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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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A Collision Predict Based Local Path Planning of Mobile Robots

A Collision Predict Based Local Path Planning of Mobile Robo...

引用

international asia conference on informatics in control, automation and robotics, CAR

作者： Yang Gao Shu-dong Sun Institution of System Integrated & Engineering Management Northwestern Polytechnical University Xi'an China

Based on the velocity of obstacles and its distribution, the position of the dangerous region (potential collision region) has been predicted. So that the dangerous region would be expanded based on the distribution of its position to ensure the security. By finding the best ldquofree roadrdquo and estimate the ldquodangerrdquo, a data reduction technique is employed to compress all the information needed in path planning. With the help of that the efficiency of the fuzzy logic controller is improved significantly which is also employed to calculate the speed of the robot. Benefit from the fuzzy logic controller and the dangerous region predicted technique, our method is more robust in dynamic environment with uncertainty. And the results of both experiments and simulations have proved that our method get a better effect than the conventional ones.

关键词： Path planning Mobile robots Robot kinematics Uncertainty Fuzzy logic Vehicle dynamics Roads Robot sensing systems Velocity control robotics and automation

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A Distributed Multi-Robot Cooperative Hunting Algorithm Based on Limit-cycle

A Distributed Multi-Robot Cooperative Hunting Algorithm Base...

引用

international asia conference on informatics in control, automation and robotics, CAR

作者： Ming Wu Feifei Huang Long Wang Jiyin Sun Second Artillery Engineering College Xi'an China Intelligent Control Laboratory Center of Systems and Control College of Engineering Peking University Beijing China

This paper proposed a limit-cycle based algorithm for cooperative hunting task using multiple mobile robots. By integrating the model-based system and the behavior-based system, a hybrid distributed control system is established, which emphasizes on the autonomy and intelligence of each robot. On the one hand, the algorithm uses artificial potential field for multi-robot formation. On the other hand, the limit-cycle based algorithm is introduced to enable the robot team to pursue the moving target and ultimately encircle the target in a symmetrical circle formation. In addition, the paper designs a heading direction control law for obstacle avoidance, and solves the problem of robot freezing caused by counteraction between repulsion and attraction. Simulation results show the effectiveness and reliability of the proposed method in cooperative hunting control.

关键词： Limit-cycles Robot kinematics control systems Mobile robots Intelligent robots Distributed control Force control Automatic control Robot control robotics and automation

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Improved PD controller for AUV Bsed on MPSO

Improved PD Controller for AUV Bsed on MPSO

引用

international asia conference on informatics in control, automation and robotics, CAR

作者： Chong Lv Yong-Jie Pang Lei Zhang Harbin Engineering University Harbin Heilongjiang CN

Traditional motion controller for AUV is aiming at single degree of freedom(DOF) to decouple so it ignores the coupling effects of each DOF and it performs bad in some complex navigation states. In order to compensate the coupling effects, a novel PD controller is designed. This controller is constructed on the hydrodynamic model of AUV in six-DOFs and simplified according to the practical needs. It uses one motion control equation to realize the control in four-DOFs. Because the number of the control parameters is so large, it is hard to adjust them manually, so a modified particle swarm optimization(MPSO) algorithm is used to optimize the parameters of control equation to improve efficiency and reduce the bad effect caused by subjective factors. Finally based on the simulation platform of a certain AUV, simulation experiments are conducted for the proposed controller and the results show that the presented controller is feasible in application to AUV.

关键词： PD control Motion control Automatic control control systems Hydrodynamics Equations Robot control robotics and automation Laboratories Particle swarm optimization

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Study of the Optimal Location and Size of Piezoelectric Actuator in Smart Structures

Study of the Optimal Location and Size of Piezoelectric Actu...

引用

international asia conference on informatics in control, automation and robotics, CAR

作者： Jingjun Zhang Weize Yuan Liya Cao Ruizhen Gao Department of Science Research Hebei University of Engineering Handan China College of Civil Engineering Hebei University of Engineering Handan China College of Mechanical and Electrical Engineering Hebei University of Engineering Handan China

Study on the problems of obtaining both the optimal location and size of piezoelectric actuators in the smart structure. In this paper, the model of a piezoelectric smart structure is built by the application of ANSYS software, extracts the required modes according to the method of model reduction based on the truncation criterion of modal cost, then, both the optimal location and the size of piezoelectric actuators can be ascertained by these extracted modes. Finally, the paper takes a piezoelectric smart simply supported beam affixed with sensors and actuators as an example and gives the impulse response curve of the system. The results show the effectiveness of this method.

关键词： Piezoelectric actuators Intelligent structures Intelligent actuators Cost function Intelligent sensors Optimization methods Educational institutions Ceramics Optimal control robotics and automation

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A New Non-Linear Algorithm for 3D Reconstruction from Straight-line Optical Flow

A New Non-Linear Algorithm for 3D Reconstruction from Straig...

引用

international asia conference on informatics in control, automation and robotics, CAR

作者： Zhen Chen Ming Li Shao-feng Jiang Shui-gen Wei Yu Wang Lab of Computer Vision College of Automation Nanchang Hangkong University Nanchang China

This paper presents a new mathematical definition of straight-line optical flow. By using 21 straight-line optical flows in 3 consecutive image frames, a set of equations about 3D motion parameters are established to obtain 12 motion parameters of 3D object and coordinates of the 3D straight line. Usually, it is difficult to find the 21 straight lines on correspondence. In this paper, a minimum of 6 straight-line optical flows in 3 consecutive image frames is required to obtain 12 motion parameters of 3D object and coordinates of the 3D straight line, by solving non-linear equations. With the parameters and coordinates a 3D scene can be reconstructed.

