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Research of path planning for mobile robot based on improved ant colony optimization algorithm

Research of path planning for mobile robot based on improved...

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international conference on Advanced Computer control, ICACC

作者： Juan-ping Zhao Xian-wen Gao Jin-gang Liu Ying-qiao Chen College of Information Engineering of Shenyang University of Chemical Technology Shenyang China Shenyang Xinghua Aero-Electric Appliances Company of Limited Liability Shenyang China

The paper proposes an improved ant colony optimization algorithm. This method first designs two fuzzy controllers to optimize three parameters α, β, ρ. Then it establishes a dynamic searching window for ants and chaos information are added when near-neighbour city table is constituted in order to increase research speed in initial stages of algorithm. In addition, the concept of active degree of city node is presented as future information to supervise ants to construct solution and update pheromone. Finally a new evaluation criterion is produced to distinguish where paths are excellent or not. So the strategy not only conquers the weakness of easily running into local optimization while making route optimization, but also enhances efficient convergence of ant colony optimization algorithm. Results of large numbers of computer simulations demonstrate that this novel algorithm can plan optimal path rapidly in intricate three dimension (3-D) environment.

关键词： Path planning Mobile robots Ant colony optimization Educational institutions Information science Cities and towns Algorithm design and analysis Fuzzy control Aerodynamics Convergence

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A Cavity Detection Method Based on Machine Vision

A Cavity Detection Method Based on Machine Vision

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2010 2nd international conference on Signal Processing System(2010年信号处理系统国际会议 ICSPS 2010)

作者： Zhelong Wang Hongyu Zhao Junxia Ren Hongyi Li School of Control Science and Engineering Dalian University of Technology Dalian China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

In order to search and rescue the victims in rubble effectively, a 3D model of the cavity is required. This paper presents a cavity detection method based on machine vision for disaster rescue robot. Laser ring projection technique is developed to lighten the profile of cross-section of the cavity and draw It line around the internal surface. A CMOS camera is used to capture the images which consist of essential profile information as well as various noises. The method of image acquiring and image preprocessing is also described. However, due to the inevitable influence of the harsh environment and lighting conditions, the profile in the acquired image might be partitioned into several segments. Thus, a method of detecting the curve segments based on vector argument is proposed. The 3D model of the cavity is reconstructed by using a series of complete and accurate cross-section profiles which are fitted by the improved cubic B-spline interpolation. Experimental results show that the proposed profile tracking algorithm is effective and adaptable.

关键词： machine vision 3D reconstruction rescue robot profile tracking

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Decoupling Robust control of Three-Link Direct Drive robot Arm

Decoupling Robust Control of Three-Link Direct Drive Robot A...

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2010 2nd international conference on Intellectual technology in Industrial Practice (ITIP2010)

作者： C. Zhang, MIEEE, G. Zhao Ningbo Institute of technology Zhejiang University Ningbo, China Y.Xiao School of Information Engineering Shenyang Uni. of Chemical technology Shenyang, China X. Yang School of EEE Nanyang Technological University Singapore

This paper introduces the mechanical structure of a three-link direct drive SCARA for wafer handling application. The dynamic modeling of the presented SCARA is derived and the coupling effect of the system is studied. A decoupling method based on computed torque control is employed in the implementation. Robust control is applied to design the SISO controllers after the system is decoupled. The experimental test results demonstrate satisfying dynamic, settling and static performances by utilizing the decoupling robust control.

关键词： decoupling control robust control direct drive SCARA robot arm

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A novel hybrid-genetic-algorithm process applied in blood-glucose soft sensing

A novel hybrid-genetic-algorithm process applied in blood-gl...

