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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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Motion Emergency of Humanoid Robots by an Attractor Design of a Nonlinear Dynamics

Motion Emergency of Humanoid Robots by an Attractor Design o...

引用

IEEE international conference on robotics and automation (ICRA)

作者： M. Okada K. Osato Y. Nakamura Department of Mechanical Science and Engineering Tokyo Institute of Technology Meguro Tokyo Japan Department of Mechano-Informatics University of Tokyo Bunkyo Tokyo Japan

The human motions are generated through the interaction between the body and its environments. The information processing system defines the current motion using the signal feedback of the body state and environments. The motion pattern dose not exits a priori but emerges as the result of the entrainment phenomenon for the dynamics of the information processing, the human body and its environments. In this paper, based on the dynamics-based information processing system, we propose the motion emergency system design method for a humanoid robot designing a dynamical system that has an attractor considering the robot body dynamics. From the control engineering point of view, the proposed method designs a controller that stabilizes the robot to an equilibrium trajectory.

关键词： Humanoid robots Motion control Information processing Humans Intelligent robots Legged locomotion Signal processing State feedback Nonlinear dynamical systems Robot control

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Climbing technique of the cleaning robot for a spherical surface

Climbing technique of the cleaning robot for a spherical sur...

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IEEE international conference on Mechatronics and automation

作者： Houxiang Zhang Jianwei Zhang Rong Liu Guanghua Zong TAMS Department of Informatics University of Hamburg Hamburg Germany School of Mechanical Engineering and Automation BeiHang University Beijing China

In this paper, based on analyzing the characteristics of the working target, a new kind of auto-climbing robot is proposed, which is used for cleaning the spherical surface of the newly built National Grand Theatre in China. Firstly, an overview of the robotic system is given and the motion function is described in detail. Then, the kinematics model of the climbing process is introduced. For system design and control purposes, the dynamics of the robot are calculated applying of the Lagrange equation. The force distribution of the front and rear supporting mechanisms is computed in a way that ensures the safety of the climbing process. The successful on-site test confirms the principles described above and the robot's ability to work on a spherical surface.

关键词： Cleaning robotics and automation Buildings Strips Safety Climbing robots Shape Legged locomotion Glass control systems

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A real-time Linux execution environment for function-block based distributed control applications

A real-time Linux execution environment for function-block b...

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IEEE international conference on Industrial informatics (INDIN)

作者： G.S. Doukas K.C. Thramboulidis Electrical & Computer Engineering University of Patras Patras Greece

The function block (FB) construct has been adopted by recent IEC standards for the design of reusable, interoperable, distributed control applications. Complete applications can be defined in the design level as networks of interconnected FB instances. In this paper an execution environment for FB-based distributed control applications is presented. The proposed environment favors the deployment and re-deployment of complex distributed control applications and provides the infrastructure that is required to satisfy real-time constraints for this application domain. Specific tools have been developed in the context of the model integrated mechatronics paradigm, to support the automatic code generation of implementation models from FB design models as well as their subsequent deployment on the proposed execution environment. Performance metrics prove the real-timeliness of the implemented environment.

关键词： Linux Distributed control Application software Context modeling Automatic control Electronic switching systems robotics and automation Design engineering Measurement IEC

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Exploiting interaction between sensory morphology and learning

Exploiting interaction between sensory morphology and learni...

引用

IEEE international conference on Systems, Man and Cybernetics

作者： K. Sugiura M. Akahane T. Shiose K. Shimohara O. Katai Graduate School of Informatics Kyoto University Sakyo Kyoto Japan

This paper proposes a system that automatically designs the sensory morphology of an autonomous robot. This system uses two kinds of adaptation, ontogenetic adaptation and phylogenetic adaptation, to optimize the sensory morphology of the robot, in ontogenetic adaptation, individuals with many different sensory morphologies use reinforcement learning to adapt to a task. In phylogenetic adaptation, a genetic algorithm is used to select morphologies with which the robot can learn the task fasten We made the system design a line-following robot, and carried out experiments to compare the design solution with a hand-coded design. The results have shown that the designed robot outperforms the hand-coded design in terms of line-following accuracy and learning speed, although it has fewer sensors than hand-coded robots. The paper also shows the effective use of sensory morphology obtained by our system.

关键词： Morphology Robot sensing systems robotics and automation Phylogeny Animals Costs informatics Humans Actuators Robot control

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Object recognition and self-localization for interactive soccer robots

Object recognition and self-localization for interactive soc...

