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CAR 2010 - 2010 2nd international Asia conference on Informatics in control, Automation and robotics

CAR 2010 - 2010 2nd International Asia Conference on Informa...

引用

2010 2nd international Asia conference on Informatics in control, Automation and robotics, CAR 2010

ISBN: (纸本)9781424451937

The proceedings contain 362 papers. The topics discussed include: synchronization for a class of chaotic systems with external disturbance;synchronization of discrete chaotic system by using variable structure control;analysis and design of the stability for an asynchronous networked control systems;image quality assessment based on the contourlet transform;automatic removal of eye-blink artifacts based on ICA and peak detection algorithm;novel method of trajectory tracking and posture stabilization for mobile robot;a novel fault diagnosis model research for electronic circuit;a new network intrusion detection identification model research;a new optimization identification method for fault diagnosis;the optimization of sensing-throughput in cognitive UWB networks;nondestructive detection experimental research on prestressed concrete beam;and optimization of tactical aircraft weapon delivery using tactics templates.

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Mobile robot Simultaneous Localization and Mapping in Unstructured Environments

Mobile Robot Simultaneous Localization and Mapping in Unstru...

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2nd international Asia conference on Informatics in control, Automation and robotics (CAR)

作者： Wan, Tingting Zhang, Chongwei Bao, Wei Wang, Mulan Hefei Univ Technol Sch Elect Engn & Automat Hefei Peoples R China Nanjing Inst Technol Jiangsu Prov Coll Key Lab Adv Numer Control Techn Nanjing Jiangsu Peoples R China

ISBN: (纸本)9781424451944

This paper describes a method of mobile robot simultaneous localization and mapping (SLAM) based on laser range finder in unstructured environments. Considering drawbacks of the traditional iterative closest point (ICP) algorithm, matching laser range scans gets into local extrema when severe occlusions occur, the iterative dual closest point based on clustering (IDCP BoC) algorithm is proposed. Scan data are filtered and divided into clusters firstly, and then a procedure of reducing of data is conducted. The closest point (CP) rule is modified and dual closest point (DCP) rule is advanced when choosing the closest points. The reduced data is used for iterative computation before the error of two consecutive iterations' residual errors less than a preset threshold to speed up the algorithm, after that the data which is not reduced is used to guarantee the accuracy. Experimental results show that the method improves the accuracy of localization and mapping.

关键词： mobile robot laser range finder SLAM IDCP BoC

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Path following control of a mobile robot via line-of-sight method

Path following control of a mobile robot via line-of-sight m...

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international conference on Intelligent Human-Machine Systems and Cybernetics

作者： Song, Benjia Zhang, Yong Cheng, Jin Wang, Jing School of Control Science and Engineering University of Jinan Shandong Province China

ISBN: (纸本)9780769541518

Path tracking control problem of a mobile robot is discussed in this paper. It's a typical problem in the field of robot locomtion. A control strategy combined with fuzzy control based on the Line of Sight (LOS) is proposed. According to the experience of driver, fuzzy control rule is selected with hierarchical method. With Line-of-sight method, a fuzzy control approach is then constructed. The results of practical experiment show that the designed fuzzy controller is very effective in path tracking. © 2010 IEEE.

关键词： Fuzzy control

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Design and Simulation of a DSP controller for a LARM Hand

Design and Simulation of a DSP Controller for a LARM Hand

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2nd international Asia conference on Informatics in control, Automation and robotics (CAR)

作者： Cai, Yao Zhan, Qiang Ceccarelli, Marco Carbone, Giuseppe Yao, Shuangji Lu, Zhen Beihang Univ Inst Robot Beijing Peoples R China Univ Cassino LARM Lab Robot & Mechatron Cassino Italy Beihang Univ Sch Automat Sci & Elect Engn Beijing Peoples R China

ISBN: (纸本)9781424451944

To fulfil the principle of low-cost and easy operation features, a new controll scheme is proposed for the LARM Hand in this paper. The new controller is composed of a high level PC-based control panel and a low level DSP control card and the two parts communicate with each other through RS-232. The PC-based control panel is software with which an operator can input control parameters, and additionally the operator can observe the changes of the force values and velocities of three motors in real time. The DSP controller is mainly used to control the motion of three motors by PWM signals as based on position control and force control. A position control method based on PID controller and a force control method based on PD controller both have been proposed in this paper. Simulations based on a simplified model are also carried out for these two methods.

