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检索条件"任意字段=International Symposium on Computational Intelligence in Robotics and Automation"

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computational ASPECTS FOR RECURSIVE FRISCH SCHEME SYSTEM IDENTIFICATION

COMPUTATIONAL ASPECTS FOR RECURSIVE FRISCH SCHEME SYSTEM IDE...

引用

6th international Conference on Informatics in Control, automation and robotics

作者： Linden, Jens G. Larkowski, Tomasz Burnham, Keith J. Coventry Univ Control Theory & Applicat Ctr Coventry CV1 5FB W Midlands England

ISBN: (纸本)9789896740016

The implementation of a recursive algorithm for the estimation of parameters of a linear single-input single-output errors-in-variables system is re-considered. The objective is to reduce the computational complexity in order to reduce the computation time per recursion, which, in turn, will allow a wider applicability of the recursive algorithm. The technique of stationary iterative methods for least squares is utilised, in order to reduce the complexity from cubic to quadratic order with respect to the model parameters to be estimated. A numerical simulation underpins the theoretically obtained results.

关键词： System identification Errors-in-variables Recursive identification

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Meat Factory Cell: Assisting meat processors address sustainability in meat production 21

Meat Factory Cell: Assisting meat processors address sustain...

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21st IEEE international symposium on computational intelligence and Informatics

作者： Mason, A. Korostynska, O. Cordova-Lopez, L. E. Esper, I Romanov, D. Ross, S. Takacs, K. Haidegger, T. Norwegian Univ Life Sci NMBU N-1430 As Norway Animalia AS N-0585 Oslo Norway OsloMet Univ N-0301 Oslo Norway Obuda Univ EKIK Budapest Hungary

ISBN: (纸本)9781665426848

This paper provides a brief overview of the novel Meat Factory Cell and discusses its concept in the context of increasing sustainability in the meat sector. Job quality, environment, health risks, industrial development and education are discussed as sustainability goals that can be mapped against some of the United Nations Sustainable Development Goals (SDG). Technology can arguably help to improve related processes on a societal level, and to achieve the SDGs.

关键词： automation meat pork robotic butchering meat factory cell sustainability

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Transfer Function Analysis and Algorithm Order Reduction for Active Disturbance Rejection Control 28

Transfer Function Analysis and Algorithm Order Reduction for...

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28th international Conference on Methods and Models in automation and robotics (MMAR)

作者： Michalski, Jacek Mrotek, Mikolaj Brock, Stefan Poznan Univ Tech Inst Robot & Machine Intelligence Piotrowo 3a PL-60965 Poznan Poland

ISBN: (纸本)9798350362350;9798350362343

This paper presents the transfer function analysis of the closed-loop system with an active disturbance rejection control (ADRC) algorithm. Although the classical interpretation of the extended state observer (ESO) and control algorithm (state feedback) in the state space usually allows for achieving satisfactory control quality, the presented analysis enables calculation of the obtained pole values in the closed-loop system. Furthermore, reduction of the algorithm order by omitting the non-dominant poles of the control plant has also been proposed. The experiments were carried out on a third-order mechanical object, a ball balancing table (BBT) setup. In addition to reducing computational complexity, the presented order reduction procedure allows one to improve the properties of a closed-loop system in the case of poles with large modules affecting the control quality.

关键词： ADRC system order reduction transfer function ball balancing table

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How morphology affects self-assembly in a stochastic modular robot

How morphology affects self-assembly in a stochastic modular...

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IEEE international Conference on robotics and automation

作者： Miyashita, Shuhei Kessler, Marco Lungarella, Max Univ Zurich Dept Informat Artificial Intelligence Lab CH-8006 Zurich Switzerland

ISBN: (纸本)9781424416462

Self-assembly is a process through which an organized structure can spontaneously form from simple parts. Taking inspiration from biological examples of self-assembly, we designed and built a water-based modular robotic system consisting of autonomous plastic tiles capable of aggregation on the surface of water. In this paper, we investigate the effect of the morphology (here: shape) of the tiles on the yield of the self-assembly process, that is, on the final amount of the desired aggregate. We describe experiments done with the real system as well as with a computer simulation thereof. We also present results of a mathematical analysis of the modular system based on chemical rate equations which point to a power-law relationship between yield rate and shape. Using the real system, we further demonstrate how through a single parameter (here: the externally applied electric potential) it is possible to control the self-assembly of propeller-like aggregates. Our results seem to provide a starting point (a) for quantifying the effect of morphology on the yield rates of self-assembly processes and (b) for assessing the level of modular autonomy and computational resources required for emergent functionality to arise.

