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检索条件"主题词=Robotics and automation"

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Automatic education and self organization of intelligent robotic systems based on genetic algorithms

Automatic education and self organization of intelligent rob...

引用

International Workshop on Genetic and Evolving Systems, GEFS

作者： Valery M. Lokhin Serge V. Man'ko Michael P. Romanov Ilya B. Gartseev Michael V. Kadochnikov Electronics and Automation Moscow State Institute of Radioengineering Russia

The possibility of efficient functioning in a priori undefined and changeable conditions, being one of the major features of intelligent systems, is mostly predefined by their abilities in self-education and self-organization. Therefore the problems of generalizing acquired experience, automatically forming and augmenting knowledge are both interesting academically and significant for applications. The elaboration of the existing approaches and the development of new ways of solving these problems provides a substantial basis for the creation of intelligent self-educating systems of various types and purposes, possessing a wide set of abilities in adapting one's behavior to the environment's actions, forecasting the changes of situation, exposing the existing patterns, etc. One of the most interesting and promising approaches to the problem of automatic knowledge base synthesis for intelligent control systems is connected with the use of so-called genetic algorithms

关键词： Intelligent robots Intelligent systems Educational robots robotics and automation Genetic algorithms Robot sensing systems Intelligent control Mobile robots Genetic mutations Intelligent sensors

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Locomotion Capabilities of a Novel Reconfigurable Robot with 3 DOF Active Joints for Rugged Terrain

Locomotion Capabilities of a Novel Reconfigurable Robot with...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Houxiang Zhang Zhicheng Deng Wei Wang Jianwei Zhang Guanghua Zong TAMS Department of Informatics University of Hamburg Hamburg Germany Robotics Institute Beihang University Beijing China

Reconfigurable robots consist of many modules which are able to change the way they are connected. As a result, the robots have the capability of adopting different configurations to match various tasks and suit complex environments. This paper presents a novel field robot named JL-I which consists of three uniform modules. With the docking mechanisms, the modules can connect or disconnect flexibly and automatically. Furthermore the active joints formed by serial and parallel mechanisms endow the robot with the ability of changing shape in three dimensions. Consequently useful locomotion capabilities, such as crossing high vertical obstacles, getting self-recovery when the robot is upside-down are achieved. After describing the structural principle of the robot, the related kinematics analysis follows. In the end, the successful on-site tests confirm the principles described above and the robot's ability

关键词： Mobile robots robotics and automation Service robots Intelligent robots Kinematics Orbital robotics Shape Testing Informatics Parallel robots

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Ontology for Cognitics, Closed-Loop Agility Constraint, and Case Study - a Mobile Robot with Industrial-Grade Components

Ontology for Cognitics, Closed-Loop Agility Constraint, and ...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Jean-daniel Dessimoz Pierre-francois Gauthey Carl Kjeldsen West Switzerland University of Applied Sciences Switzerland

The paper refers to intelligent industrial automation. The objective is to present key elements and methods for best practice, as well as some results obtained. The first part presents an ontology for automated cognition (cognitics), where, based on information and time, the main cognitive concepts, including those of complexity, knowledge, expertise, learning, intelligence abstraction, and concretization are rigorously defined, along with corresponding metrics and specific units. Among important conclusions at this point are the fact that reality is much too complex to be approached better than through much simplified models, in very restricted contexts. Another conclusion is the necessity to be focused on goal. Extensions are made here for group behavior. The second part briefly presents a basic law governing the choice of overall control architecture: achievable performance level of control system in terms of agility, relative to process dynamics, dictates the type of approaches which is suitable, in a spectrum which ranges from simple threshold-based switching, to classical closed-loop calculus (PID, state space multivariable systems, etc.), up to "impossible" cases where additional controllers must be considered, leading to cascaded, hierarchical control structures. For complex cases such as latter ones, new tools and methodologies must be designed, as is typical in O 3 NEIDA initiative, at least for software components. Finally, a large part of the paper presents a case study, a mobile robot, i.e. an embedded autonomous system with distributed, networked control, featuring industry-grade components, designed with the main goal of robust functionality. The case illustrates several of the concepts introduced earlier in the paper.

