be crucial like the weight, the kinematics configuration, the layout of masses, etc. These service robots have innovative designs and structures that allow them to move in non structured environments, walking, climbing, etc. One of the main tasks of these robots is to interact and operate with humans. For this reason, their design and development methodology must be different to traditional robots. In this paper we present a new methodology to help the optimization of the process design. This design will allow selecting properly the optimal actuators, materials and the degrees of freedom. This methodology is being developed in a national project between two different areas of this university.

关键词： simulation and design of CLAWAR design modularity and system service robotics

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A new haptic device for applications in virtual reality and humanoid robotics

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INTEGRATED COMPUTER-AIDED ENGINEERING 2006年第3期13卷 249-262页

作者： Folgheraiter, Michele Gini, Giuseppina Vercesi, Dario L. Politecn Milan Dept Elect & Informat I-20133 Milan Italy

This paper presents an innovative haptic interface that allows to simulate a generic touch sensation thanks to the integration of an electro-cutaneous device and a force-feedback system. After investigating different levels of interaction with the human perceiving system, with the main goal to implement a virtual reality device with high sense rendering capabilities, we developed a special glove. It is controlled with a TENS (Transcutaneous Electric Nerve Stimulation) board that enables electro-cutaneous stimulation on the user fingertip, and a force-feedback system that restricts the user finger movements. To integrate the visual with the touch sensation, we created a 3D virtual model of the environment which is synchronized with the user movements. The user wears the glove and explores the virtual object via a sequence of interactions with it. We conducted different kinds of experiments to find the best pattern of cutaneous stimulations. Then we introduced the visual and force-feedback modalities and evaluated the psychophysical effects of the combination of touch, force and visual feedbacks. We also found that it is possible to generate two kinds of haptic sensations, the beat and the vibration, with appropriate settings of signal amplitude, duty cycle and frequencies.

关键词： virtual reality electro-tactile stimulation haptic devices haptic display

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Feasibility analysis of human motion identification using motion capture

Feasibility analysis of human motion identification using mo...

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25th IASTED international conference on Modelling, Identification, and control, MIC 2006

作者： Jablonski, Bartosz Klempous, Ryszard Majchrzak, Damian Wroclaw University of Technology Institute of Informatics Automation and Robotics Janiszewskiego Str. 11/17 50-370 Wroclaw Poland Wroclaw University of Technology Student Scientific Society TRAF at I-6

ISBN: (纸本)0889865515

The paper describes possibilities of application of amplitude spectrum analysis and the Dynamic Time Warping (DTW) method in identification of a person via analysis of leg rotation signals. Human motion is a complex process and its various characteristics may be used in biometric analysis. Several papers demonstrate that information carried by motion of legs and hips may serve as valuable basis for identifying unique motion patterns of a given person. Using this information allows discovery and identification of captured human motion. Developing methods of such analysis will enable in the future efficient identification of persons from a distance. The paper presents possibilities created by applying various methods of motion analysis and suggests directions of advancing biometric identification.

关键词： Motion analysis

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2006 IEEE-TTTC international conference on automation, Quality and Testing, robotics

2006 IEEE-TTTC International Conference on Automation, Quali...

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

The following topics are dealt with: automation; quality and testing; robotics; advanced control, modeling and simulation; environmental measurement; environmental quality; CIM; image and signal processing; industrial...

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Algorithm for Fuzzy Relation Identification

Algorithm for Fuzzy Relation Identification

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

作者： A. Bara Faculty of Electrical Engineering and Informatics Department of Control Systems and Applied Informatics University of Oradea Romania

Fuzzy model identification of a system can be performed either by subjective or objective methods. Subjective methods assume the describing of system operation in statements of type If...Then... and their summarization in a fuzzy relation. The objective methods are performed in an experimental approach. The second class is a common one and assumes fuzzy model identification without an expert. This presumes an estimation algorithm for the fuzzy relation of a system based on an input-output data set. The paper presents an approach for identification of fuzzy relation based on square prediction error minimization and the results achieved through simulation on the Box-Jenkins data set

关键词： Fuzzy sets Fuzzy systems Equations informatics Mathematical model Fuzzy control control systems Predictive models Humans Shape

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Active stereo vision-based mobile robot navigation for person tracking

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INTEGRATED COMPUTER-AIDED ENGINEERING 2006年第3期13卷 203-222页

作者： Enescu, V. De Cubber, G. Cauwerts, K. Sahli, H. Demeester, E. Vanhooydonck, D. Nuttin, M. Vrije Univ Brussels Dept Elect & Informat ETRO Brussels Belgium Katholieke Univ Leuven Dept Mech Engn PMA B-3000 Louvain Belgium

In this paper, we propose a mobile robot architecture for person tracking, consisting of an active stereo vision module (ASVM) and a navigation module (NM). The first uses a stereo head equipped with a pan-tilt mechanism to track a moving target (selected by an operator) and keep it centered in the visual field. Its output, i.e. the 3D position of the person, is fed to the NM, which drives the robot towards the target while avoiding obstacles. For this, a hybrid navigation algorithm is adopted with a reactive part that efficiently reacts to the most recent sensor data, and a deliberative part that generates a globally optimal path to a target destination, such as the person's location. As a peculiarity of the system, there is no feedback from the NM or the robot motion controller (RMC) to the ASVM. While this imparts flexibility in combining the ASVM with a wide range of robot platforms, it puts considerable strain on the ASVM. Indeed, besides the changes in the target dynamics, it has to cope with the robot motion during obstacle avoidance. These disturbances are accommodated via a suitable stochastic dynamic model for the stereo head-target system. Robust tracking is achieved by combining a color-based particle filter with a method to update the color model of the target under changing illumination conditions. The main contributions of this paper lie in (1) devising a robust color-based 3D target tracking method, (2) proposing a hybrid deliberative/reactive navigation scheme, and (3) integrating them on a wheelchair platform for the final goal of person following. Experimental results are presented for ASVM separately and in combination with a wheelchair platform-based implementation of the NM.

关键词： MOBILE robots AUTOMATIC tracking ROBOTS robotics MOTION control devices

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A matrix-based framework for combined supervisory and operational control of an industrial warehouse

A matrix-based framework for combined supervisory and operat...

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IEEE international conference on Industrial informatics (INDIN)

作者： Vincenzo Giordano Zhang Jing Bing David Naso Frank Lewis Alessandra Carbotti Ng Tsong Jye Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Manufacturing Execution and Control Group Singapore Institute of Manufacturing Technology Singapore Dipartimento di Elettrotecnica ed Elettronica Bari Italy

This paper considers a combined supervisory and operational control system for an automated storage and retrieval system. The entire control system is developed and implemented using a matrix-based formalism. In particular, the control system is defined using a set of matrix equations, each addressing a specific control function (e.g., inhibit actions that violate plant innate constraints, address deadlock avoidance, and perform efficient material dispatching). The global system is then obtained by integrating the various equations in a single control module. Simulations of an industrial warehouse show the effectiveness of the proposed design approach.

关键词： Industrial control Automatic control control systems Manufacturing automation robotics and automation Pulp manufacturing System recovery Buffer storage Storage automation Dispatching

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Effect of CG Eye Movement on Social Attitude

Effect of CG Eye Movement on Social Attitude

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

作者： Yugo Takeuchi Koh Fukuda Graduate School of Science and Technology Shizuoka University Hamamatsu Shizuoka Japan Graduate School of Informatics Shizuoka University Hamamatsu Shizuoka Japan

This study aims to establish an accessible interaction model that resembles barrier-free human communication, which is examined through the eye movement. It utilizes human communication as a social function in human-agent interaction. This has two advantages: (1) decreasing user's cognitive load to communicate with other people, (2) avoiding special training to access directly to computers. This psychological experiment examined the effect of CG eye movement of human-like agent on human social impression. In addition, this experiment presented a CG character to subjects. As a result, subjects were able to respond naturally to the eye movement aided by the CG humanlike agent

关键词： Character generation Humans Eyes Psychology informatics Cultural differences Global communication Mouth Artificial intelligence Humanoid robots

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Invariance Properties in the Dynamics of Positive Linear Systems

Invariance Properties in the Dynamics of Positive Linear Sys...

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

作者： Octavian Pastravanu Mihaela-hanako Matcovschi Department of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

The paper explores the dynamics of asymptotically stable positive linear systems, with arbitrary initial conditions and constant input signals. We study both discrete- and continuous-time cases. We prove the existence of time-dependent invariant sets, defined in terms of Holder p-norms, with 1 les p les infin. Our results allow refining the qualitative analysis of positive linear systems. The investigated invariance properties are not generally valid for asymptotically stable linear systems, in the absence of the positivity condition

关键词： Linear systems Vectors Linear matrix inequalities Asymptotic stability informatics Sufficient conditions Eigenvalues and eigenfunctions

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White : controlling The Internet Congestion With Integral controller

White : Controlling The Internet Congestion With Integral Co...

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

作者： Pranoto Hidaya Rusmin Carmadi Machbub Agung Harsoyo Institut Teknologi Bandung School of Electrical Engineering and Informatics Bandung Indonesia

Congestion occurs when resource demands exceeds the capacity. At this moment, congestion are solved by the involvement of two controlling mechanism, they are flow control in the TCP source and active queue management (AQM) in the link. AQM will provide feedback to the source a kind of indication for the occurrence of the congestion in the link, whereas the source will adapt the sending rate appropriate with the feedback. The indication of the feedback congestion is influenced by the number of the sources, time delay, and its sending rate. Consequently, adaptation of the sending rate based on the feedback indirectly observes behavior of other sources. This control system structure is much known with distributed control system, because the control mechanism is distributed in each source. On this structure, the source mechanism is more important than the link. This paper will explain a new algorithm, which focus more on the link as an allocation capacity controller. Then the source will adapt the sending rate based on set point the link provides

关键词： Internet Feedback control systems informatics Distributed control Communication system control Protection Delay effects Equations Unicast

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