作者：
Shen, MinYinLiu, Fei
Institute of Automation Jiangnan University Wuxi214122 China
This article, integrating the singular perturbation technique with inverse reinforcement learning, proposes a novel linear two time scale system tracking control method grounded in off-policy inverse reinforcement lea...
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To ensure the robustness of the robotic eye sensor system, multiple sensors are used to detect the eye movement. How ever, some sensors my fail and provide faulty data. In this paper, multiv ariate statistical techniq...
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ISBN:
(纸本)0780372034
To ensure the robustness of the robotic eye sensor system, multiple sensors are used to detect the eye movement. How ever, some sensors my fail and provide faulty data. In this paper, multiv ariate statistical techniques are used to deal with sensor data monitoring, faulty sensor detection and isolation. In addition, principal component analysis is used to monitor the sensor data and detect the sensor failure, and incidence matrix is used to isolate the faulty sensor. We also study LMS and minimum variance methods for recovering the faulty sensor data. Simulation studies are included.
More and more calibration methods are proposed based on planar homography. However, result accuracy of intrinsic parameters depends closely on homography estimation, which may be sensitive to noise. In this paper, a p...
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This paper presents a method for planning the sensing features when the geometrical representation of the target object is known. The presented method is a synthesis form and can be used in several measurement applica...
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In this paper, a biped robot is introduced, which is an instantiation of the principle of cheap design. The proposed biped robot is a light-weight skeleton-actuation mechanism with I I DOF motors, elastic limbs, and t...
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ISBN:
(纸本)0780378660
In this paper, a biped robot is introduced, which is an instantiation of the principle of cheap design. The proposed biped robot is a light-weight skeleton-actuation mechanism with I I DOF motors, elastic limbs, and tendon-supported joints. The sensor system of this robot is comprised of pressure sensors on the sole and a posture sensor at the hip position. An adaptive neural oscillator is employed as a controller. This paper presents some preliminary analysis of a biped robot exploiting elastic materials. The goal of this research is to explore principles of bipedal locomotion in the context of elastic materials. The experimental result shows such non-linearity of elastic material has a significant relation to the locomotion.
As the application of artificial intelligence continues to expand, complex decision-making problems such as multi-player gaming, multi-robot planning and multi-vehicle controlling have become new challenges for machin...
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We present an efficient and accurate point cloud registration method that has been successfully applied to real-world landslide detection tasks. Existing point cloud registration methods often suffer from either low a...
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The paper deals with the calibration of industrial robots, a very important issue in robotics. A methodology to improve the accuracy obtained by classical parametric methodologies is proposed. The method is based on t...
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ISBN:
(纸本)0780378660
The paper deals with the calibration of industrial robots, a very important issue in robotics. A methodology to improve the accuracy obtained by classical parametric methodologies is proposed. The method is based on the application of a neural network together with a classical parametric model of the robot kinematic. Due to this combination of methodologies the approach could be defined as "hybrid neuro-parametric method". Experimental results prove an improvement in the robot accuracy.
This paper presents a multi-purpose measurement system developed to automate cellular microinjection. The system is based on measuring impedance between an injection solution in an injection capillary and cell culture...
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This paper presents a new behavior-based architecture for a mobile robot. The architecture coordinates behaviors based on a robot's internal condition and environment information. This approach combines the subsum...
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ISBN:
(纸本)0780378660
This paper presents a new behavior-based architecture for a mobile robot. The architecture coordinates behaviors based on a robot's internal condition and environment information. This approach combines the subsumption and schema-based approaches together with a unique feature called Request or Redundant Mode. By monitoring a behavior's expected outcome, an unproductive behavior can request its redundant behavior to take over a task. On the other hand, when the requesting behavior can do the task again, it can take the task back. The results show that a system with the new architecture yields better performance than a system without it. Moreover, the new architecture can change behaviors' levels and modes, add new behaviors, delete unused behaviors, and create new behaviors or tasks from existing behaviors at run-time, without reprogramming or restarting the entire system.
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