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Development of multi-functional tele-operative modular robotic system for greenhouse watermelon

Development of multi-functional tele-operative modular robot...

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IEEE/ASME (AIM) international conference on Advanced intelligent Mechatronics

作者： Heon Hwang Si-Chan Kim Department of Biomechatronic Eng Faculty of Life Science and Technology Sungkyunkwan University Suwon Gyeonggi South Korea

ISBN: (纸本)0780377591

There have been worldwide research and development efforts to automate various processes of bio-production and those efforts will be expanded with priority given to tasks which require high intensive labor or produce high value-added product and tasks under hostile environment. In the field of bio-production, capabilities of the versatility and robustness of automated system have been major bottlenecks along with economical efficiency. This paper introduces a new concept of automation based on teleoperation, which can provide solutions to overcome inherent difficulties in automating bio-production processes. Operator (former), computer, and automatic machinery share their roles utilizing their maximum merits to accomplish given tasks successfully. Among processes of greenhouse watermelon cultivation, tasks such as pruning, watering, pesticide application, and harvest with loading were chosen based on the required labor intensiveness and functional similarities to realize the proposed concept. The developed system was composed of 5 major hardware modules such as wireless remote monitoring and task control module, wireless remote image acquisition and data transmission module, gantry system equipped with 4 d.o.f. Cartesian type robotic manipulator, exchangeable modular type end-effectors, and guided watermelon loading and storage module. The system was operated through the graphic user interface using touch screen monitor and wireless data communication among operator, computer, and machine. The proposed system showed practical and feasible way of automation in the field of volatile bio-production process.

关键词： Robots Robotics and automation Remote monitoring Data communication Research and development Robustness environmental economics Machinery Application software Hardware

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An energy efficient collaborative framework for event notification in wireless sensor networks

An energy efficient collaborative framework for event notifi...

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conference on Local computer Networks (LCN)

作者： S. Chugh S. Dharia D.P. Agrawal Center for Distributed and Mobile Computing ECECS University of Cincinnati Cincinnati OH USA

Wireless sensor networks consist of large number of low power devices equipped with RF links for communication that have several military, civil and environmental monitoring applications. The energy constraints due to limited battery power present numerous design challenges. In this paper we propose an energy efficient, cluster based framework for collaboration among nodes in a region for reducing the redundancy in reporting events. Collaboration is done among the exposed nodes using a localized and deterministic schedule based on TDMA/FDMA MAC. A novel, three phase collaboration scheme is presented to exchange messages for determining the local maximum of the confidence measure in the two hop cluster neighborhood of the event. This local maximum generates the response for the event, thereby reducing the redundant reporting of the event. Through extensive simulations we have shown that there is a significant reduction in the overall network traffic thereby, saving energy at the nodes responsible for originating response traffic and also at nodes, which handle the route-through traffic.

关键词： Energy efficiency Collaboration Wireless sensor networks Telecommunication traffic Traffic control Radio frequency Military communication monitoring Batteries Time division multiple access

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COTS-based hardware support to timeliness in CAN networks

COTS-based hardware support to timeliness in CAN networks

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international conference on Emerging Technologies and Factory Automation (ETFA)

作者： G. Rodriguez-Navas M. Barranco J. Proenza I. Broster Departament de Matemàtiques i Inform2tica Universitat de les Illes Balears Spain University of York UK

Advances in programmable hardware have simplified integration of communication facilities in low-cost hardware components. This has proved to be beneficial in the design of distributed embedded systems as it allows the communication subsystem to provide important properties at a low level. The present work follows this approach in order to achieve timeliness in CAN networks. This paper describes the implementation of the LST-CAN protocol in programmable hardware. This protocol is an extension to CAN which ensures timely communication regardless of environmental interferences.

关键词： Hardware intelligent networks Protocols Embedded system Costs Real time systems computer science Interference Communication system control control systems

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Enhanced frame-based knowledge representation for an intelligent environment

Enhanced frame-based knowledge representation for an intelli...