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

作者： Dongping Ma Xuan Wang Hui Cao Heping Hang Yuzhang Han Jianguo Han Biochemical Engineer College Beijing Union University Beijing China Institute of Scientific Computing University of Technology Vienna Vienna Austria

ISBN: (纸本)9781424451920;9781424451937

A novel hybrid-genetic-algorithm process in multi-objective parallel mode (NHMGA), operated for tracking a 2-period-BP model-mapping, supported by optimally equipped Grid-computing framework, is proposed. This NHMGA is specially designed for personal on-line and real-time bio-information modeling which is successfully applied in soft-sensing of blood-glucose. The related application example and its result analysis are described. Owing to the non-invasive soft-sensing based on the NHMGA which possesses the advantages, such as resource-sharing, high speed and accuracy of function approach, flexible real-time model-tracking, the number of blood-taking-times of every patient with serious diabetes can be reduced onto 30% of the original one per day, thus the on-line-diagnosis-medical-measurement based on the NHMGA is very strongly valued in Asia and Europe, and sequentially developed in the CAD-grid (CAD-G) 2# (¿China-Austria-Data-Grid¿-cooperation-project) which supports the NHMGA using a Grid-computing framework optimally equipped by workflow engine WEEP, and CEFSP 200805# (Chinese Education Foundation Science Project) which developed the NHMGA tool-software realized in a PC-embedded-FPGA-system (PEF) , thus, the NHMGA is facing a wide application future linked with the fields such as real-time tracking, analyzing, diagnosis and control of bio-information process, industrial automation process, natural synusiologic process.

关键词： Optimal control Automatic control robotics and automation Instruments robot control robot sensing systems Parallel robots Educational institutions Diabetes Asia

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Path Following of a Piezo-Driven Miniature robot Based on Fuzzy Logic

Path Following of a Piezo-Driven Miniature Robot Based on Fu...

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2010 The 2nd international conference on Industrial Mechatronics and Automation (ICIMA 2010)

作者： Hisayuki Aoyama Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications Tokyo Japan Authors

This paper studied the path following case of a PZT-driven electromagnetic miniature robot which is used as a locomotion platform in a "Desktop Micro robots Factory".Considering the nonlinearity of the locomotive characteristics according to the difference equation describing the position and orientation changes of the robot,a fuzzy logic controller was designed to calculate the driven voltage amplitude applied to the two piezoelectric elements to fulfill the *** overcome the overshoot when the robot joined the path from a far starting position,an improved method,which introduced a simple coarse initial pose error adjustment before the fuzzy controller took action,was proposed,resulting in a tracking error reduction preferably.

关键词： miniature robot PZT electromagnet path following fuzzy logic control

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Design and development of a high speed sorting system based on machine vision guiding

Design and development of a high speed sorting system based ...

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2010 2nd international conference on Intellectual technology in Industrial Practice (ITIP2010)

作者： Wenchang Zhang, Jiangping Mei, Yabin Ding School of Mechanical Engineering Tianjin University Tianjin, China

In this paper, a vision-based control strategy to perform high speed pick-and-place tasks on automation product line is proposed, and relevant control software is develop. Using Delta robot to control a sucker to grasp disordered objects from one moving conveyer and then place them on the other in order. CCD camera gets one picture every time the conveyer moves a distance of ds. Objects position and shape are got after image processing. Target tracking method based on "Servo motor + synchronous conveyer" is used to fulfill the high speed porting operation real time. Experiments conducted on Delta robot sorting system demonstrate the efficiency and validity of the proposed vision-control strategy.

关键词： automatic production line, machine vision, targets tracking, Delta robot

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Route optimum mechanisms for local communication on PMIPv6

Route optimum mechanisms for local communication on PMIPv6

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

作者： Lingjiao Wang Hua Guo Bin Duan Chuan Liu Coll. of Inf. Eng. Xiangtan Univ. Xiangtan China Dept. of Sceience & Res. CNGC Jiang Nan Machinery (Group) CO.Ltd. Xiangtan China

Route optimization technique helps to optimize the media path and to lessen the propagation delay time between two communicating nodes. For PMIPv6 technology, this route optimization technique is applicable to the scenarios, i.e., a separate MAG scenario and a sharing MAG scenario whose two communication terminals register different LMAs respectively. In this paper, two route optimum mechanisms for local communication on PMIPv6 is presented for forwarding data packets rapidly. For the separate MAG scenario, a bidirectional tunnel is set up between two peer MAGs. A MAG address discovery mechanism is presented because its address is a prerequisite of route optimum in the scenario. An internal binding mechanism is proposed for the route optimum on the sharing MAG scenario. The set up and maintenance of localized routing optimum, which allows forwarding of data packets between mobile nodes and correspondent nodes directly without involvement of the LMA in forwarding, can makes no difference for data packet forward, decrease packet loss, increase throughput or diminish transport delay.

