The proceedings contain 57 papers. The topics discussed include: dealing with uncertainty in the hybrid world;distributed technology for global dominance;behavioral development for humanoid robot - towards life-long h...
ISBN:
(纸本)9789898111302
The proceedings contain 57 papers. The topics discussed include: dealing with uncertainty in the hybrid world;distributed technology for global dominance;behavioral development for humanoid robot - towards life-long human-robot;swarm intelligence and swarm robotics - the swarm-bot experiment;synchronization of arm and hand assistive robotics devices to impart activities of daily living tasks;loss minimization of induction generators with adaptive fuzzy controller;OBDD compression of numerical controllers;energy model based control for forming processes;LHTNDT: learn HTN method preconditions using decision tree;merging of advices from multiple advisory systems - with evaluation on rolling mill data;self-organization of gait pattern transition - an efficient approach to implementing animal gaits and gait transitions;and data mining and knowledge discovery for monitoring and intelligent control of a wastewater treatment plant.
The proceedings contain 57 papers. The topics discussed include: dealing with uncertainty in the hybrid world;distributed technology for global dominance;behavioral development for humanoid robot - towards life-long h...
ISBN:
(纸本)9789898111302
The proceedings contain 57 papers. The topics discussed include: dealing with uncertainty in the hybrid world;distributed technology for global dominance;behavioral development for humanoid robot - towards life-long human-robot;swarm intelligence and swarm robotics - the swarm-bot experiment;synchronization of arm and hand assistive robotics devices to impart activities of daily living tasks;loss minimization of induction generators with adaptive fuzzy controller;OBDD compression of numerical controllers;energy model based control for forming processes;LHTNDT: learn HTN method preconditions using decision tree;merging of advices from multiple advisory systems - with evaluation on rolling mill data;self-organization of gait pattern transition - an efficient approach to implementing animal gaits and gait transitions;and data mining and knowledge discovery for monitoring and intelligent control of a wastewater treatment plant.
In this paper a new and efficient algorithm to solve a closed-form direct kinematics solution of the general 6-6 planar Stewart platform is presented. The main idea is to compute the reduced Groebner basis under degre...
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ISBN:
(纸本)9781424447947
In this paper a new and efficient algorithm to solve a closed-form direct kinematics solution of the general 6-6 planar Stewart platform is presented. The main idea is to compute the reduced Groebner basis under degree lexicographic ordering for the closed-form equations by using computer algebra firstly. Secondly, select 10 Groebner bases from the obtained 41 ones and construct a 10times10 Sylvester's matrix, which is relatively small in size. A 20th degree univariate equation is obtained from the determinate of the matrix and all 40 sets closed-form direct kinematics solutions are obtained. The proposed algorithm is simple and reduces greatly the computation burden than the existed methods. The process also shows that there exist many different resultants that will lead to the same univariate equation. The same results can be obtained by using the continuation method. Finally a numerical example is given to verify the algorithm and its results without extraneous roots agree with the original equations.
This paper presents two examples of usage of fuzzy signatures in the field of mobile robotics. The first shows a complex lateral drift control method base on fuzzy signatures. This method inspects the motion system of...
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This paper presents two examples of usage of fuzzy signatures in the field of mobile robotics. The first shows a complex lateral drift control method base on fuzzy signatures. This method inspects the motion system of the robot as a whole, unlike as simple parts of a complex system. The state space is written down by fuzzy signatures which add up flexibility, adaptability and learning ability to the system. In the second experiment a new communication approach is investigated for intelligent cooperation of autonomous mobile robots. Effective, fast and compact communication is one of the most important cornerstones of a high-end cooperating system. In this paper we propose a fuzzy communication system where the codebooks are built up by fuzzy signatures. We use cooperating autonomous mobile robots to solve some logistic problems.
The proceedings contain 48 papers. The topics discussed include: design of an analog-digital PI controller with gain scheduling for laser tracker systems;one modification of the cusum test for detection early structur...
