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Election campaign algorithm

Election campaign algorithm

引用

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

作者： Wenge Lv Qinghua Xie Zhiyong Liu Xiangwei Zhang Shaoming Luo Siyuan Cheng Faculty of Electro-mechanics Engineering Guangdong University of Technology Guangzhou China

Election campaign algorithm (ECA) is a new heuristic optimization algorithm, it acts by simulating the behavior that the election candidates pursue the highest support in campaign all along. Test functions are applied... 详细信息

ISBN: (纸本)9781424451920

关键词： Nominations and elections robotics and automation Voting Asia Informatics Automatic control robot control Heuristic algorithms Computational modeling Testing

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Research on mobile robot mapping on binocular stereo vision system

Research on mobile robot mapping on binocular stereo vision ...

引用

international conference on Information Science and Engineering (ICISE)

作者： Naigong Yu Li Wang College of Electronic Information and Control Engineering Beijing University of Technology Beijing China

ISBN: (纸本)9781424476169

Mapping is an important research direction in the field of robot navigation. Map represents the robot's working environment has very important effect on localization and path planning. Vision sensor is simple and reliable, and has been widely used in the field of mapping. The paper introduces the process in which the binocular stereo vision system is adapted to imitate the double eyes of mankind in order to realize computer vision. The autonomous mapping algorithm in this paper is based on GSOM (Growing Self-organizing Map) algorithm. By continuously increasing new neurons in the growth of network scale, the GSOM mapping algorithm applies a small number of SOM neurons to generate a topologic map describing the environmental characteristics. The experimental results show that: we applied GSOM algorithm to autonomously generate a topological map, which was accurately described by a small number of SOM neurons.

关键词： robot sensing systems Stereo vision Artificial neural networks Neurons control engineering Sonar navigation

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Improved ant colony optimization algorithm and its application for path planning of mobile robot in 3-D space

Improved ant colony optimization algorithm and its applicati...

引用

international conference on Advanced Computer control, ICACC

作者： Juan-ping Zhao Xian-wen Gao Jin-gang Liu Xiu-hui Fu College of Information engineering Shenyang University of Chemical Technology Shenyang China College Information Science and engineering of Northeastern University College of Information engineering of Shenyang University of Chemical Technology Shenyang China College of Information engineering of Shenyang University of Chemical Technology Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences College Information Science and engineering Northeastern University China College Information Science and engineering of Northeastern University Shenyang Institute of Automation Chinese Academy of Sciences

An improved ant colony algorithm, differential evolution chaos ant colony optimization (DEACO) algorithm, was proposed to plan an optimal collision-free path for mobile robot in 3-D environment. It utilized differential evolution algorithm to update pheromone and chaos disturbance factor was added when pheromone updates for possible stagnation phenomenon. So it enhances escaping capability of algorithm, avoids path-deadlock situations as well as improves the efficiency of planning optimal path. The simulation results indicated that the optimal path on which the robot moves can reach safely and can be rapidly obtained under 3-D space environment, the effect being very satisfactory.

关键词： Ant colony optimization Path planning Mobile robots Educational institutions Information science Chaos Orbital robotics robot kinematics Space technology Chemical technology

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Trajectory planning method of the pot in cooking robot

Trajectory planning method of the pot in cooking robot

引用

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

作者： Hailong Rong Xianzhong Dai Xinyu Liu School of Automation South-East University Nanjing China Shenzhen Pansum technology limited Shenzhen China

ISBN: (纸本)9781424451920;9781424451937

As a teaching method, a dish movement model based on DEM is presented by the paper, and is then used as a bridge on the transformation of the demonstration trajectory to the planned trajectory regarding pot movement. Some indicators are introduced to evaluate the effect of the dish movement in the pot. The trajectories of the given mechanism are off-line designed, and then as the input to the model the indicators corresponding to each trajectory are got, and eventually a table of trajectories versus indicators is obtained. When teaching, the changes of the location and attitude of the pot are measured, and are then used as the input to the model to calculate the indicators, which are lastly matched with those in the table, and the trajectory corresponding to the best matched is taken as the teaching result. An example is showed at the end of the paper, and validates the method.

关键词： Trajectory Education Humans robotics and automation Orbital robotics Educational robots Space technology robot sensing systems Asia Informatics

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Clustering based spectrum allocation scheme using spectral graph partitioning

Clustering based spectrum allocation scheme using spectral g...

引用

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

作者： Dianjie Lu Jing Lu Xiaoxia Huang Shenzhen Institutes of Advanced Technology Chinese Academy and Sciences Shenzhen China

ISBN: (纸本)9781424451920

Efficient spectrum allocation in Open Spectrum Management is a challenging problem. In this paper, we propose a novel scheme to promote the spectrum utilization by decomposing the second users into non-overlapping clusters. To accomplish the partitioning, we employ a technique from algebraic graph theory known as Spectral Graph Partitioning (SGP). Based on this iterative method, the secondary users can be divided with the balanced radio resource. Then, the spectrum allocation algorithm can be performed distributively. Experiment result shows that our method effectively improves the performance of spectrum allocation.

关键词： Clustering algorithms Partitioning algorithms robotics and automation Graph theory Cognitive radio Asia Informatics Automatic control robot control robot kinematics

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Research and design on distributed controllers for mechanical arms of humanoid robot

Research and design on distributed controllers for mechanica...