关键词： Routing Peer to peer computing Mobile radio mobility management Protocols robotics and automation Next generation networking Asia Informatics Automatic control robot control

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Self configuration of 4G network terminals

Self configuration of 4G network terminals

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

作者： Guangxiang Yang Hua Liang School of Computer Science and Information Engineer Chongqing Technology and Business University Chongqing China

ISBN: (纸本)9781424451920;9781424451937

As the emerging of 4G network, which is the convergence of fixed and mobile networks, there is a great need for the changing of traditional terminal devices to adaptively and intelligently meet the requirements of users. This paper proposes a novel framework and mechanism for self configuration of receivers that operate in heterogeneous environments and in 4G networks. The presented management framework supports dynamically modeling, strategy based optimization for construction of a self configured, self managed and adaptive 4G terminals. For this highly heterogeneous communications and services environment, we propose a framework of Terminal Management System based on self configuration of the terminals by interoperating with existing service delivery, aims to provide seamless service and ABC(Always Best Connected) connections to mobile users. Access network selection and QoS of service are the important factors which have crucial impacts on self-configuration and re-configuration process of 4G terminals. Two separate problems are identified in this paper to satisfy the self configuration and re-configuration of receivers: one involving the framework of self configuration, and the other concerning the optimization algorithm of service configuration in light of quality levels and other parameters.

关键词： Quality of service robotics and automation Computer science Mobile computing Environmental management Resource management Asia Informatics Automatic control robot control

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controller Design of Quadrotor Aerial robot

Controller Design of Quadrotor Aerial Robot

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2010 2nd international conference on Multimedia and Computational Intelligence (ICMCI 2010)

作者： Yu Yali engineering training center Harbin engineering university Harbin,Heilongjiang province,China SunFeng College of automation Harbin engineering university Harbin,Heilongjiang province,China Wang Yuanxi engineering training center Harbin engineering university Harbin,Heilongjiang province,China

This paper deduced the nonlinear dynamic model of a quadrotor aerial robot,which was a VTOL(vertical tale-off and landing)unmanned air *** that is a complex mode with the highly nonlinear multivariable strongly coupled and under-actuated property,the controller design of it was very *** at attaining the excellent controller,the whole system can be divided into three interconnected parts:attitude subsystem,vertical subsystem,position *** nonlinear control strategy of them has been described,such a SDRE and *** controller design was presented to stabilize the whole *** simulation result indicates the various models have shown that the control law stabilize a quadrotor aerial robot with good tracking performance and robotness of the system.

关键词： quadrotor aerial robot VTOL SDRE Backstepping

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A dynamic simulation of force in the movement of ameba based on cosmos

A dynamic simulation of force in the movement of ameba based...

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2010 2nd international conference on Modeling, Simulation,and Visualization Methods(WMSVM 2010)

作者： Lei Chen and Minzhou Luo The Key Laboratory of Biomimetic Sensing and Advanced robot technology Hefei Institute of Intelligent Machines,CAS,Hefei,230031,P.R.China TaoMei Precision Machinery and Precision Instrumentation University of Science and technology of China Hefei,230026,P.R.China

Imitation amoeba robot entering the space whose nominal size is smaller than itself can complete can perform many tasks inaccessible to other robots or humans such as surveillance,inspection,repair,cleaning,and *** solid models of amoeba are established by using *** simulation analysis of the movement and the force situation in the movement is completed by using the software of *** change of Amoeba entities that based on deformation of the ipmc material in effect ofthe control unit is researched.

关键词： Ipmc Amoeda Cosmos Simulation

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