关键词： DSP controller Position control Force control LARM Hand

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Motion Planning for Mobile robot Navigation using Combine Quad-Tree Decomposition and Voronoi Diagrams

Motion Planning for Mobile Robot Navigation using Combine Qu...

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2nd international conference on Computer and Automation Engineering (ICCAE)

作者： Shojaeipour, Shahed Haris, Sallehuddin Mohamed Khalili, Khalil Shojaeipour, Ali Univ Kebangsaan Malaysia Dept Mech & Mat Engn Bangi 43600 Malaysia Univ Birjand Dept Mech & Mfg Engn Birjand Iran Islamic Azad Univ Shirvan Dept Comp Software Engn Shirvan Iran

ISBN: (纸本)9781424455690

this paper presents a novel method for mobile robot navigation by visual environments where there are obstacles in the workspace. The method uses a path selection mechanism that creates innovative paths through the workspace and learns to use trajectory that are more assured. This approach is implemented on motion robots which verified the shortest path via Quad-tree Decomposition (QD) and then used Voronoi Diagrams (VD(S)) algorithm we called (Q&V) algorithm. Based on the experimental data, we claim the robot's trajectory planned by Q&V algorithm is the better find and control the roadmap is completely modeled and hasn't the localization errors. We show that even small modeled obstacles can cause large used from the preplanned path. Our complementary approach of path selection decreases the risk of path following and increases the predictability of robot's behavior.

关键词： Motion planning Mobile robot Quad-tree Q & V Obstacle avoidance Visual servo

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control robot by multiagent control architecture

Control robot by multiagent control architecture

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international conference on Computer technology and Development

作者： Moutaouakkil, Fouad Medromi, Hicham Systems' Architecture Team Ensem Hassan II University Casablanca Morocco

ISBN: (纸本)9781424488438

In this paper we propose a behavior-based architecture, which can also be seen as a multi-agent architecture, to control a situated and embodied autonomous mobile robot, under a close sensing action relationship. Pre-existing knowledge can play a meta-level role, being used in order to provide an adviser capability which is combined with the basic reactive feature of the robot. One of the challenges of the behavior-based approach is the integration and coordination of multiple different behaviors. This problem was faced using combination operators applied to lower level behaviors and producing useful and coherent higher level behaviors. Our autonomous mobile robot also exhibits learning capabilities, namely the ability to learn new behaviors in an autonomous way. In this context it was designed to the elementary behaviors a connectionist architecture that encompasses the capabilities of building specific basic competences. Through the exploration of the proposed control architecture a mobile platform has become an useful autonomous mobile robot It is able to deal with dynamic environments, evolving in a coherent, relevant and adequate way according to both the current situation as well as with its assigned missions. © 2010 IEEE.

关键词： Multi agent systems

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Quad crawler robot navigation using animal walking gait

Quad crawler robot navigation using animal walking gait

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2010 international conference on Electronic Computer technology, ICECT 2010

作者： Parasuraman, S. Jauw, Veronica Lestari Mechatronics School of Engineering Monash University Bandar Sunway Selangor Malaysia

ISBN: (纸本)9781424474059

In recent years, much interest in improving the stability of walking robot has motivated the researchers to investigate and understand the fundamental principles of biological animal gait locomotion. However, maintaining the stability of a robot is not easy as it seems, the main problem in developing walking robot is how the walking robot can obtain gait stability during walking and the workspace limitation. Studies are done to implement the biological aspects of animal into the robot kinematic design, leg configuration and control structures. This project is focused on the development of a novel class of crawler robot, which mimics the locomotion of four legged animal. The fundamental gait of lizard locomotion has been adopted as a basic concept of the developed quad crawler locomotion. The kinematics of the leg mechanism is developed and verified with simulation studies. The experimental studies are carried out to investigate the stability issues while walking and navigate in the environment. The experimental results are discussed and compared with the existing work. ©2010 IEEE.