关键词： Aggregates

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Air force space automation & robotics: An artificial intelligence assesment

Air force space automation & robotics: An artificial intelli...

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AIAA/NASA 1st international symposium on Space automation and robotics, 1988

作者： Ferguson, Thomas R. Gersh, Mark A. USAF DCS Technology & Requirements Planning HQ Air Force Systems Command Andrews AFB MD20334 United States AIAA Software Systems Technical Committee Artificial Intelligence Technology Development HQ Air Force Systems Command Andrews AFB MD20334 United States

"Space, the final frontier, to boldly go where no mail has gone before." A though trite, this statement aptly describes the necessity for space automation and robotics. Space is a relatively unfamiliar, inaccessible, and dangerous domain and successful operations there demand a high degree of autonomy. Autonomy enhances operational effectiveness and efficiency by significantly reducing the need for human interaction. It extends mission capability by permitting operations in harsh, austere conditions unsuitable for human involvement. Finally, it can improve mission performance by providing quick solutions to the many problems constantly occurring in such a dynamic environment. While this paper describes today's Air Force presence and highlights tomorrow's planned activities in space, it primarily focuses on those applications where automation & robotics technology is required and on the technology challenges associated with accomplishing such goals. Additionally, the paper discusses the long-standing relationship between the Air Force and NASA and its extension to space operations automation & robotics. This relationship appears to be on the verge of becoming another excellent example of joint cooperation. Finally, the paper concludes by looking to the future and pointing the way to new directions and accomplishments. It assesses the necessary spirit of cooperation which must exist before the space community can expect to fully capitalize and exploit automation & robotics technology to achieve its goals. © 1988 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： NASA

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Estimation of Spatially-Correlated Ocean Currents from Ensemble Forecasts and Online Measurements

Estimation of Spatially-Correlated Ocean Currents from Ensem...

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IEEE international Conference on robotics and automation (ICRA)

作者： To, K. Y. Cadmus Kong, Felix H. Lee, Ki Myung Brian Yoo, Chanyeol Anstee, Stuart Fitch, Robert Univ Technol Sydney Sydney NSW 2007 Australia Dept Def Def Sci & Technol Grp Canberra ACT Australia

ISBN: (纸本)9781728190778

We present a method to estimate two-dimensional, time-invariant oceanic flow fields based on data from both ensemble forecasts and online measurements. Our method produces a realistic estimate in a computationally efficient manner suitable for use in marine robotics for path planning and related applications. We use kernel methods and singular value decomposition to find a compact model of the ensemble data that is represented as a linear combination of basis flow fields and that preserves the spatial correlations present in the data. Online measurements of ocean current, taken for example by marine robots, can then be incorporated using recursive Bayesian estimation. We provide computational analysis, performance comparisons with related methods, and demonstration with real-world ensemble data to show the computational efficiency and validity of our method. Possible applications in addition to path planning include active perception for model improvement through deliberate choice of measurement locations.

关键词： Current measurement Oceans computational modeling Sea measurements Estimation Path planning computational efficiency

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Task-Space Decomposed Motion Planning Framework for Multi-Robot Loco-Manipulation

Task-Space Decomposed Motion Planning Framework for Multi-Ro...

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IEEE international Conference on robotics and automation (ICRA)

作者： Zhang, Xiaoyu Yan, Lei Lam, Tin Lun Vijayakumar, Sethu Shenzhen Inst Artificial Intelligence & Robot Soc Shenzhen Peoples R China Univ Edinburgh Sch Informat Edinburgh Midlothian Scotland Chinese Univ Hong Kong Shenzhen Peoples R China Airs Shenzhen Peoples R China

ISBN: (纸本)9781728190778

This paper introduces a novel task-space decomposed motion planning framework km multi-robot simultaneous locomotion and manipulation. When several manipulators hold an object, closed-chain kinematic constraints are formed, and it will make the motion planning problems challenging by inducing lower-dimensional singularities. Unfortunately, the constrained manifold will he even more complicated when the manipulators are equipped with mobile bases. We address the problem by introducing a dual-resolution motion planning framework which utilizes a convex task region decomposition method, with each resolution tuned to efficient computation for their respective roles. Concretely, this dual-resolution approach enables a global planner to explore the low-dimensional decomposed task-space regions toward the goal, then a local planner computes a path in high-dimensional constrained configuration space. We demonstrate the proposed method in several simulations, where the robot team transports the object toward the goal in the obstacle-rich environments.