关键词： Ontologies Mobile robots Control systems Intelligent robots robotics and automation Best practices Cognition Context modeling Calculus Three-term control

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Using dispatching rules for job shop scheduling with due date-based objectives

Using dispatching rules for job shop scheduling with due dat...

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IEEE International Conference on robotics and automation (ICRA)

作者： Tsung-Che Chiang Li-Chen Fu Department of Computer Science and Information Engineering National Taiwan University Taipei Taiwan

This paper addresses the job shop scheduling problem with the due date-based objectives including the tardy rate, mean tardiness, and the maximum tardiness. The focused approach is dispatching rules. Sixteen dispatching rules are selected from the literature and used as the benchmarks. Their features and design concepts are also discussed. Then a dispatching rule is proposed with the goal as achieving good and balanced performance when more than one objective is concerned at the same time. The experimental results verified its superiority, especially on the tardy rate and mean tardiness

关键词： Dispatching Job shop scheduling Computer science Processor scheduling Scheduling algorithm Mathematical programming Genetic algorithms Computer industry Equations robotics and automation

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Semi-Automatic Pipeline Inspection Robot Systems

Semi-Automatic Pipeline Inspection Robot Systems

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SICE Annual Conference

作者： Jae Yeon Choi Hoon Lim Byung-ju Yi School of Electrical Engineering and Computer Science Hanyang University Seoul South Korea

As the need of well-being life becomes popular, one of important issues is clean drinking water. Delivery of clean water from the main water fountain to the end user is very crucial. However, typical pipelines are being contaminated by rust and several chemicals. And thus the water delivered to house is not trustful as the drinking water. Thus, cleaning and inspection of the in-house pipeline becomes important issue. In order for development of in-house pipeline with the diameter of 13mm, it is very hard to use motorized automatic robot that has been employed in most pipeline robot system for large sized pipelines. Thus, this paper introduces a new semi-automotive pipeline inspection robot system for small sized pipelines. It consists of a CCD camera, a steering mechanism, and sensors to locate the robot inside the pipeline. The robot system is carried by an extension cable, which is in advance being penetrated into the pipeline by a compressed air. A lab prototype pipeline was developed to test the feasibility of the developed pipeline inspection robot system and the feasibility of this semi-automatic pipeline inspection method was proven successfully through experimentation

关键词： Pipelines Inspection Robot sensing systems Water pollution robotics and automation Chemicals Cleaning Charge coupled devices Robot vision systems Charge-coupled image sensors

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Towards a non-destructive in vitro biomechanical characterization

Towards a non-destructive in vitro biomechanical characteriz...

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Bio Micro and Nanosystems Conference, BMN

作者： Maxime Girot Mehdi Boukallel Stephane Regnier Laboratoire de Robotique de Paris Université Pierre et Marie Curie-Paris 6 CNRS-FRE 2507 Fontenay-aux-Roses France

This paper presents a fully automated micro-robotic system based on force/vision referenced control designed for cell mechanical characterization. The design of the prototype combines Scanning Probe Microscopy (SPM) techniques with advanced robotics approaches. As a result, accurate and non-destructive mechanical characterization based on soft contact interactions mechanics are achieved. The in vitro working conditions are supported by the experimental setup so that mechanical characterizations can be performed in biological environmental requirements as well as in cyclical operating mode during several hours. The design and calibration of the different modules which compose the experimental setup are detailed. Experimentation on the mechanical cell characterization under in vitro conditions on human adherent cervix Epithelial Hela cells are presented to demonstrate the viability and effectiveness of the proposed setup

关键词： In vitro Scanning probe microscopy Automatic control Force control Control systems Prototypes robotics and automation Employee welfare Calibration Humans

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Assistive Exoskeleton for Task Based Physiotherapy in 3-Dimensional Space

Assistive Exoskeleton for Task Based Physiotherapy in 3-Dime...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： S. Kousidou N. Tsagarakis D.G. Caldwell C. Smith Centre for Robotics and Automation University of Sanford Manchester UK School of Health Care Professions University of Sanford Manchester UK

