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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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Optical navigation system for robotics application

Optical navigation system for robotics application

引用

3rd international conference on Intelligent Systems Modelling and Simulation, ISMS 2012

作者： Solanki, Deepak Khare, Vanchhit Electronics and Communication Lovely Professional University Jallandhar India Electronics and Communication Amity School of Engineering and Technology Amity University Rajasthan Jaipur India

ISBN: (纸本)9780769546681

Frequently, robots find themselves asking this question. Knowing your location and being able to navigate to other locations is extremely important for autonomous robots. The act of finding one's location against a map is known as localization. So how can a robot localize itself? The most common form of intelligent localization and navigation is to use a map, combined with sensor readings and some form of closed-loop motion feedback. But a robot needs to do so much more than just localizing itself. Often, we'd like our robots to be able to build their own maps, since map building by hand is tedious, boring, and error-prone. The field of robotics that studies localization and mapping is typically called SLAM (simultaneous localization and mapping) [1]. Robot cists around the globe have been working to find a solution to localization for more than 20 years;however, only in the past 4-5 years we have seen some promising results. In this work, we describe a first-of-a-kind, breakthrough technology for pose finding for localization that requires only one low-cost camera and a powerful ARM based micro-controller. Because of its low-cost and robust performance in realistic environments, this technology is particularly well-suited for use in consumer and commercial applications. © 2012 IEEE.

关键词： Cameras

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Training fuzzy neural networks using sliding mode theory with adaptive learning rate

Training fuzzy neural networks using sliding mode theory wit...

引用

2012 3rd international conference on System Science, engineering Design and Manufacturing Informatization, ICSEM 2012

作者： Khoramdel Azad, Alireza Zarif Khanesar, Mojtaba Ahmadieh Teshnehlab, Mohammad Department of Mechatronics Engineering South Tehran Branch Islamic Azad University Tehran Iran Department of Control and Electrical Engineering Electrical and Computer Engineering Faculty Semnan University Semnan Iran Control Department Electrical and Computer Engineering Faculty K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467309141

This paper proposes an online training method for the parameters of a fuzzy neural network (FNN) using sliding mode systems theory with an adaptive learning rate. The implemented control structure consists of a conventional controller in parallel with a FNN. The former is provided both to guarantee global asymptotic stability in compact space and acts as a sliding surface to guide the states of the system towards zero. The output of the conventional controller is used to update the parameters of the FNN. The output of the FNN gradually replaces the conventional controller. The adaptive learning rate makes it possible to control the system without priori knowledge about the upper bound of the states of the system and their derivatives. An appropriate Lyapunov function approach is used to analyze the stability of the adaptation law of parameters of FNN. Sufficient conditions to guarantee the boundedness of the parameters are derived. The proposed approach is tested on the velocity control of an electro hydraulic servo system in presence of flow nonlinearities and internal friction. © 2012 IEEE.

关键词： Fuzzy neural networks

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Digital prototyping - RoboCAP 3

Digital prototyping - RoboCAP

引用

3rd international Multi-conference on Complexity, Informatics and Cybernetics, IMCIC 2012

作者： Baracho, Renata Maria Abrantes Porto, Marcelo Franco Arruda, Gustavo Silva, Gefferson School of Information Science Federal University of Minas Gerais Belo Horizonte Brazil School of Engineering Federal University of Minas Gerais Belo Horizonte Brazil

ISBN: (纸本)9781936338573

The research project "Digital Prototyping - RoboCAP" involves studying, modeling and preparing proposals for the robot development process in a mechatronic project, aiming at project development using two different types of computer software, in order to choose the software most appropriate for the development and simulation of mechatronic projects. The research project considers concepts and techniques of tridimensional simulation with digital prototyping to evaluate and optimize project levels before beginning real robot construction and assembly. It outlines a tridimensional simulation of the RoboCAP team's robot, created by the robotics Team of the Alto Paraopeba Campus, in the Federal University of São João del-Rei, located in the city of Ouro Branco, Minas Gerais, Brazil. The robotics team is divided into groups with different development phases of the RoboCAP assembly - a robot built and designed for robot competitions. During research, simulations, studies and calculations were performed using the tridimensional model with the objective of applying engineering and design project concepts to the tridimensional model. In making the RoboCAP prototype, a thorough analysis was carried out to compare the two types of specialist software - SolidWorks and Autodesk Inventor - as well as the use of AutoCAD. The analysis method is based on the comparison of temporal metrics and commands, thereby obtaining a relation of the system response to the user in the modeling, assembly and simulation of finite elements. Both types of software are similar when starting to create the piece, whereby they establish the Basic profile and offer specific functions for tridimensional modeling and simulation. By means of prototyping, it was possible to detect an error in the project design that corresponded to the weapons system, which showed a deformity in the screw coupling. After the anomaly was detected, the weapons shaft and toothed wheel parts were modified and adjusted to an equiv