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international conference on Integration of Knowledge Intensive Multi-Agent Systems (KIMAS)

作者： R.A.C. Ranasinghe A.P. Madurapperuma Department of Computer Science University of Colombo Colombo Sri Lanka

Our work with the AAANTS (adaptive, autonomous, agent colony interactions with network transparent services) project attributes to developing methodologies for demonstrating collective intelligent behaviour in agent-based synthetic ecosystems. The model gains wisdom from a very successful community life style found in the animal kingdom - the Ants. The proposed model is a multiagent system that conceptualises and implements a colony of agents that actively interact with a collection of distributed services in order to provide adaptive behaviour. We have implemented the AAANTS model on an intelligent environment related project and built a prototype for an intelligent room that actively adapts the environmental conditions based on user behavioural patterns. We discuss the knowledge representation based on "Frames" that harmonise with continuous adaptation based on reinforcement learning techniques.

关键词： Knowledge representation Multiagent systems Insects Animals Learning intelligent agent Ecosystems Prototypes Cognition Centralized control

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Scheduling nodes in wireless sensor networks: a Voronoi approach

Scheduling nodes in wireless sensor networks: a Voronoi appr...

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conference on Local computer Networks (LCN)

作者： Marcos A. M. Vieira Luiz F. M. Vieira L.B. Ruiz A.A.F. Loureiro A.O. Fernandes J.M.S. Nogueira Department of Computer Science Federal University of Minas Gerais Belo Horizonte MG Brazil Department of Informatics Pontifical Catholic University of Paraná Curitiba PR Brazil

A wireless sensor network is a special kind of ad-hoc network with distributed sensing and processing capability that can be used in a wide range of applications, such as environmental monitoring, industrial applications and precision agriculture. Despite their potential applications, such networks have particular features imposed by resource restrictions, such as low computational power, reduced bandwidth and specially limited power source. In case of a network with a high density of sensor nodes, some problems may arise such as the intersection of sensing area, redundant data, communication interference, and energy waste. A management application is necessary to make the most of network resources. On the other hand, a high-density network can introduce a fault-tolerant mechanism, increase precision, and provide multi-resolution data. The network density control depends on the application. In this paper, we propose a method to set up which nodes should be turned off or on. The management may take the sensor node out of service temporally. Our design uses a Voronoi diagram, which decomposes the space into regions around each node. That schema could be used in management architecture for a wireless sensor network.

关键词： Wireless sensor networks Job shop scheduling Ad hoc networks monitoring Agriculture computer networks Bandwidth Interference computer network management Resource management

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A system for monitoring and management of computational grids

A system for monitoring and management of computational grid...

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31st international conference on Parallel Processing (ICPP 2002)

作者： Smith, W NASA Ames Res Ctr Comp Sci Corp Moffett Field CA 94035 USA

ISBN: (纸本)0769516777

As organizations begin to deploy large computational grids, it has become apparent that systems for observation and control of the resources, services, and applications that make up such grids are needed Administrators must observe resources and services to ensure that they are operating correctly and must control resources and services to ensure that their operation meets the needs of users. Users are also interested in the operation of resources and services so that they can choose the most appropriate ones to use, In this paper we describe a prototype system to monitor and manage computational grids and describe the general software framework for control and observation in distributed environments that it is based on.

关键词： Application software computer networks computerized monitoring control systems distributed computing environmental management Grid computing NASA Power grids Software prototyping

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intelligent workflow techniques for distributed group facilitation 35

Intelligent workflow techniques for distributed group facili...

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35th Annual Hawaii international conference on System Sciences, HICSS 2002

作者： Zhao, J.L. Nunamaker, J.F. Briggs, R.O. Department of MIS University of Arizona TucsonAZ85721 United States *** 1430 E. Fort Lowell Rd. #301 TucsonAZ85721 United States

ISBN: (纸本)0769514359

distributed group facilitation techniques are becoming a necessity because many of the face-to-face facilitation techniques are no longer suitable in a distributed environment. Although the concept of distributed group facilitation was proposed a decade ago, few distributed facilitation techniques have been successfully employed in the real world. We propose a new method of automating distributed facilitation functions that is built on the workflow management paradigm and intelligent agent techniques. Our research goal is to develop an open and flexible environment that allows easy configuration of facilitation techniques to fit various business contexts. In this paper, we develop the concepts of process monitoring and control for distributed group facilitation, establish the basic principles of distributed facilitation support, and illustrate the design of a prototype system in the context of the EasyWinWin requirements negotiation method. © 2002 IEEE.

