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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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Physical Human Robot Interaction in Imitation Learning

Physical Human Robot Interaction in Imitation Learning

引用

2011 IEEE international conference on robotics and automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Dongheui Lee Gerd Hirzinger Christian Ott Yoshihiko Nakamura Department of Electrical Engineering and Information Technology Technical University of MunichGerma Institute of Robotics and Mechatronics German Aerospace Center (DLR e.V.) Department of Mechano-Informatics The University of TokyoJapan

This video presents our recent research on the integration of physical human-robot interaction (pHRI) into imitation learning. First, a marker control approach for realtime human motion imitation is shown. Secondly, physical coaching in addition to observational learning is applied for the incremental learning of motion primitives. Last, we extend imitation learning to learning pHRI which includes the establishment of intended physical contacts. The proposed methods were implemented and tested using the IRT humanoid robot and DLR’s humanoid upper-body robot Justin.

关键词： Humans Robot kinematics Hidden Markov models Humanoid robots Education Springs

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Study of Thrust Lever control Loading System in Flight Simulator

Study of Thrust Lever Control Loading System in Flight Simul...

引用

2011 3rd international asia conference on informatics in control, automation and robotics (CAR 2011 LNEE 132)

作者： Jinsong Zhao Zhengmao Ye Gang Shen Junwei Han State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology School of Mechanical and Electrical Engineering China University of Mining and Technology

Aiming at computing the force feel to be simulated at real time, thrust lever control loading system's simulation model is set by software called Sim Mechanics after its control mechanism being analyzed. The dynamic characteristics of control systems and model torque are studied based on the simulation model. Then the counter potential, primary element to cause the surplus torque, is pointed out according to the dynamic characteristics of control. To make the loading system not only flow the model torque precisely but also retrain surplus torque effectively, the low frequency of the current loop is designed due to frequency spectrum of counter potential and follow-up component in model torque, while the medium frequency is on basis of the step component in model torque. Finally, the reasonableness of the designed current loop is verified by computer simulation of the torque output by motor and loading torque.

关键词： Flight simulator control Loading System thrust lever current loop simulation model

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Speed and position control of BLDC servo systems with low inertia

Speed and position control of BLDC servo systems with low in...

引用

international conference on Cognitive Infocommunications (CogInfoCom)

作者： Alexandra-Iulia Stînean Stefan Preitl Radu-Emil Precup Claudiu Pozna Claudia-Adina Dragoş Mircea-Bogdan Rădac Department of Automation and Applied Informatics Polytechnic University of Timisoara Timisoara Romania Department of Informatics Széchenyi István University Gyor Hungary Department of Production Design and Robotics Transilvania University of Brasov Brasov Romania

The paper deals with applicative aspects concerning the control of speed and position of a BLDC servo system with low - but Variable in a given range - Moment of Inertia (VMI). Detailed models of various applications, some control solutions are discussed and developed and part of them tested on the basis of the specific features of the plants with VMI. The adopted control solutions - PI(D) control (as reference solution) and fuzzy control with homogenous and non-homogenous dynamics - are briefly presented and some approaches regarding the methods are highlighted. Due to the applicability of the methods in the field of mechatronics applications with VMI (speed and positioning control of rapid plants), the presented aspects are of permanent actuality, and they offer directions of future research.

关键词： Velocity control Servomotors Mathematical model Rotors Torque Friction

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Design of a 23-DOF Small Humanoid Robot with ZMP Force Sensors

Design of a 23-DOF Small Humanoid Robot with ZMP Force Senso...

引用

2011 3rd international asia conference on informatics in control, automation and robotics (CAR 2011 LNEE 132)

作者： Awais Yasin Qian Xu Bo Chen Qiushi Lu M.Waqas Khan Key Laboratory of Biomimetic Robots and Systems Beijing Institute of TechnologyMinistry of Education Intelligent Robotics Institute School of Mechatronics Engineering Beijing Institute of Technology

This paper presents a design of a 23-DOF small humanoid robot with force sensors for zero moment point(ZMP) measurement. Piezoresistive strain gauges are used under the feet of the robot to measure ground reaction force which is used to locate ZMP under the robot foot support area. The robot also uses gyroscope and acceleration sensor for motion *** robot developed is capable of all directional walking, running and performing different kung fu like *** specifications, joints distribution, walking planning of the robot, ZMP measurement scheme and vibration control using gyro sensor are discussed in this paper.

