Two simple algorithms are used to find the global optimum in a parameter space of high dimension. Both algorithms are based on local optimization-the first one uses the gradient method, the other one modified Kohonen ...
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ISBN:
(纸本)0818620846
Two simple algorithms are used to find the global optimum in a parameter space of high dimension. Both algorithms are based on local optimization-the first one uses the gradient method, the other one modified Kohonen nets. The main topic of interest is how the qualitative features of the global optimum emerge as a consequence of iterated minor parameter adjustments. Planning the trajectory for a spray-painting robot is considered as an application example.< >
This paper describes the analysis and design of a robot platform with two drive wheels, each with an independent steering mechanism resulting in three independent degrees of motion. The kinematic and inverse kinematic...
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This paper describes the analysis and design of a robot platform with two drive wheels, each with an independent steering mechanism resulting in three independent degrees of motion. The kinematic and inverse kinematic analyses are derived in detail. An adaptive controller is designed to compensate for large inertial variations and to satisfy the velocity (nonholonomic) constraints.
Nuclear power is one of the most important ways to achieve industrial applications and large-scale alternative to fossil fuels, and is also one of the important means to achieve sustainable energy dev
ISBN:
(纸本)9781467389808
Nuclear power is one of the most important ways to achieve industrial applications and large-scale alternative to fossil fuels, and is also one of the important means to achieve sustainable energy dev
This paper designs and manufactures an intelligent wheeled robot with autonomous walking and obstacle avoidance functions. The obstacle avoidance of robot is realized by fuzzy controltechnology. In order to avoid obs...
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Two-wheeled balancing robot is a highly nonlinear system that needs a good controller to maintain stability. The linear controller can not anticipate the disturbances such are the uncertainties parameters and hard non...
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ISBN:
(纸本)9781728130163
Two-wheeled balancing robot is a highly nonlinear system that needs a good controller to maintain stability. The linear controller can not anticipate the disturbances such are the uncertainties parameters and hard nonlinearities. Sliding mode control (SMC) is one of the nonlinear control that is robust from disturbances. This paper proposes a way to simplify the designs of control. The movements of balancing robot are controlled with SMC strategy by decoupling the input and designed via Lyapunov analysis. The simulations are presented for evaluating the effectiveness of SMC and compared with the linear controller.
Recently, smart robots and smart systems have acquired extensive research. Combination of control engineering along with automation engineering and artificial intelligence has given birth to the next
ISBN:
(纸本)9781467389808
Recently, smart robots and smart systems have acquired extensive research. Combination of control engineering along with automation engineering and artificial intelligence has given birth to the next
This paper introduces a robot design of rebellious robot and its effects in human-robot interaction. Users often bore the robots during the interaction when it always obeys the users' orders and does the same reac...
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ISBN:
(纸本)9781450363792
This paper introduces a robot design of rebellious robot and its effects in human-robot interaction. Users often bore the robots during the interaction when it always obeys the users' orders and does the same reaction against the users' order. On the other hand, we are often more attracted to a rebellious child rather than a compliant child in our daily life. We pay attention to this fact, and design a rebellious robot, which is sometimes contumacious rather than compliant. We conducted some comparison experiments using a compliant robot and a learning robot. Through the experiments, we confirmed that users accepted the rebellious robot and felt some positive impression on it.
The target tracking is one of the most challenging tasks for an autonomous mobile robot moving in an unknown environment. This paper presents a simple control strategy that enables a mobile robot to track a target mov...
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ISBN:
(纸本)9781467329644;9781467329637
The target tracking is one of the most challenging tasks for an autonomous mobile robot moving in an unknown environment. This paper presents a simple control strategy that enables a mobile robot to track a target moving along an unknown trajectory. The proposed controller was designed using fuzzy logic theory to compute both the mobile robot's linear and angular velocities in order to point the robot on the target direction and maintain a desired distance to it. Extensive simulation results are provided to verify the effectiveness of the proposed approach.
Autonomation of daily tasks release human from various chores but physical and mental retrogression would be concerned because human lose familiar opportunities to do light exercise or feel a sense of accomplishment. ...
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ISBN:
(纸本)9781450362634
Autonomation of daily tasks release human from various chores but physical and mental retrogression would be concerned because human lose familiar opportunities to do light exercise or feel a sense of accomplishment. In this paper, we proposed the new type of work assistant robot called "Mercurial robot" that express its tiredness to let human to help the work partly without negative impression for their work. In order to analyze the human reaction to this working concept, one case study was conducted using Mercurial robot which has fluctuated performance and appearance depending on its condition. The rapid results suggested that the Mercurial robot with organic metaphor of its performance condition such as animal facial expression would increase the amount of exercise and positive impression including users' sense of accomplishment.
The exoskeleton rehabilitation robot of the lower limb is a special robot. It is provided for the users to wear outside, whereby artificial intelligence and mechanical power device are combined to enhance the ability ...
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ISBN:
(纸本)9781467398596
The exoskeleton rehabilitation robot of the lower limb is a special robot. It is provided for the users to wear outside, whereby artificial intelligence and mechanical power device are combined to enhance the ability of limb movements. The rehabilitation robots of the lower limb at home and abroad are described in this paper, especially the history and development status of the exoskeleton rehabilitation robot are studied, its structural features and functions are compared and analyzed, and the research direction of the rehabilitation robot of the lower limbs is forecasted in the future.
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