关键词： Nonlinear optics Image motion analysis Image reconstruction Spatiotemporal phenomena robotics and automation Computer vision Nonlinear equations Layout Motion estimation asia

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Collective Management of Medical Information in a Decision Support System

Collective Management of Medical Information in a Decision S...

引用

international asia conference on informatics in control, automation and robotics, CAR

作者： Eunjeong Park Heonshik Shin Hyo Suk Nam School of Computer Science and Engineering Seoul National University Seoul South Korea Department of Neurology and National Core Research Center of Nanomedical Technology Yonsei University College of Medicine Seoul South Korea

Collective management of patient records enhances the ability to identify disease and supporting treatment decisions. We propose a Web-based system for the collective management of medical information for stroke patients. Our system collects data about acute stroke patients, allows physicians to collaborate over the Internet, simplifies physician reporting, improves the management of results from various evaluation steps, and supports treatment decisions. By providing timely guidance on rapid evaluation and treatment of time-dependent diseases such as acute stroke, which need fast and consistent communication between medical service providers, our system can improve patient outcomes.

关键词： Information management Decision support systems Medical diagnostic imaging Biomedical imaging Medical treatment Medical services Diseases robotics and automation Management training Automatic speech recognition

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Image Processing and Modeling for Active Needle Steering in Liver Surgery

Image Processing and Modeling for Active Needle Steering in ...

引用

international asia conference on informatics in control, automation and robotics, CAR

作者： Bing Nan Li Phu Binh Nguyen S.H. Ong Jing Qin Liang Jing Yang C.K. Chui Graduate Programs in Bioengineering National University of Singapore Singapore Electrical and Computer Engineering National University of Singapore Singapore Computer Science and Engineering Chinese University of Hong Kong Hong Kong China Department of Mechanical Engineering National University of Singapore Singapore

Image-guided intervention and needle steering for radiofrequency ablation (RFA) of the liver is reviewed in this paper. In particular, the concept of active needle is proposed for RFA treatment. Methods and techniques of image processing and modeling are presented for a stereo liver model. The liver model and constituent components extracted from computerized tomography (CT) images can be used to plan the navigation paths of the RFA needle. The system also provides an option for active needles, which are more amenable to those refractory cases of RFA treatment.

关键词： Image processing Needles Surgery Liver neoplasms Biomedical imaging Radio frequency Medical treatment robotics and automation Computed tomography Visualization

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A Novel Approach to Swarm Bot Architecture

A Novel Approach to Swarm Bot Architecture

引用

international asia conference on informatics in control, automation and robotics, CAR

作者： Vinay Kumar Pilania Shaunak Mishra Subrat Panda Aurosish Mishra Department of Mining Engineering Indian Institute of Technology Kharagpur India Department of Electronics and Electrical Communication Engineering Indian Institute of Technology Kharagpur India Department of Computer Science and Engineering Indian Institute of Technology Kharagpur India

Emergent behavior in social insects has inspired a new class of robots called swarm robots. However, computational and economic constraints regarding inter-robot communication still persist. This paper introduces a low cost architecture facilitating co-operative searching and transport through a master-slave swarm robot concept. Especially, we focus on the directional movement of the slave robots depending on the position of the master robot without using a camera. Experimental results show that the architecture is an economic solution for macro level inter-robot communication involving positional data on an even terrain.

关键词： Robots Master-slave Gears robotics and automation Multirobot systems Wheels DC motors Insects Protocols Servomotors

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A control-oriented Macroscopic Traffic Flow Model for Urban Diverse Intersections

A Control-oriented Macroscopic Traffic Flow Model for Urban ...

引用

international asia conference on informatics in control, automation and robotics, CAR

作者： Kaige Wen Shiru Qu Yumei Zhang College of Automation Northwestern Polytechnical University Xi'an Shaanxi China

Traffic flow on roads is a non-linear, stochastic phenomenon, with complex interactions between vehicles. This paper discussed the dynamic nature of urban intersections, and presents a novel traffic flow evolution model at a time scale and of a level of detail suitable for on-line estimation, simulation and control. The intersection is considered as interconnected components of urban road network. The macroscopic model proposed here extends the platoon-dispersion model by redefining inflow and outflow vectors, and by also specifying the control vector. Two variables were added to the model, i.e. the turning proportion and the lane assignment scheme. The turning proportion is an obvious variant, and yet the lane assignment is time-varying in some especial condition. Simple stochastic matrix equations described the macroscopic traffic behavior of each movement. This will allow the simulation of quite large road networks by composing many intersection models. The model is validated over real traffic data with abrupt changes in the demand of flow.

关键词： Traffic control Communication system traffic control Leg robotics and automation Roads Turning Automatic control Robot control Stochastic processes Equations

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Research on Speed Robustness for Airborne Hydraulic Pump in the Circular Stress Accelerated Life Test

Research on Speed Robustness for Airborne Hydraulic Pump in ...

引用

international asia conference on informatics in control, automation and robotics, CAR

作者： Yong Sang Zhanlin Wang Key Laboratory of Precision and Non-traditional Machining Technology of Ministry of Education Dalian University of Technology Dalian China

According to the theory of the accelerated life test, a new accelerated life testing stand for airborne hydraulic pump has been developed recently. During the testing under the circular stress, speed character of the airborne hydraulic pump accompanied with vibration and noise of the gear box has become worse because gear backlash that often leads to collision in gear transmission is always existed in the gear meshing. Dynamic behavior of gear transmission collision has been analyzed after the theory of the circular stress has been introduced. In order to reduce the impact on the speed the airborne hydraulic pump, a single neuron self-adaptive PID controller and a load torque observer have been projected. The research results show that this method is indeed improving speed robustness for airborne hydraulic pump.

关键词： Robustness Stress Life estimation Life testing Gears DC motors Automatic control robotics and automation Pumps Automatic testing

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