关键词： Humanoid Robot,Biped,ZMP,Walking Planning,Force sensor

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Efficient Spatial Decision-Making for Maritime Search and Rescue Using 3D GIS

Efficient Spatial Decision-Making for Maritime Search and Re...

引用

2011 3rd international asia conference on informatics in control, automation and robotics(CAR 2011)

作者： Qinghua Qiao Tong Zhang Ming Yang Key Laboratory of Geo-Informatics of State Bureau of Surveying and Mapping Chinese Academy of Surveying and Mapping State Key Laboratory for Information Engineering in Surveying Mapping and Remote Sensing Wuhan University Shenzhen Research & Development Centre State Key Laboratory for Information Engineering in SurveyingMapping and Remote Sensing

The rate of major accidents at sea tended to *** utilization of dynamic information for massive ships in the maritime search and rescue shows more and more *** paper imports GIS to emergency data management and discusses many GIS technologies that can be used for maritime search and *** report our experience on the development of a prototype system based on three-dimension *** show that our methodology is applicable and efficient.

关键词： Decision making,3D GIS,rescue,Maritime

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Recommender System to Analyse Students' Learning Productivity

Recommender System to Analyse Students' Learning Productivit...

引用

2011 3rd international asia conference on informatics in control, automation and robotics(CAR 2011)

作者： Arturas Kaklauskas Mark Seniut Edmundas Kazimieras Zavadskas Gintautas Dzemyda Voitech Stankevic Ceslovas Simkevicius Sergejus Ivanikovas Tomas Stankevic Agne Matuliauskaite Lina Zemeckyte Vilnius Gediminas Technical University Sauletekio Ave.11 LT-10223 VilniusLithuania Vilnius University Institute of Mathematics and Informatics Vilnius University Semiconductor Physics Institute Center for Physical Sciences and Technology Vilnius University

A sufficient amount of studies worldwide prove an interrelation linking students’learning productivity,emotional and psychological state to physiological *** states and the interest in learning affect learning productivity,while physiological parameters demonstrate such *** the research by the authors of the present article confirmed these interdependencies,a Recommender System to Analyse Student’s Learning Productivity(Recommender System hereafter)has been *** Recommender System uses the Maslow’s Hierarchy of Needs and the database of the best global practices to come up with recommendations for students how to improve their learning *** research includes various scientists who conducted in-depth studies on the different and very important areas in the *** did not find any systems which would take physiological parameters of students,analyse their learning efficiency and,in turn,provide recommendations.

关键词： Web-based recommender system,physiological techniques,emotional state,learning productivity,knowledge management,multiple criteria analysis methods,historical information,recommendations

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Kornati bathymetry survey data-set for navigation and mapping

Kornati bathymetry survey data-set for navigation and mappin...

引用

Mediterranean conference on control and automation (MED)

作者： Simone Zandara Pere Ridao David Ribas Ricard Campos Angelos Mallios Institute of Informatics and Applications Universitat de Girona Spain

This paper reports a navigation and mapping data-set collected in the Croatian Kornati Archipelago during the "Breaking the Surface 2010" international Interdisciplinary Field Training of Marine robotics and Applications event. A sensor ridge including a navigation and mapping sensor suite, to be later installed in the GIRONA500 AUV being developed a the university of Girona, was attached to a motor boat to collect geo-referenced data. The sensor suite includes a Multibeam sonar profiler, an AHRS, a DGPS, a sound-speed profiler including a depth cell, a video camera and a mechanical scanning sonar profiler. The paper reports the experiment performed as well as the navigation and mapping results using: 1) GPS only (used as a ground truth), 2) Dead Reckoning only, and 3) a preliminary method fusing dead reckoning with surface registration based on a simple modification of the well known ICP algorithm. Preliminary, but promising, results show that a better performance may be achieved using the last method.

