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Fast and Adaptive Clustering Method for Color Image Segmentation in Humanoid robot Soccer

Fast and Adaptive Clustering Method for Color Image Segmenta...

引用

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

作者： PAN Hai-peng, HU Li-hua, LIU Yu Institute of Automatic control, Zhejiang Sci-Tech University Hangzhou 310018, China

As the critical step in vision system of robot soccer, color image segmentation directly affects the object recognition and localization. According to the characteristic of illuminant variation and adversarial enviroment in humanoid robot soccor, a fast and adaptive clustering method for color image segmentation is proposed. It is based on coarse segmentation that separate the white and black pixels from the color image by taking constant thresholds of intensity and saturation of HSI color space. The number of clusters and cluster centers of color regions are got adaptively from the hue histogram without any iterative calculation. Experimental results show that the proposed method has better performance on accuracy, satisfies the real-time requirement with adaptive ability and needs to set less numbers of parameters, which has certain practical applications.

关键词： color image segmentation HSI color spacae humanoid robot soccer hue histogram fast clustering

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Dynamics Simulation of a 5-TTRRT Mobile robot

Dynamics Simulation of a 5-TTRRT Mobile Robot

引用

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

作者： Wenzhong Wang 1 Ji Zhao 1 Lei Zhang 1 Gang Xu 1 Liding Wang 1 Institute of Mechanical Science and Engineering Jilin Universit Changchun, China Wenzhong Wang 2 Engineering Training Center Changchun Institute of technology Changchun, China

Aiming at a 5-TTRRT mobile, which consist of a rectangular Cartesian coordinate mechanism, a rotation mechanism and a swing mechanism. Its kinematics and dynamics modeling and analyzing method was researched. On the base of the Lagrange's equation, kinematics and dynamics model of the 5-TTRRT mobile robot were set up with it's branch bar's relative coordinates and movable platform's absolute coordinates used as generalized coordinates. Kinematics and dynamics Numeric simulation of the 5-TTRRT mobile robot was finished by use of Matlab software, simulation results show the correctness of the proposed models and the effectiveness, and so it is very valuable reference to contrail plan and motion control design of the 5-TTRRT mobile robot.

关键词： Mobile robot kinematics simulation dynamics simulation the Lagrange’s equation

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Dynamics Analyze of a Dual-arm Space robot System Based on Kane's Method

Dynamics Analyze of a Dual-arm Space Robot System Based on K...

引用

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

作者： Ge Xinfeng College of Electrical & Information Engineering Xuchang University Xuchang,China Jin Jingtao College of Electrical & Information Engineering Xuchang University Xuchang,China

Dynamics is the bridge between design and control,as space robots gain more and more importance in space operations,it was becoming imperative to understand their distinctive dynamics and control characteristics. In the absence of fixed base,the dynamic equation of system no longer be linearly parameterized,and the dynamics of space robotic systems could be quite complex and their control could be difficult. The dynamics of a dual-arm space robot system was systematically studied,and a dynamic model based on Kane-Huston's method and screw theory was presented in this paper. The numerical example shows that acting moment of a composition unit of the robot can be solved for given value of motion parameters with the exploitation of the dynamic model,vice versa. Furthermore,the planning technique for position/force control approach can be explored by designing the motion law for composition unit. Simulations results of the proposed dynamic model,which based on Kane-Huston's method and screw theory of the dual-arm space robot system,are very useful.

关键词： dynamics Kane-Huston's method space robots multi-body system insert

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Approach to controlling robot by Artificial Brain Based on Parallel Evolutionary Neural Network

Approach to Controlling Robot by Artificial Brain Based on P...

引用

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

作者： Hugo de Garis Artificial Brain Lab Cognitive Science Department Xiamen University

A novel approach to building an intelligent robot which can be expected to show many intelligent behaviors as people do,is *** approach exploits a computer device called Tesla S1070,a personal supercomputer,to control a humanoid robot named *** Tesla S1070 acts as a human head,in which thousands of artificial neural network,the basis of an artificial brain(AB) ,evolve in a parallel way and act as a human *** CUDA(Computing Unified Device Architecture) technology is employed to solve the key problem i.e.,how to improve the evolution speed of thousands of neura *** general architecture of this approach,the reason why the Tesla S1070 is selected,and how the data structure of neural net modules should be modified to meet the demands of CUDA are presented in *** approach provides a method both for controlling a robot by the AB,and for demonstrating the power of the AB through a robot.

关键词： neural network evolutionary engineering artificia brain robot CUDA

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Learning to Reach Object with the Desired Pose by Using Visual Information

Learning to Reach Object with the Desired Pose by Using Visu...

引用

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

作者： Yuanqian Li and Wei Liu Institute of Automation,Chinese Academy of Science,Beijing 100190,China

We focus on the object reaching problem for eyeon-hand robot system:how to control the end-effector to reach the exact position and orientation according to the visual information of *** exact position and orientation are defined as"reaching pose"in this *** issues are mainly concerned and this leads to two contributions in this paper:(1) Find the relationship between reaching pose and object pose in the *** traditional methods based on complex calibration,supervised learning algorithm is introduced to learn the relationship based on training data which are collected *** method has two main advantages:1) it can be implemented with little human assistance and 2) it can handle non-linear case.(2) Represent the object pose in the image.A novel and robust algorithm is proposed to extract the feature *** feature points are robust and invariant under translation,rotation and *** those feature points are sorted into a sequence which corresponds to the input-variable *** sequence is also robust to make sure the consistency of the meanings of the input ***,the experiments show the validity of our method.