关键词： Manifolds Conferences computational modeling Kinematics System recovery Manipulators Planning

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Toward computationally Efficient Path Generation and Push Planning for Robotic Nonprehensile Manipulation 9

Toward Computationally Efficient Path Generation and Push Pl...

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9th international Conference on automation, robotics and Applications (ICARA)

作者： Elibol, Armagan Chong, Nak Young Japan Adv Inst Sci & Technol Sch Informat Sci Nomi Ishikawa Japan

ISBN: (纸本)9781665489218

Robots have been involved in our daily life more and more. This involvement comes along with a necessity for endowing robots to interact with real-world objects that are novel to them. Among many others, pushing is one of the important tasks for robotic arms (or manipulators) as it has been widely used in the pipeline of the more complicated tasks (e.g., grasping, singulation, reorienting, and similar other tasks.). In this paper, we present simple yet efficient path generation and push planning algorithms for pushing an object from a given point to a target point in the given grid map with static obstacles. Our path generation module aims to generate waypoints taking into account obstacles and quantizing them into circular regions in order to reduce the computational cost. The path is formed using the waypoints by minimizing the designed cost function. We also define a cost function for planning pushing steps aiming to both minimize the number of pushing actions and deviation from the path generated. We present comparative numerical results using simulated data. Our preliminary findings show promising results leaving room for further improvements.

关键词： robotic arm planar pushing path generation push planning

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Active exploration and keypoint clustering for object recognition

Active exploration and keypoint clustering for object recogn...

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IEEE international Conference on robotics and automation

作者： Kootstra, Gert Ypma, Jelmer de Boer, Bart Univ Groningen Artificial Intelligence Inst NL-9712 TS Groningen Netherlands

ISBN: (纸本)9781424416462

Object recognition is a challenging problem for artificial systems. This is especially true for objects that are placed in cluttered and uncontrolled environments. To challenge this problem, we discuss an active approach to object recognition. Instead of passively observing objects, we use a robot to actively explore the objects. This enables the system to learn objects from different viewpoints and to actively select viewpoints for optimal recognition. Active vision furthermore simplifies the segmentation of the object from its background. As the basis for object recognition we use the Scale Invariant Feature Transform (SIFT). SIFT has been a successful method for image representation. However, a known drawback of SIFT is that the computational complexity of the algorithm increases with the number of keypoints. We discuss a growing-when-required (GWR) network for efficient clustering of the keypoints. The results show successful learning of 3D objects in real-world environments. The active approach is successful in separating the object from its cluttered background, and the active selection of viewpoint further increases the performance. Moreover, the GWR-network strongly reduces the number of keypoints.

关键词： Object recognition

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Dynamic Particle Swarm Optimization Based on Neighborhood Rough Set Model

Dynamic Particle Swarm Optimization Based on Neighborhood Ro...

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2nd international Asia Conference on Informatics in Control, automation and robotics (CAR)

作者： Miao, Aimin Shi, Xinling Zhang, Junhua Jiang, Wei Zhang, Jinlin Gui, Xiaolin Yunnan Univ Dept Elect Engn Sch Informat Sci & Engn Kunming Peoples R China

ISBN: (纸本)9781424451944

To obtain the prior space information on the study problems and prevent the blind search, a novel strategy on the particle swarm optimization (PSO) is proposed. Based on the neighborhood rough set model, the prior information is achieved to guide the evolutionary state of the PSO constantly. By reserving the much relevant area of the global best point, the search space was dynamically reduced. Comparison studies with another improved PSO were performed. The experimental results for most test functions demonstrated good performance of the proposed method in both the optimization speed and computational accuracy. The results are firmly verified the effectiveness of the method to obtain the prior space information and improve the performance of the PSO.

关键词： particle swarm optimization rough set swarm intelligence

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