关键词： computer control systems

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A distributed Agent Architecture for Human Operations in Space 11

A Distributed Agent Architecture for Human Operations in Spa...

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11th Golden West international conference on intelligent Systems, ICIS 2002

作者： Anderson, Donald Belknap, Morris Jacobi, Dennis Cui, Xiaohui Ragade, R.K. Kantardzic, Mehmed Elmaghraby, Adel S. Intellas Group LLC LouisvilleKY40218 United States Computer Science and Engineering Program University of Louisville KY40292 United States

ISBN: (纸本)9781618395733

In this paper, we present an overview of a system architecture proposed by our team for NASA to use in medical emergencies for long duration space flights or missions at the international Space Station (ISS). We propose a distributed agent architecture that will utilize a transformed XML version of the existing emergency medical procedure manual as a basis for diagnostics and stabilization of emergency incidents. The additional agents contribute to intelligent handling of appropriate communication with Mission control Center (MCC), user interaction, integration of environmental and personal information sources, and interfacing with available medical instruments. The design and implementation is at a preliminary stage. It will be developed as a prototype for testing and evaluation. Future plans include testing the resulting system with Human Body Simulators used for training of medical students. © (2002) by the international Society for computers and Their Applications. All rights reserved.

关键词： NASA

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Autonomous stair-hopping with scout robots

Autonomous stair-hopping with scout robots

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2002 IEEE/RSJ international conference on intelligent Robots and Systems

作者： Stoeter, Sascha A. Rybski, Paul E. Gini, Maria Papanikolopoulos, Nikolaos Center for Distributed Robotics Dept. of Computer Science and Eng. University of Minnesota Minneapolis MN United States

Search and rescue operations in large disaster sites require quick gathering of relevant information. Both the knowledge of the location of victims and the environmental/structural conditions must be available to safely and efficiently guide rescue personnel. A major hurdle for robots in such scenarios is stairs. A system for autonomous surmounting of stairs is proposed in which a Scout robot jumps from step to step. The robot's height is only about a quarter step in size. control of the Scout is accomplished using visual servoing. An external observer such as another robot is brought into the control loop to provide the Scout with an estimation of its pose with respect to the stairs. This cooperation is necessary as the Scout must refrain from ill-fated motions that may lead it back down to where it started its ascend. Initial experimental results are presented along with a discussion of the issues involved.

关键词： Robots

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5th IFIP/IEEE international conference on Management of Multimedia Networks and Services, MMNS 2002

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5th IFIP/IEEE international conference on Management of Multimedia Networks and Services, MMNS 2002

ISBN: (纸本)3540442715

The proceedings contain 27 papers. The special focus in this conference is on Service Management, Management of Wireless Multimedia, Bandwidth Sharing Protocols and distributed Video Architectures. The topics include: A QoS network management system for robust and reliable multimedia services;federated accounting management system architecture for multimedia service usage management;policy-based quality of service and security management for multimedia services on IP networks in the RTIPA project;formal modeling of service session management;network requirement for management of multimedia over wireless channel;agile systems manager for enterprise wireless networks;streaming media congestion control using bandwidth estimation;signaling protocol for session-aware popularity-based resource allocation;a scalable video server using intelligent network attached storage;on proxy-caching mechanisms for cooperative video streaming in heterogeneous environments;remote multicast monitoring using the RTP MIB;active technology as an efficient approach to control diffserv networks;efficient implementation of packet scheduling algorithm on high speed programmable network processors;distributed dynamic capacity contracting;fair stateless aggregate traffic marking using active queue management techniques;a dynamic marking scheme of assured service for alleviating unfairness among service level agreements;dynamic QoS adaptation using COPS and network monitoring feedback;a management framework for service personalization;efficient access using hierarchical WML decks for multimedia services under wireless and mobile networks and low-weight congestion control for multi-sender applications.

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