关键词： Robots

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Development of in-pipe inspection robot: A review

Development of in-pipe inspection robot: A review

引用

3rd IEEE conference on Sustainable Utilization and Development in engineering and Technology, STUDENT 2012

作者： Ismail, Iszmir Nazmi Anuar, Adzly Sahari, Khairul Salleh Mohamed Baharuddin, Mohd Zafri Fairuz, Muhammad Jalal, Abd Saad, Juniza Md Centre for Advanced Mechatronics and Robotics Universiti Tenaga Nasional Jalan IKRAM-UNITEN 43000 Kajang Selangor Malaysia

ISBN: (纸本)9781467317054

This paper reviewed several previous papers on work that have been done on the development of in-pipe inspection robot for the last 20 years. By sorting the types of the inspection robots they can be divided into several groups according to their locomotion. Each prototype has its own advantages and disadvantages depending on its design requirements and purpose of inspection. The prototypes have been tested in several experiments in order to verify its functionality and efficiency of inspection task. Some of the researchers ran simulations to validate the kinematic and modeling the mechanism of their own prototype. Developing in-pipe inspection robot can overcome the issues of human factor in labour intensive or dangerous work and also to act in inaccessible environment during repair and maintaining inside the pipeline. © 2012 IEEE.

关键词： Inspection

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A survey of swarm robotics system

A survey of swarm robotics system

引用

3rd international conference on Swarm Intelligence, ICSI 2012

作者： Shi, Zhiguo Tu, Jun Zhang, Qiao Liu, Lei Wei, Junming School of Computer and Communication Engineering University of Science and Technology Beijing 100083 Beijing China ANU College of Engineering and Computer Science Australian National University Canberra ACT 2601 Australia

ISBN: (纸本)9783642309755

Swarm robotics system has been a particularly active topic of robotics in recent years due to the increasing deepening of research on robotics technology and application. This paper gives a survey of swarm robotics system research from such aspects as theoretical basis and physical research, simulation platform, distributed control information fusion and communications system. Some problems that need to be solved about swarm robotics system research in IOT (Internet of Things) environment are also raised, such as co-adaptation, distributed control and self-organization, resource scheduling management. Finally, the ant colony algorithm and particle swarm optimization are applied to the swarm robotics system. © 2012 Springer-Verlag.

关键词： Surveys

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Inverted pendulum fault tolerant control based on fuzzy backstepping design and anti-control of chaos

Inverted pendulum fault tolerant control based on fuzzy back...

引用

3rd IFAC conference on Analysis and Control of Chaotic Systems, CHAOS 2012

作者： Saedian, Atefeh Zarabadipour, Hassan Shoorehdeli, Mahdi Aliyari Farivar, Faezeh Department of Electrical Engineering Imam Khomeini International University Qazvin Iran Faculty of Electrical Engineering Department of Mechatronics Engineering K.N. Toosi University of Technology Tehran Iran Faculty of Engineering Mecatronics Department Science and Research Branch Tehran Iran

ISBN: (纸本)9783902823021

This study presents fault tolerant control of inverted pendulum via on-line fuzzy backstepping and anti-control of chaos. The inverted pendulum, as a mechatronics system, is used frequently in robotic applications and can be found in different forms. Based on Lyapunov stability theory for backstepping design, the nonlinear controller and some generic sufficient conditions for asymptotic control are attained. Also in this study, anti-control of chaos is applied to increase the fault tolerant of inverted pendulum. To achieve this goal, the chaos dynamic must be created in the inverted pendulum system. So, the inverted pendulum system has been synchronized to chaotic gyroscope system. In this study, control and anti-control concepts are applied to achieve the high quality performance of inverted pendulum system. It is tried to design a controller which is capable to satisfy the control and anti-control aims. The performances of the proposed control are examined in terms of fault tolerant capability. Finally the efficacy of the proposed methods are illustrated by simulations. © 2012 IFAC.