关键词： robot vision object reaching object representation supervised machine learning robot grasping

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Dynamic Simulation and control Research for Special Shipborne Crane Based on ADAMS

Dynamic Simulation and Control Research for Special Shipborn...

引用

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

作者： Li Peng, Zhu Fang, An Xufeng College of Automation Harbin Engineering University Harbin, P.R. China

The special crane used by ship in this paper is a multi-joints and folding robot arm's work system. Because it needs to work in a variety of sea conditions and being affected by waves and so on, the high demands of the trajectory control should be required. For this kind of complex control system, a system which is analyzed and simulated by the combination of ADAMS (Automatic Dynamic Analysis of Mechanical Systems) modeling based on a virtual prototype and MATLAB control is built and designed. The composition and implementation of the system are presented in the paper. The fuzzy cerebella model articulation controller (FCMAC) was used to tracking control and dynamic simulation research was done for this system. The results showed the superiority of this method which made kinematics and dynamics modeling analysis on ship-borne special crane based on the ADAMS. The simulation results of controller showed FCMAC had good tracking effect. The research method has intuitive, efficient and convenient features, provide better thought for similar studies of complex mechanical system.

关键词： special shipborne crane, fuzzy cerebella model articulation controller (FCMAC), ADAMS, modeling, simulation

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The control of Archwire Bending robot Based on MOTOMAN UP6

The Control of Archwire Bending Robot Based on MOTOMAN UP6

引用

2nd international conference on Biomedical Engineering and Informatics (BMEI)

作者： Zhang YongDe Jia YuXiang Harbin Univ Sci Tech Inst Machine Intelligence Harbin Peoples R China

ISBN: (纸本)9781424441334

This paper firstly introduces the function and hardware components of the robot. Then the complex motion trajectory which must be implemented in small space is analyzed in accordance with the requirements of the control of archwire bending. Various communications methods that are used to set up a communication between the robot and the host control computer is studied as well as the principle and realization of the robot controlling method which is used to make a preparation for constituting the overall framework of control software. Finally, the procedure method of control software that is based on Visual C++6.0 is analyzed. The control software is used to control the archwire bending robot in remote mode.

关键词： Archwire Bending robot control Software Visual C++6.0 Serial Communication

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Seam tracking control system of intelligent mobile welding robot

Seam tracking control system of intelligent mobile welding r...

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2nd international conference on Intelligent Networks and Intelligent Systems, ICINIS 2009

作者： Li, Kai Zhang, Ting Yang, Jing Xiao, Shu-Mei Huang, He School of Mechanical Engineering Hebei University of Technology TianJin 300130 China School of Chemical Engineering Hebei University of Technology TianJin 300130 China

ISBN: (纸本)9780769538525

To solve the seam tracking problem of the mobile welding robot, a prototype of mobile welding robot with welding torch positioned at one side of welding robot is developed. And a new controller based on the dynamics of the mobile welding robot was designed. To make the tracking more quickly and smoothly, the controller combined the algorithm of the integral Backstepping and the algorithm of the nerve network as its control algorithm, and utilized the self-learning neural network to deal with the partial uncertainty and the disturbances of the parameters of the robot model. It is proved that the selected control input torques make the system globally asymptotically stable based on the Lyapunov function selected out. Finally, the effectiveness of the controller is demonstrated by simulation results. © 2009 IEEE.

关键词： controllers

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control Architecture for autonomous multi-robot system: Survey and Analysis

Control Architecture for autonomous multi-robot system: Surv...

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2nd international conference on Intelligent Computation technology and Automation

作者： Yan Yan Tang Zhenmin North Univ China Sch Elect & Comp Sci & Tech Taiyuan Peoples R China Nanjing Univ Sci & Technol Sch Comp Sci & Technol Nanjing Peoples R China

ISBN: (纸本)9780769538044

The basic consideration of autonomous multi-robot system (MRS) control architecture is dealing with the whole system as a group, in which the individual robots interact with each other, avoid conflict, and cooperate to accomplish the tasks reliably and efficiently in complex environment. This paper systematically surveys and summarizes related studies on control architectures for multi-robot systems from definition and evolutions to theories and technologies corresponded to research Field. Some representational demonstrations and instances are analyzed. Finally the future directions of autonomous MRS architecture are overlooked in the end.

关键词： robotics multi-robot system summarization MRS control architecture

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Intelligent path following method for nonholonomic robot using fuzzy control

Intelligent path following method for nonholonomic robot usi...

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2nd international conference on Intelligent Networks and Intelligent Systems, ICINIS 2009

作者： Liu, Ning PLA 92941 Command Huludao Liaoning Province China

ISBN: (纸本)9780769538525

The path following control problem for mobile robots with nonholonomic constraints is discussed. According to the description of robot oriented positioning control, a novel path following fuzzy controller which based on human driving behavior has been designed. As the robot's direction error and orientation error relative to oriented goal are hardly coupled, so a position- orientation alternate control method is presented. When position error is bigger, a position controller is used to achieve the fast track, or an orientation controller is used. But during the orientation control, if orientation error is smaller, it turns back to position control. These two kinds of controllers take in turns, by which the mobile robot can be controlled to achieve path following mission fleetly and effectively. Then the validity and feasibility of this method has been approved by simulation results. © 2009 IEEE.

关键词： Fuzzy control

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