关键词： Kinematics

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Manipulating objects with a power assist robot in harmonic motion: Analysis of human features and object motions for control modification

Manipulating objects with a power assist robot in harmonic m...

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2010 2nd international conference on Mechanical and Electronics Engineering, ICMEE 2010

作者： Rahman, S.M. Mizanoor Ikeura, Ryojun Sawai, Hideki Dept. of Mechanical Engineering Mie University Tsu 514-8507 Japan

ISBN: (纸本)9781424474806

We designed a one-degree-of-freedom (vertical up-down motion) power assist robot for manipulating objects. We used a hypothesis that pertains to human's weight perception. The robot was simulated and subjects manipulated objects with the robot in harmonic motion i.e. the objects were repeatedly lifted up and lowered down in each trial. We then critically analyzed subject's weight perception, load forces and object's motions. We also compared the results derived in harmonic motion to that derived in linear vertical motion. We then proposed a novel control technique to reduce the excessive load forces applied by the subjects. We explained how the findings derived in this article would enhance the effectiveness of the novel control strategy. Finally, we proposed to use the findings to develop power assist robots to manipulate heavy objects in industries such as construction, transport and logistics, manufacturing and assembly, mining, rescue and military operations etc. that would enhance interactions with the users in terms of maneuverability, safety, naturalness, ease of use, stability etc. © 2010 IEEE.

关键词： Human robot interaction

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A MULTI-AGENT MPC ARCHITECTURE FOR DISTRIBUTED LARGE SCALE SYSTEMS

A MULTI-AGENT MPC ARCHITECTURE FOR DISTRIBUTED LARGE SCALE S...

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2nd international conference on Agents and Artificial Intelligence (ICAART 2010)

作者： Javalera, Valeria Morcego, Bernardo Puig, Vicenc CSIC UPC Inst Robot & Informat Ind Adv Control Syst Grp C Llorens & Artigas 4-6 Barcelona 08028 Spain

ISBN: (纸本)9789896740214

In the present work, techniques of Model Predictive control (MPC), Multi Agent Systems (MAS) and Reinforcement Learning (RL) are combined to develop a distributed control architecture for Large Scale Systems (LSS). This architecture is multi-agent based. The system to be controlled is divided in several partitions and there is an MPC Agent in charge of each partition. MPC Agents interact over a platform that allows them to be located physically apart. One of the main new concepts of this architecture is the Negotiator Agent. Negotiator Agents interact with MPC Agents which share control variables. These shared variables represent physical connections between partitions that should be preserved in order to respect the system structure. The case of study, in which the proposed architecture is being applied and tested, is a small drinking water network. The application to a real network (the Barcelona case) is currently under development.

关键词： Large scale systems Multi agent systems Distributed model predictive control Reinforcement learning

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2010 2nd international conference on Communication Systems, Networks and Applications, ICCSNA 2010

2010 2nd International Conference on Communication Systems, ...

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2010 2nd international conference on Communication Systems, Networks and Applications, ICCSNA 2010

ISBN: (纸本)9781424474769

The proceedings contain 212 papers. The topics discussed include: an embedded system design for high definition media player;proposal for information security architecture based on a company;a result of communication systems;a note on information systems;the analysis and construction e-government information security assurance system;hardware design of independent experimental platform based on FPGA;research based on the HSV humanoid robot soccer image processing;a speech enhancement preprocessor for robust speech recognition;spectrum efficiency of cognitive relay transmissions with cooperative diversity in cognitive radio networks;enhanced multicast Hamiltonian cycle protection in WDM optical networks;performance evaluation of datagram congestion control protocol in mobile ad hoc networks;empirical research of mobile payment user behavior based on perceived risk;and design of the internal service recovery process system.

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