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Proceedings - 2004 IEEE international conference on robotics and Biomimetics, IEEE ROBIO 2004

作者： Yasuda, Gen'ichi Ge, Bin Department of Mechanical Engineering Nagasaki Institute of Applied Science Nagasaki Japan Department of Informatics Dalian University Dalian China

ISBN: (纸本)0780386418

This paper presents an experimental study on object recognition and self-localization for multiagent robotic soccer. A color image segmentation method based on UV color information of each pixel of the color image is applied to the ball recognition and self-localization of a small mobile robot. First the lower and higher threshold values of, U, and V are determined for the sample color markers. Then color image segmentation is performed using the tables that transform each value of, U, and V in a pixel to membership in several color classes. The position of objects on the field is efficiently and accurately calculated using a monocular camera. Self-localization is accomplished using the distances and orientations of two landmarks, xperimental results of real-time movement control are also presented. © 2004 IEEE.

关键词： Mobile robots

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Simplified programming of robotic systems, applying 3d image processing

Simplified programming of robotic systems, applying 3d image...

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IEEE international conference on Industrial informatics (INDIN)

作者： G. Stark D. Bernauer D. Flaschka Department of Computer Science Laboratory CIM & Robotics University of Applied Sciences Augsburg Germany Department of Computer Science Laboratory CIM & Robotics Augsburg BRD

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2004 2nd IEEE international conference on Industrial informatics (IEEE Cat. No.04EX863)

2004 2nd IEEE International Conference on Industrial Informa...

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IEEE international conference on Industrial informatics (INDIN)

The following topics are dealt with: collaborative industrial system; industrial information systems; systems interoperability; information integration; mechatronics; intelligent 3D image processing in robotics; control of large industrial networks; service orientation; intelligent industrial environment; intelligent automotive environment; intelligent telecommunication environment; intelligent home environment; innovative production machines; innovative production systems; infomechatronics; automation knowledge encapsulation; automation knowledge deployment; and automation knowledge re-use

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A logic-theoretic classifier called Circle

A logic-theoretic classifier called Circle

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

作者： M. Dalkilic A. Sengupta School of Informatics Center for Genomics and BioInformatics Indiana University Medical School Bloomington IN USA Information Systems Kelley School of Business Indiana University Medical School Bloomington IN USA

We present a novel classifier based upon principles of logic-theoretic Boolean function minimization. The classifier, called Circle, recursively produces a set of implicants (or rules). The implicant set contains information not only about the presence of features, but also about their absence in determining class values. Thus, Circle's implicant set is initially non-monotonic with respect to inserting new tuples that have feature values that were not in the training set. One important benefit of this non-monotonicity, however, is that Circle is capable of being robust in the presence of novel feature values. We have created a full implementation of Circle using Java as a host language and Oracle database backend. Because we are interested in data mining in bioinformatics, particularly genomic data, the database was borne out of necessity to both manage and effectively query the information.

关键词： Boolean functions Bioinformatics Genomics Minimization Spatial databases Circuits Bismuth informatics Information systems Robustness

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Formal and architectural competitive factors in industrial informatics

Formal and architectural competitive factors in industrial i...

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IEEE international conference on Industrial informatics (INDIN)

作者： G.A. Fodor ABB Automation Technology Products AB Sweden

Industrial informatics (II) is increasingly becoming a competitive factor in many industrial segments. Being based on key enabling technologies such as high-speed networks, mobile agent and the object oriented development paradigm, II acts vertically at all levels of the production process, ranging from resource management down to sensor integration. Although each of these technologies has been available for a relatively long time, it is their specific combination that confers advantages to the II approach. An inquiry naturally arises about what exactly is the theoretical and architectural ground for these combined benefits? We try to answer this question considering traditional competitive factors in industry such as system configuration, planning, supervision, or fault detection. The final goal, just touched in this paper, was the definition of appropriate metrics that could quantify these benefits

关键词： informatics Manufacturing industries Actuators Chemical industry Electrical equipment industry Metals industry Industrial control Metal product industries Production robotics and automation

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Sampled-data control toolbox: object-oriented software for sampled-data feedback control systems

Sampled-data control toolbox: object-oriented software for s...

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IEEE international Symposium on Computer Aided control System Design (CACSD)

作者： H. Fujioka S. Hara Y. Yamamoto Graduate School of Informatics Kyoto University Kyoto Japan Graduate School of Information Science and Technology University of Tokyo Bunkyo Tokyo Japan

A MATLAB toolbox for analysis and design of sampled-data feedback control systems is developed. The package is an object-oriented library: several classes are defined for concerning systems and signals including sampled-data systems. Functions and operators are overloaded in the class definitions. Moreover, the implementation of analysis and design algorithms for sampled-data systems is also in an object-oriented fashion. Hence the implemented codes keeps high readability even for a general setting of sampled-data systems including multirate and delayed control/measurement cases, by using the class for systems with two point boundary conditions developed as a part of this library

关键词： control systems Software tools Feedback control Algorithm design and analysis Boundary conditions Packaging Data systems Software systems MATLAB Software libraries

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