ISBN:
(纸本)9789898111326
The proceedings contain 48 papers. The topics discussed include: design of an analog-digital PI controller with gain scheduling for laser tracker systems;one modification of the cusum test for detection early structural changes;recursive bias-compensating algorithm for identification of dynamical bilinear systems in the errors-in-variables framework;asymptotic theory of the reachable sets to linear periodic impulsive control systems;identification of multi-dimensional system based on a novel criterion;synthesis method of a PN controller using forbidden transitions sequences;path planning using discretized equilibrium paths;a framework for distributed and intelligent process control;model based design of networked embedded systems - a modeling approach using FlexRay as an example;and real-time systems safety control considering human machine interface;and sliding mode control - is it necessary sliding motion?.
This paper deals with the motion control and dynamics modeling of an amphibious biomimetic robot capable of multi-mode motion. A robust gait control for steady swimming using a central pattern generator (CPG) is propo...
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ISBN:
(纸本)9781424447749
This paper deals with the motion control and dynamics modeling of an amphibious biomimetic robot capable of multi-mode motion. A robust gait control for steady swimming using a central pattern generator (CPG) is proposed and has been successfully applied to the robot, with coordinated movements of a pair of pectoral fins and multiple modular fish-like propelling units. Combined with the hydrodynamic forces acting on the robot, a dynamics modeling based on the Lagrangian function has been established. Then some simulations are conducted with the CPG control imported into the model. By varying the input drive of the CPG model, different activities of swimming mode can be induced with the velocity, direction and type of gaits modulated accordingly. Physical tests verify the feasibility of the dynamics model coupling of the CPG control for efficient propulsion.
The proceedings contain 104 papers. The topics discussed include: genetic-algorithm seeding of idiotypic networks for mobile-robot navigation;diagnosis of discrete event systems with Petri Nets and coding theory;peopl...
ISBN:
(纸本)9789898111319
The proceedings contain 104 papers. The topics discussed include: genetic-algorithm seeding of idiotypic networks for mobile-robot navigation;diagnosis of discrete event systems with Petri Nets and coding theory;people tracking using laser range scanners and vision;parameter tuning of routing protocols to improve the performance of mobile robot teleoperation via wireless ad-hoc networks;altitude control of small helicopters using a prototype test-bed;a new approach of gray images binarization for artificial vision systems with threshold methods;active security system for an industrial robot based on artificial vision and fuzzy logic principles;contribution concerning robot accuracy using numerical modeling;driver's drowsiness detection based on visual information;calibration aspects of multiple line-scan vision system application for planar objects inspection;and robot localization based on visual landmarks.
The proceedings contain 104 papers. The topics discussed include: genetic-algorithm seeding of idiotypic networks for mobile-robot navigation;diagnosis of discrete event systems with Petri Nets and coding theory;peopl...
ISBN:
(纸本)9789898111319
The proceedings contain 104 papers. The topics discussed include: genetic-algorithm seeding of idiotypic networks for mobile-robot navigation;diagnosis of discrete event systems with Petri Nets and coding theory;people tracking using laser range scanners and vision;parameter tuning of routing protocols to improve the performance of mobile robot teleoperation via wireless ad-hoc networks;altitude control of small helicopters using a prototype test-bed;a new approach of gray images binarization for artificial vision systems with threshold methods;active security system for an industrial robot based on artificial vision and fuzzy logic principles;contribution concerning robot accuracy using numerical modeling;driver's drowsiness detection based on visual information;calibration aspects of multiple line-scan vision system application for planar objects inspection;and robot localization based on visual landmarks.
Incorporation of computer vision into mobile robot localization is studied in this work. It includes the generation of localization information from raw images and its fusion with the odometric pose estimation. The te...
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Incorporation of computer vision into mobile robot localization is studied in this work. It includes the generation of localization information from raw images and its fusion with the odometric pose estimation. The technique is then implemented on a small mobile robot operating at a corridor environment. A new segmented Hough transform with an improved way of discretization is used for image line extraction. The vanishing point concept is then incorporated to classify lines as well as to estimate the orientation. A method involving the iterative elimination of the outliers is employed to find both the vanishing point and the camera position. The fusion between the vision based pose estimation and the odometry is achieved with an extended Kalman filter. A distance driven error model is used for the odometry while a simple error model with constant noise is assumed for the vision. An extended Kalman filter as a parameter estimator is also applied to estimate odometry parameters. Experimental results are included. The robustness and the precision of the entire system is illustrated by performing simple navigation tasks.
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