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检索条件"任意字段=Proceedings of the 3rd International Conference on Mechatronics and Robotics Engineering"

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Surface roughness of titanium alloys TA2 and TC4 in high-speed cylindrical grinding

Surface roughness of titanium alloys TA2 and TC4 in high-spe...

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2013 3rd international conference on Advanced Materials and Information Technology Processing (AMITP 2013)

作者： Nanyan Shen Yakai Jia Jing Li Shanghai Key Laboratory of Mechanical Automation and Robotics School of Mechatronics Engineering and AutomationShanghai University

ISBN: (纸本)9781845648534

The grindability of titanium alloys that are classified as "hard-to-machine" materials is studied in high-speed cylindrical grinding by cubic boron nitride(CBN) grinding *** research emphasis is surface roughness,including the simulation of empirical model of surface roughness and the orthogonal experiments using CBN grinding wheel with the speed from 45 to 150 m/*** results of surface roughness obtained by the grinding experiments and the simulation analysis under nine groups of grinding parameters are compared,which show that the empirical model is partially applicable for titanium(TA2) and titanium alloy(TC4) under the grinding conditions in this *** make the calculation results of empirical model close to the actual measurement results,the modified empirical model which illustrates the relationship between surface roughness and three key grinding parameters under the certain grinding conditions is built up by experimental data fitting.

关键词： titanium alloy high-speed cylindrical grinding orthogonal experiment surface roughness empirical model

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Hand gestures recognition using dynamic Bayesian networks

Hand gestures recognition using dynamic Bayesian networks

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Artificial Intelligence and robotics (IRANOPEN)

作者： Somayeh Shiravandi Mohammad Rahmati Fariborz Mahmoudi Department of Computer Engineering Qazvin Iran Department of computer engineering Amirkabir University of Tehran Tehran Iran

In this study a method for hand gesture recognition using dynamic Bayesian networks was presented. This study includes two main subdivisions namely: hand posture recognition and dynamic hand gesture recognition (without hand posture recognition). In the first session, after hand segmentation using a method based on histogram of direction and fuzzy SVM classifier, we train the posture recognition system. In the second session, after skin detection and face and hands segmentation, their tracing were carried out by means of Kalman filter. Then, by tracing the obtained data, the positions of hand was achieved. For combining the achieved data and output of hand posture recognition unit we utilize Bayesian dynamic network. For recognition of 12 hand gestures in this study, 12 Bayesian dynamic networks with two distinct designs were used. The difference between these two models is in the utilizing features and their relations with each other. Therefore, one of these models was used based on each gesture feature. The results of implementation show the about 90% average accuracy for all gestures.

关键词： Face Hidden Markov models Filtering algorithms Bayes methods Skin Gesture recognition Histograms

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Improvement of robot navigation using fuzzy method

Improvement of robot navigation using fuzzy method

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Artificial Intelligence and robotics (IRANOPEN)

作者： Mostafa Nazari Javad Amiryan Eslam Nazemi Electrical and Computer Engineering Department Shahid Beheshti University G. C. Tehran Iran Department of Computer Engineering Sharif University of Technology Tehran Iran

In this paper a technique for autonomous navigation of mobile robots is presented. The most important advantage of this method is to ignore the physical model of the robot and that the robot model is considered as an unknown but predictable system. This approach can be executed in environments which robot navigation is done using global sensors e.g. a camera installed in the environment to sense and control the robot and also every feedback system which is able to measure the velocity of the robot can be used for this technique. In this approach, the well-known fuzzy method, Takagi-Sugeno, has been applied to estimate the dynamic model of robot. Our technique has been applied successfully in small-size soccer robots league for improvement of soccer robots navigation. In this league a shared vision system is used to obtain the position and orientation of the playing robots and position of the ball and no interference is performed by human during a game. The fuzzy system produces the desired model between inputs and outputs of navigation system with less process time and more accuracy rather than other available methods.

关键词： Mobile robots Robot kinematics Takagi-Sugeno model Navigation Mathematical model Wheels

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Resource allocation in grid systems using collective case based reasoning methods and learning automata

Resource allocation in grid systems using collective case ba...