关键词： Gyroscopes

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Enhancing performance of mobile node authentication with practical security

Enhancing performance of mobile node authentication with pra...

引用

3rd international conference on Information Technology Convergence and Services, ITCS 2011 and 2011 FTRA international conference on Intelligent robotics, Automations, Telecommunication Facilities, and Applications, IRoA 2011

作者： Han, Kyusuk Shon, Taeshik Information and Communications University Daejeon Korea Republic of Division of Information and Computer Engineering Ajou University Gyeonggido Suwon 443-749 Korea Republic of

In this paper, we enhance our untraceable mobile sensor node protocol (Han K, Kim K, Shon T (2010) Sensors 10(5):4410-4429) that reduce computation overhead, and also satisfies practical security strength. © 2011... 详细信息

ISBN: (纸本)9789400725973

关键词： Sensor nodes

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Evaluation of piezoresistivity in heat treated 5A06 Al-Mg alloy due to applied stress using eddy current method

Evaluation of piezoresistivity in heat treated 5A06 Al-Mg al...

引用

3rd international conference on Material and Manufacturing Technology, ICMMT 2012

作者： Abdul, Shakoor Zhou, Zhenggan Institute for NDT and Mechatronics Engineering Beihang University 37-Xueyuan Lu Haidian District Beijing China

ISBN: (纸本)9783037854532

Eddy current method can be used for non-destructive assessment of residual stress. In order to relate electrical conductivity change to the residual stresses in the welded joints, piezoresistivity of 5A06 has been investigated using samples heat treated at 250°C and 400°C. These samples represent weld zones with different thermal exposure. A directional eddy current probe with a Hall Effect sensor was used to evaluate stress coefficient of electrical conductivity due to applied uniaxial tensile load on the samples. The electromagnetic forward model was solved using FEM package and linear conductivity inversion was formulated to express probe output in terms of electrical conductivity. The piezoresistivity coefficients of samples, calculated from the derivative of stress-conductivity relation, were compared. The results indicate that coefficients vary inversely with annealing temperature. © (2012) Trans Tech Publications, Switzerland.

关键词： Welds

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Application of high-linearity analog optocoupler in DSP acquisition circuit

Application of high-linearity analog optocoupler in DSP acqu...

引用

2012 3rd international conference on Mechanical and Aerospace engineering, ICMAE 2012

作者： Tan, Yingqi Liu, Xiangyang Den, Baoqing Department of Mechatronics Engineering Zhuhai College Jilin University Zhuhai China

ISBN: (纸本)9783037855140

An applied hardware circuit for detecting the AGC signals isolated with DSP is designed based on a high-linearity analog optocoupler. The problem of narrow measuring scope, low linearity and instability which caused by noisy signals is resolved when collects industrial analog signals into DSP. The practical circuit with proper design of components is designed through repeated experiments. The experiment data are analyzed by the method of least-square. The analyzed results show this circuit has the high accuracy and good linearity. © (2012) Trans Tech Publications, Switzerland.

关键词： Optoelectronic devices

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Korean voice recognition system development

Korean voice recognition system development

引用

作者： Jarng, Soon Suck Department of Control and Instrumentation Robotics Engineering Chosun University 375 Seoseok-Dong Dong-Ku Gwang-Ju Korea Republic of

ISBN: (纸本)9789400725973

In this paper, the voice recognition algorithm based on Hidden Markov Modeling (HMM) is analyzed in detail. The HMM voice recognition algorithm is explained and the importance of voice information DB is revealed for better improvement of voice recognition rate. An algorithm designed to extract syllable parts from continuous voice signal is introduced. This paper shows the relationship between recognition rates and number of applying syllables and number of groups for applying syllables. © 2011 Springer Science+Business Media B.V.

关键词： Hidden Markov models

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