引用

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

作者： Chongran Jiang Qingjun Shi Wenping Chen Binshan Xu School of Information and Electronic Technology Jiamusi University Jiamusi China

ISBN: (纸本)9781424451920;9781424451937

Distributed control system based on RS-485 bus for mechanical arms is put forward to improve control performance of mechanical arm of humanoid robot. Motion planning algorithms operate on host computer, which communicates distributed controllers with RS-485 bus, with responsibility for cooperation of each joint. Research and design on distributed controller for six degrees of freedom mechanical arm was accomplished, adopting TMS320F240DSP as the MPU. It was indicated by experimental results that the distributed control system could control the operation of each joint motor steady to track the set trajectory exactly in real time with RS-485 bus and that the system performance had fulfilled design requirements.

关键词： Distributed control Manipulators Humanoid robots control systems Motion planning Distributed computing Motion control Trajectory Real time systems System performance

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Collaboration scenario of the mobile robot and household applicances based on IGRS protocol

Collaboration scenario of the mobile robot and household app...

引用

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

作者： Zhiguo Shi Zhangzheng He Xu Liu Jia Zhang Zhiliang Wang School of Information Engineering University of Science and Technology Beijing Beijing P.R.C

Intelligent Grouping and Resource Sharing (IGRS) is a new protocol for resource discovery, invocation and network management. It defines ¿seamless interoperability¿ connections among 3C devices. IGRS standard received high votes to become NWIP in ISO/IEC JTC1 SC25 voting in 2006 and has passed the Final Draft international Standard (FDIS) voting in July 2008 to become an international standard. The approach is presented that enables mobile home service robots to interact with household electrical appliances based on the IGRS protocol. The systematic description of the service robot platform is made, which includes: the framework of the mobile robot platform, the ARM9 based system structures, the robot network system and the vision system of the mobile service robot. The service robot can cooperate with household air conditioners, refrigerators, microwave ovens and other equipment through the IGRS protocol. The robot acts as an intelligent household control center. The experiment shows the validity of the scenario of the collaboration system.

关键词： Collaboration Mobile robots Protocols IEC standards ISO standards Service robots Intelligent robots Voting Resource management Intelligent networks

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A distributed vision-based infrastructure for multi-robot navigation

A distributed vision-based infrastructure for multi-robot na...

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international conference on Computer and Automation Engineering, ICCAE

作者： Hsiang-Wen Hsieh Hung-Hsiu Yu Shu-Fan Liu Brian Stancil Tsuhan Chen Mechanical and Systems Research Laboratories Industrial Technology and Research Institute Hsinchu Taiwan Department of Information Management Yuanpei University of Technology Hsinchu Taiwan Department of Electrical & Computer Engineering Carnegie Mellon University Pittsburgh USA

ISBN: (纸本)9781424455690

With an accurate estimate of the robot pose, robots will be able to navigate in their environment autonomously with the aid of dynamic path planning. In this paper, an infrastructure of Distributed Vision-Based System (DVS) for multi-robot navigation is presented. The infrastructure is comprised of Localization and Motion Planning Process. The Localization Process receives images from cameras mounted in the environment and then utilizes ID tags to localize multiple robots. Motion Planning Process is designed to generate paths and steer the robots to target positions. Experiments with a network of small robot platforms and overhead cameras show that the proposed infrastructure could simultaneously localize and navigate multiple robots with localization errors within 0.1 meters.

关键词： Navigation robot vision systems Cameras robot sensing systems Path planning Voltage control Motion planning Process planning Image databases Image storage

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The robot System of Radio Frequency Ablation Based on Ultrasound Navigation

The Robot System of Radio Frequency Ablation Based on Ultras...

引用

The 2nd IEEE international conference on Advanced Computer control(第二届先进计算机控制国际会议 ICACC 2010)

作者： Qinjun Du School of Electrical and Electronic Engineering Shandong University of Technology Shandong Zibo China

ISBN: (纸本)9781424458455;9781424458486;9781424458479;9781424458462

The ultrasonic image guided radio frequency ablation surgery is an effective technique in liver tumour treatment. However, the traditional surgery imposes a constraint for surgeons to have high precision in their hand-eye coordination. This paper discusses the design of an assisted medical robot system to reduce these requirements, the needle driven robot system consists of needle-driven robot, 3D model navigation and a magnetic tracker. In the pre-operative phase, 3D model of the liver tumor is reconstructed and the needle insertion path is planed. In the intra-operative phase, the surgeon matches the pre-operative 3D model of the liver with real patient liver. Then, the needle-driven robot moves accurately at the target point where the surgeon inserts the needle into the liver tumour to destroy the tumor with microwave coagulation. A small and compact medical robot is proposed based on workspace optimization in this paper. Experimental results show that the robot location errors are less than 0.2mm, the robot ultrasound navigation system errorsare less than 2.5 mm.

关键词： needle-driven robot workspace optimization ultrasound navigation radio frequency ablation

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Research on information fusion algorithm of on-line handwriting signature verification

Research on information fusion algorithm of on-line handwrit...

引用

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

作者： Jian-bin Zheng Wei-long Zhang En-qi Zhan School of Information Engineering Wuhan University of Technology Wuhan China

ISBN: (纸本)9781424451920;9781424451937

The information fusion algorithm of on-line handwriting signature verification is proposed in order to improve the verification effect. The fused algorithm fuses three kinds of algorithms of on-line handwriting signature verification, respectively based on the evolution computation, the neural network and the discrete Fre¿chet distance. The test signature is verified, by each of the three kinds of algorithms, to obtain its confidence level of every algorithm. The final confidence level of the signature is fused by the confidence level of every algorithm through their weights calculation, and it can be used to judge whether the test signature is genuine. The experiment results reveal the remarkably decreasing percentage of false rejection and false acceptance.

关键词： Handwriting recognition Testing Neural networks Design for disassembly robotics and automation Hidden Markov models Automatic control robot control robot kinematics Fuses

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