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Artificial Intelligence and robotics (IRANOPEN)

作者： Seyyed Mojtaba Ahmadi Behrooz Masoumi Reza Pourshaikh Department Of Electronic and Computer Engineering Islamic Azad University Qazvin Iran

At this article, we study the solutions about resources allocation in grid systems by means of synthetic method of collective case based on reasoning and learning automata. The collective case based on reasoning method in relation to agents, solves problems according to main agent method as scheduler agent. In fact, scheduler agent chooses a method within all present methods and sends it to other agents. All other agents use this method to find identical cases. These methods can be homogeneous or inhomogeneous. We try to study the effect of homogeneous or inhomogeneous agents and also using an identical case base or several discrete case bases for final answer so that each base pertains to one of the agents. The agents use ICBR-LA procedure in homogeneous methods and different kinds of CBR procedures like CBR-LA and ICBR-LA and also Max-Min and Min-Min methods in inhomogeneous cases. The scheduler agent chooses a method for solving a problem according to mentioned methods and sends it to other agents.

关键词： Cognition Nonhomogeneous media Resource management Learning automata Computer aided software engineering Computers

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A high quality image hiding scheme based upon noise visibility function and an optimal chaotic based encryption method

A high quality image hiding scheme based upon noise visibili...

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Artificial Intelligence and robotics (IRANOPEN)

作者： Sara Sajasi Amir-Masoud Eftekhari-Moghadam Department of Electrical Computer and IT Engineering Islamic Azad University Qazvin Iran

This paper presents a novel image steganographic approach for hiding a secret image in the cover image deals with improving both visual quality of the stego-image and the security of the secret image, while still providing a large embedding capacity. First, to improve both the visual quality and to keep the embedding capacity at an acceptable level, the payload of each region of the cover image is determined dynamically based on Noise Visibility Function (NVF). Second, to ensure the security of the secret image, an optimal chaotic based encryption method is generalized to transform the secret image into an encrypted image. Third, the optimal chaotic based encryption method is obtained by using GAiPSO algorithm to find an optimal secret key. The optimal secret key is able to encrypt the secret image in such a way that after embedding, the rate of changes in the stego-image can be decreased which result in increasing the quality of the stego-image. The experimental results demonstrate that the proposed scheme is able to achieve a good trade-off between the payload and the setgo-image quality.

关键词： Ciphers Encryption Biological cells Payloads Noise Gray-scale

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Adaptive fourier series-based control of electrically driven robot manipulators

Adaptive fourier series-based control of electrically driven...

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international conference on Control, Instrumentation, and Automation

作者： Saeed Khorashadizadeh Mohammad Mehdi Fateh Shahrood University Iran Department of Electrical and Robotics Engineering Shahrood University Iran

This paper presents a novel adaptive control for electrically driven robot manipulators based on the voltage control strategy. The control law is designed using a nominal model. Then, Fourier series is applied to estimate the uncertainty originated from the mismatch between the actual model and nominal model. The uncertainty includes parametric uncertainty, un-modeled dynamics and external disturbance. The adaptation laws for the coefficients of the Fourier series are derived from a Lyapunov function to guarantee the closed loop stability. The approximation error is then compensated to provide the asymptotically convergence of the tracking error. The case study is an articulated robot manipulator driven by permanent magnet DC motors. Simulation results show the effectiveness of the proposed method.

关键词： Fourier series Vectors DC motors Uncertainty Robots Joints Permanent magnet motors

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Model-based fault detection of a nonlinear system using interval type-2 fuzzy systems with non-singleton type-2 fuzzification

Model-based fault detection of a nonlinear system using inte...

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international conference on Control, Instrumentation, and Automation

作者： Hossein Monirvaghefi Mahdi Aliyari Shoorehdeli Advanced Process and Automation Control (APAC) group K. N. Toosi university of technology Tehran Iran Department of Mechatronics Engineering K. N. Toosi university of technology Tehran Iran

In this study interval type-2 fuzzy systems with non-singleton type-2 fuzzifire are used for identification and modeling nonlinear systems having noise with changing domain for fault detection purpose. The main idea in this fault detection method is to serve an upper bound and a lower bound as a confidence bound for system output that obtained from the interval type-2 fuzzy system. If we haven't precise information about mean and variance of noise, then non-singleton type-2 fuzzifire is usable. This fuzzifire improves performance of fault detection confidence bound. In the end of this paper a well-known benchmark two-tank system has been used for representing the advantages of proposed fault detection method.

关键词： Fault detection Fuzzy systems Fuzzy sets Uncertainty Noise Fuzzy logic Mathematical model

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Effects of convective heat transfer coefficient in prediction of materials properties from cone calorimeter testing

Effects of convective heat transfer coefficient in predictio...

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13th international conference and Exhibition on Fire and Materials 2013

作者： Ryder, Noah Weckman, Elizabeth Department of Mechanical and Mechatronics Engineering University of Waterloo 200 University Avenue West Waterloo ON N2L 3G1 Canada Delta Q Consultants Inc. 5457 Twin Knolls Rd. Columbia MD 21045 United States

It is increasingly important to develop appropriate models for material behavior under fire, particularly as structures and products use increasingly complex materials and computer simulations of fire become more prevalent. Both large and small-scale fire test methods are used;however, largescale testing under realistic fire conditions is costly and often does not allow for examination of material properties across the full parameter space. Thus, full-scale work is being replaced by testing at reduced scales, combined with correlations and modeling of results to larger scales. A key to proper characterization of material properties in fire lies in understanding the key parameters in the scaled tests and appropriately interpreting the data. The cone calorimeter is a small-scale test used extensively to characterize ignition and flammability parameters of materials. Results are incorporated into physical models to extract values of thermal inertia, κρc, and critical flux levels as a function of imposed heat flux. The method is based upon the assumption that the convective heat-transfer coefficient, hc, within the cone-sampling region is a known, and typically constant, parameter that describes heat transfer between the material and surrounding air under the prescribed radiative heat flux of the cone. In reality, the degree of scatter in values of hc reported in the literature is remarkable. For comparable test situations reported values span between 7 and 34 W m -2K-1;most are between 10 and 20 W m-2K -1. This study examines the current methods used to determine h c in cone calorimeter tests, and presents results on the impact of hc values in the derivation of materials properties for even a well-known material such as PMMA.

关键词： Fires

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A novel adaptive hybrid framework for job shop scheduling problem

A novel adaptive hybrid framework for job shop scheduling pr...

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Artificial Intelligence and robotics (IRANOPEN)

作者： Somayeh Kalantari Mohammad SanieeAbadeh Department of Electrical computer and Biomedical Engineering Islamic Azad University Qazvin Iran Department of Electrical and Computer Engineering Tarbiat Modares University Tehran Iran

This paper deals with the Job Shop Scheduling Problem (JSP) with the objective of minimizing the makespan criterion, the time elapsed between the start of the first job and end of the last job arranged in a job sequence. We propose a novel multi-population based framework called HADP-JSP to solve the JSP. In the HADP-JSP the main population is divided into several groups. Each group adaptively chooses one algorithm from the algorithm pool and then uses it to find solutions (schedules). The operation of selecting an algorithm is done based on the algorithm fitness. The fitness of the algorithms implies the average improvement which they make on the makespanes of the schedules in a group. The algorithm pool consists of five algorithms developed using the Memetic Algorithm, Genetic Algorithm, and Simulated Annealing Algorithm. We have assessed the efficiency of HADP-JSP by running it on a set of 20 well known instances introduced by Lawrence. We have compared the results obtained with those of the three algorithms established in the literature during the last five years. The results indicate that in 95% of all cases the proposed approach can yield the solutions that their values of the makespan are equal to the Best Known Solution (BKS).

关键词： Sociology Statistics Genetic algorithms Algorithm design and analysis Simulated annealing Job shop scheduling Schedules

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Vibration suppression in elastic drive systems using the immersion and invariance methodology

Vibration suppression in elastic drive systems using the imm...

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international conference on Electric Power and Energy Conversion Systems (EPECS)

作者： Irfan Ullah Khan Rached Dhaouadi Mechatronics Engineering Graduate Program American University of Sharjah Sharjah UAE

This paper presents a new robust control methodology to suppress the torsional vibrations in flexible drive systems. The position control of a nonlinear Two-Mass-Model system (2MM) is designed using the Immersion and Invariance approach. First, appropriate mapping functions are derived to convert the total nonlinear 2MM system into an equivalent reduced order system with rigid dynamics. This reduced order system is used as a target system to design a position controller, which is based on the standard PI type control technique. Next through immersion and invariance, the reduced order controller is applied to the nonlinear 2MM system to suppress the torsional vibrations and yield an over-damped response similar to the target system. The control law derivation and stability analysis of the target system are described and discussed. Simulation and experiments using a 2MM drive system are used to validate the proposed control methodology.

关键词： Vibrations Robustness Servomechanisms Joints

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