Stroke forms one of the leading causes of death amongst adults in industrialized countries, and although survival rates are comparatively high in up to 1/3 of patients there is functional impairments (particularly in the upper limbs) that can persist even after rehabilitation training. Tasked based rehabilitation therapy (shaping) is a new approach that seems to offer good success compared to traditional methods, however, the technique requires very intensive and prolonged treatment. Robot mediated physiotherapy is the recent answer to the shortage of staff and the cost associated with this. In this paper a robotic approach to task based therapy is shown. The work focuses on how a robotic exoskeleton operating in a 3D volume can be used in conjunction with a Virtual Environment rehabilitation suite for training patients in relearning daily motor tasks. Salford Rehabilitation Exoskeleton (SRE) is used as an assistive device which helps individuals retrain in performing motor tasks by assisting them to complete therapy regimes. EMG recordings are used to show the capacity of the system to mediate the level of assistance provided from full assistance to zero aid

关键词： Exoskeletons Medical treatment Robot kinematics Rehabilitation robotics Industrial training Electromyography Extremities Biomedical imaging Switches robotics and automation

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Design of vast DOF artificial muscle actuators with a cellular array structure and its application to a five-fingered robotic hand

Design of vast DOF artificial muscle actuators with a cellul...

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IEEE International Conference on robotics and automation (ICRA)

作者： Kyu-Jin Cho J. Rosemarin H. Asada Department of Mechanical Engineering D''Arbeloff Laboratory for Information Systems and Technology Cambridge MA USA

This paper presents a cellular actuator design for a robotic hand. Although the motions of robotic hands are complex, a design of cellular actuator segmentation can be simplified by extracting the features of given postures and using them to design and control the actuator. A method of using captured hand posture data to design the actuator segmentation is proposed. Data from the eight most frequently used hand grips in a daily living, as defined in the sollerman hand function test, is used in this design. The gathered joint angle data is transformed into actuator displacement data and used to generate a segmentation design of the actuator. For segmentation design, feature extraction method, called non-negative matrix factorization with constraints is proposed. The actuator system has 12 SMA actuators each with eight segments, resulting in 96 configurable segments before the coupled segmentation design is applied. The coupling segmentation design effectively groups the segments into clusters which are simultaneously controlled. The segmentation design reduces 96 separately controlled segments to 8, while maintaining the ability to accomplish all desired postures. A robotic hand with five fingers, designed and fabricated using the FDM process, is driven with this actuator system, and eight hand postures are reproduced with the robotic hand

关键词： Muscles Actuators Robot kinematics robotics and automation Feature extraction Testing Bones Data mining Motion control Design methodology

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An Optimized Method for Path Planning Based on Artificial Potential Field

An Optimized Method for Path Planning Based on Artificial Po...

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International Conference on Intelligent Systems Design and Applications (ISDA)

作者： Bing Zhang Wanmi Chen Minrui Fei Shanghai Key Laboratory of Power Station Automation Technology School of Mechanical Engineering & Automation Shanghai University Shanghai China

The artificial potential field (APF) method provides simple and effective motion planner for practical purpose though it has its inherent disadvantages: local minima and oscillations in the presence of obstacles. This paper put forward a new method for improving the disadvantages of the path planning based on traditional APF. Before calculating the resultant force that is put on an object in the potential field, we build links among closed obstacles so as to optimize the path to be calculated. The effectiveness of the proposed method is verified by simulation results and practical applications

关键词： Optimization methods Path planning Artificial intelligence Intelligent robots robotics and automation Robot programming Joining processes Laboratories Power generation Mechanical engineering

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Automatically controlled vibration-driven robots

Automatically controlled vibration-driven robots

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International Conference on Mechatronics (ICM)

作者： Nikolai N. Bolotnik Sergey F. Jatsun Andrey S. Jatsun Andrey A. Cherepanov Institute for Problems in Mechanics of the Russian Russian Academy of Science Moscow Russia Kursk State Technical University Kursk Russia

Mobile robots are widely utilized for various operations in environments inaccessible to a human or dangerous for him. They are utilized, for example, for inspection and repair work in nuclear power and chemical plants, operations in areas of wreckage after earthquakes or blasts, or dismantling explosive devices (S. Aoshima et al., 1993). