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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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Real-Time Traffic control for Sustainable Urban Living

Real-Time Traffic Control for Sustainable Urban Living

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17th international IEEE conference on Intelligent Transportation Systems & The asia-Pacific Council on Systems Engineering conference 2014

作者： Xiao-Feng Xie Stephen F.Smith Ting-Wei Chen Gregory J.Barlow the Robotics Institute Carnegie Mellon UniversityPittsburghPennsylvania 15213 College of Information Liaoning University

Traffic congestion significantly degrades the quality of life in urban *** results in lost time,wasted fuel resources and reduced air quality for urban *** work in real-time,schedule-driven control of traffic signal networks has introduced new possibilities for reducing congestion in urban *** so far,this work has focused mainly on achieving more efficient vehicle flows and on reducing emissions,and the broader mobility of other modes of traffic that are central to sustainable urban living- especially pedestrians- has not been emphasized in an integrated *** this paper,we extend this decentralized,schedule-driven approach to traffic network control in the direction of this broader mobility *** focus specifically on accommodating pedestrians and optimizing the delay tradeoffs between vehicles and *** basic extensions are introduced and evaluated on a real-world road *** results are first presented which analyze the ability of the extended approach to achieve good delay tradeoffs under different pedestrian traffic *** are then performed in the field at selected intersections of the target road network,to demonstrate the effectiveness of the approach in operation.

关键词： Real-Time Traffic control for Sustainable Urban Living

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Low-Speed Cooperative Car-Following Fuzzy controller for Cybernetic Transport Systems

Low-Speed Cooperative Car-Following Fuzzy Controller for Cyb...

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17th international IEEE conference on Intelligent Transportation Systems & The asia-Pacific Council on Systems Engineering conference 2014

作者： Vicente Milanés Mohamed Marouf Joshué Pérez David González Fawzi Nashashibi Robotics and Intelligent Transportation Systems (RITS) Team Inria Paris-RocquencourtDomaine de Voluceau

This paper describes the development of a Cooperative Adaptive Cruise control(CACC)for the future urban transportation system at *** control algorithm was evaluated using two Cybecars as prototype vehicles.A longitudinal response model for the vehicles was developed to design the CACC *** control algorithm was implemented on a fuzzy logic-based controller that has been tuned to minimize a cost function in order to get a trade-off between a proper car-following gap error and the smoothness of the control *** controller was firstly tested in simulation using the developed ***,the CACC was implemented in two Cybecars to validate the controller performance in real scenarios.

关键词： ACC Low-Speed Cooperative Car-Following Fuzzy controller for Cybernetic Transport Systems Fuzzy

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Prototyping the Flexible Solenoid-Coil Artificial Muscle, for Exoskeletal Robots

Prototyping the Flexible Solenoid-Coil Artificial Muscle, fo...

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international conference on control, automation and Systems

作者： Asuka Takai Nouf Alanizi Kazuo Kiguchi Thrishantha Nanayakkara Mechanical Engineering Graduate School of Engineering Osaka Prefecture University Osaka 599-8531 Japan School of Natural and Mathematical Science King's College London London WC2R 2LS UK Department of Mechanical Engineering Faculty of Engineering Kyushu University Fukuoka 812-8581 Japan Center for Robotics Research Department of Informatics King's College London London WC2R 2LS UK

ISBN: (纸本)9781479905492

Design approaches to exoskeletal robots traditionally aimed to achieve mechanical forces many times larger than the level achievable by the corresponding natural musculoskeletal system. This has often obstructed the user's muscles during physical rehabilitation. Moreover, mechanisms designed for excessive force generation are heavy and rigid structures with little compliance and thus are not suitable for many mobile applications. Here, we present a novel biomimetic flexible solenoid-coil artificial muscle (FSAM) fibre with inherent mechanical compliance, a high pulling stroke, and structural flexibility that suit a lightweight wearable exoskeletal robot for rehabilitation use. FSAM consists of a chain of specially designed bobbins of solenoid coils that can slide against each other. The chain allows FSAM to form an arch shape when the coils are energized;this is reminiscent of a natural muscle that bends a joint by a combined contraction of the muscle length and bending in an arch shape. This strategy of bending a joint not only reduces the need for linear contraction but also allows the exoskeletal to be compliant with the contraction morphology of natural muscle.

关键词： Flexible Linear Actuator Lightweight Artificial Muscle Solenoid-coil Exoskeletal Robots Rehabilitation

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Improvement against Noises in Self-Organizing Logic Circuit

Improvement against Noises in Self-Organizing Logic Circuit

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international conference on Information and automation (ICIA)

作者： Chyon Hae Kim Jyun-ichi Idesawa Shigeki Sugano Tetsuya Ogata Department of Mechanical Engineering Waseda University Shinjuku-ku Tokyo Japan Graduate School of Informatics Kyoto University Sakyo-ku Kyoto Japan

We proposed and evaluated a network learning method called self-organizing network elements (SONE). Autonomous exploration of effective output, the use of simple external parameters, and low calculation costs were functions achieved for a robot system with this method. However, there is the need to improve performance against noises for learning more complicated tasks. Therefore, we propose a technique to adjust thresholds in a self-organizing logic circuit based on SONE. In our experiments, performing 3-bit operation tasks, controlling a Khepera robot, and generating new elements was appropriately controlled with this technique. Also, network performance against noises was improved as a result of using the proposed method

关键词： Circuit noise Logic circuits Learning systems Robot control Neural networks Costs Resonance light scattering Self-organizing networks Orbital robotics State-space methods

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Integrating Augmented Reality within Digital Twins for Smart Robotic Manufacturing Systems

Integrating Augmented Reality within Digital Twins for Smart...

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international conference on Emerging Technologies and Factory automation (ETFA)

作者： Toméš Jochman Václav Voltr Václav Kubáček Ondřej Švec Pavel Burget Václav Hlaváč Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Prague Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague Czech Republic

ISBN: (数字)9798350361230

ISBN: (纸本)9798350361247

This paper explores the integration of augmented reality into robotic manufacturing systems, emphasizing the enhancement of connectivity, real-time data processing, and interactive visual interfaces. Utilizing Hololens 2 headsets equipped with OPC UA clients, the system establishes a direct interface between operators and the digital and physical components of the manufacturing environment. The architecture employs augmented reality to facilitate sophisticated operational control and visualization, ranging from robotic additive manufacturing to complex tasks like robotic sanding and screwing with integrated camera systems. This integration showcases significant advancements in manufacturing processes, allowing operators to engage interactively with the systems, optimize workflows, and improve overall precision and efficiency in a smart factory setting.

关键词： Visualization Manufacturing processes Robot vision systems Cameras Real-time systems User experience Manufacturing Workstations Robots Augmented reality

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Using Deep Reinforcement Learning to Solve a Navigation Problem for a Swarm robotics System

Using Deep Reinforcement Learning to Solve a Navigation Prob...

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international Carpathian control conference (ICCC)

作者： Alaa Iskandar Hussam M. Rostum Béla Kovács Faculty of Mechanical Engineering and Informatics University of Miskolc Miskolc Hungary Institute of Automation and Info-Communication University of Miskolc Miskolc Hungary

Five mobile robots in a swarm are trained in this paper using the deep reinforcement learning method to solve a navigation problem with two targets without prior knowledge of the environment. The Proximal Policy Optimization method trains E-puck mobile robots to avoid obstacles while completing tasks in the shortest distance for each robot. A Webots simulator is used to model the environment in three-dimension space. The suggested algorithm works with continuous states derived from eight infrared sensors and continuous action spaces that reflect the velocities of two motors for each robot in the swarm. Then the robot's behavior will be examined in light of two categories of rewards: Spares and Shaping rewards. If the environment's complexity is not decreased, proximal policy optimization with spare rewards will not be able to train every robot in the system how to accomplish its goal. Compared to the spare rewards technique, shaping rewards aid the robot in gaining experience from prior knowledge during the training process. This speeds up learning and aids navigation in more complex environments.

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Reinforcement learning of sensor-based reaching strategies for a two-link manipulator

Reinforcement learning of sensor-based reaching strategies f...

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Proceedings of IEEE/RSJ international conference on Intelligent Robots and Systems. IROS '96

作者： P. Martin J. del R. Millan Department of Computer Science University of Jaume-I Spain Institute for Systems Informatics and SafetyJoint Research Centre European Commission Varese Italy

This paper presents a neural controller that learns goal-oriented obstacle-avoiding reaction strategies for a multilink robot arm. It acquires these strategies through reinforcement learning from local sensory data. The robot arm has rings of range sensors placed along its links. The neural controller achieves a good performance quite rapidly and shows good generalization abilities in the face of new environments. Suitable input and output codification schemes help greatly to attain these aims. The input codification exploits the inherent symmetry of the robot kinematics and the action given by the controller is interpreted with regard to the shortest path vector (SPV) to the closest goal in the configuration space. In order to avoid the SPV computation for multilink manipulators, we put forward the use of a module for differential inverse kinematics based on the inversion of a neural network that has been previously trained to approximate the manipulator forward kinematics. The use of this module does not only get round the SPV calculation, but also speeds up the learning process.

关键词： Learning Robot sensing systems Manipulators Orbital robotics robotics and automation control systems Artificial neural networks Computer science Robot kinematics Computer networks

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Improving viewpoint invariance of image feature extraction methods using intensity and range images

Improving viewpoint invariance of image feature extraction m...

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international Carpathian control conference (ICCC)

作者： V. Kovács G. Tevesz Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

The most common image feature extraction algorithms such as SIFT (Scale Invariant Feature Transform) and SURF (Speeded Up Robust Feature) have been proven to be invariant to changes in rotation, scale and with restrictions to illumination and viewpoint changes. These algorithms generate descriptor vectors around keypoints in 2D images. Close descriptors suggest similar image patch. In case of mobile robotics applications it is important to achieve good viewpoint invariance and stability to detect landmarks and objects with high reliability. Improving viewpoint invariance for image feature detection increases the efficiency of SLAM algorithms. In this paper we present and evaluate a method to use additional data provided by range image sensors to supplement traditional feature extraction algorithms to improve viewpoint invariance. We present the method and results of computer simulation and also real world examples comparing the SURF (OpenSURF) with and without the improvement. An active structured light based range and intensity image sensor was used to acquire real world test images.

关键词： Feature extraction Vectors Detectors Image color analysis Algorithm design and analysis Image resolution Transforms

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Associating and reshaping of whole body motions for object manipulation

Associating and reshaping of whole body motions for object m...

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2009 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： Hirotoshi Kunori Dongheui Lee Yoshihiko Nakamura Department of Mechano-Informatics University of Tokyo Bunkyo Tokyo Japan

Since humanoid robots have similar body structures to humans, a humanoid robot is expected to perform various dynamic tasks including object manipulation. This research focuses on issues related to learning and performing object manipulation. Basic motion primitives for tasks are learned from observation of human's behaviors. An object manipulation task is divided into two types of motion primitives, which are represented as hidden Markov models (HMMs): one for a body motion primitive and the other for the relation between the object and body parts, which manipulate the object. When performing a task, a natural whole body motion is associated from an object motion by using learned motion primitives. Furthermore, the associated body motion is reshaped in both spatial and temporal space, in a more precise way. The reshaping in spatial space is realized in two stages by a feedback control policy learned with reinforcement learning and by constrained inverse kinematics. Key features like end-effectors for manipulation and timing for a task are extracted and used for the feedback control policy learning. The reshaping in temporal space is realized by comparing a predicted and observed object motion speed.

关键词： Humans Robot kinematics Humanoid robots robotics and automation Service robots Intelligent robots Neuroscience Biological system modeling Hidden Markov models Feedback control

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Adaptive control for Triadic Human-Robot-FES Collaboration in Gait Rehabilitation: A Pilot Study

Adaptive Control for Triadic Human-Robot-FES Collaboration i...

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IEEE international conference on robotics and automation (ICRA)

作者： Andreas Christou Antonio J. Del-Ama Juan C. Moreno Sethu Vijayakumar School of Informatics University of Edinburgh UK Electronic Technology Department Rey Juan Carlos University Spain Department of Translational Neuroscience Cajal Institute Spain Alan Turing Institute UK

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

The hybridisation of robot-assisted gait training and functional electrical stimulation (FES) can provide numerous physiological benefits to neurological patients. However, the design of an effective hybrid controller poses significant challenges. In this over-actuated system, it is extremely difficult to find the right balance between robotic assistance and FES that will provide personalised assistance, prevent muscle fatigue and encourage the patient’s active participation in order to accelerate recovery. In this paper, we present an adaptive hybrid robot-FES controller to do this and enable the triadic collaboration between the patient, the robot and FES. A patient-driven controller is designed where the voluntary movement of the patient is prioritised and assistance is provided using FES and the robot in a hierarchical order depending on the patient’s performance and their muscles’ fitness. The performance of this hybrid adaptive controller is tested in simulation and on one healthy subject. Our results indicate an increase in tracking performance with lower overall assistance, and less muscle fatigue when the hybrid adaptive controller is used, compared to its non adaptive equivalent. This suggests that our hybrid adaptive controller may be able to adapt to the behaviour of the user to provide assistance as needed and prevent the early termination of physical therapy due to muscle fatigue.

关键词： Training Tracking Collaboration Muscles Fatigue Iron Physiology

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