关键词： Robot sensing systems Global Positioning System Trajectory Iterative closest point algorithm Sonar

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GPGPU implementation of On-Line point to plane 3D data registration

GPGPU implementation of On-Line point to plane 3D data regis...

引用

international conference on Electrical Engineering and informatics, ICEEI

作者： Janusz Będkowski Andrzej Masłowski Institute of Automation and Robotics Warsaw University of Technology Warsaw Poland

The paper concerns the result of the implementation of classic point to plane 3D data registration method with an improvement based on GPGPU parallel computation. 3D data is delivered by mobile robot equipped with 3D laser measurement system for INDOOR and OUTDOOR environments. Presented empirical analysis of the implementation shows the On-Line computation capability using modern graphic processor unit NVIDIA GF 580. The implementation is a part of a project “Semantic simulation engine” composed of following modules: data registration module, semantic entities identification module, semantic simulation. The goal of the project is to deliver software tools capable to create virtual model of the environment based on robot observations and perform semantic simulation, where all virtual entities correspond to real one. Possible practical application of the project are supervision and control of robotic system and mobile robot operator training using Augmented Reality techniques. Data registration module is composed of the implementation of point to point and point to plane classic methods improved by the usage of parallel computation. In this paper it has been shown that the implementation of GPGPU point to plane registration method is accurate in INDOOR structured environment but it has some difficulties in accurate alignment in OUTDOOR environment.

关键词： Iterative closest point algorithm Three dimensional displays Graphics processing unit Computational modeling Semantics Mobile robots

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Innovative Approaches in Rural Microfinancing: The Case of SANASA Development Bank Ltd., Sri Lanka

Innovative Approaches in Rural Microfinancing: The Case of S...

引用

international conference on Environmental and Biological Sciences(ICEBS’2012);international conference on Nanotechnology and Chemical Engineering(ICNCS’2012);international conference on Trade,Tourism and Management(ICTTM’2012);international conference on automation,control and robotics(ICACR’2012);international conference on Data Mining and Computer Engineering(ICDMCE’2012);international conference on Civil,Electrical and Electronics Engineering(ICCEEE’2012)

作者： Poornima Gayangani Wasana Jayawardana Graduate School of Asia Pacific Studies Ritsumeikan Asia Pacific University

This study attempts to draw lessons from successful microfinance approaches exist particularly in the rural context by exploring how they have effectively reached the rural communities and met their diverse financial needs with a case study of a particular microfinance institution called SANASA Development Bank Ltd. (SDBL), which has been able to achieve an impressivesuccess in serving the rural communities in Sri Lanka. The findings of this study highlights that the peoples ownership, bank's extensive linkages with Primary Thrift and Credit Cooperative Societies (PTCCSs), products and services oriented towards the client's needs and expectations with innovative approaches have largely contributed towards successfully serving the rural markets along with a rapid growth. In addition the evidence from SDBL suggests that with a proper business framework, establishment of a profitable core business, proven management, strong donor partnerships, management information and control systems, MFIs can be successful and effectively serve the rural communities.

关键词： Innovative approaches, Rural microfinance, SANASA Development Bank Ltd, Sri Lanka

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ICINCO 2010 - Proceedings of the 7th international conference on informatics in control, automation and robotics: Foreword

ICINCO 2010 - Proceedings of the 7th International Conferenc...

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ICINCO 2010 - Proceedings of the 7th international conference on informatics in control, automation and robotics 2010年 3卷 XI-XII页

作者： Filipe, Joaquim Cetto, Juan Andrade Ferrier, Jean-Louis Polytechnic Institute of Setúbal INSTICC Portugal Institut de Robòtica I Informàtica Industrial CSIC-UPC Spain University of Angers France

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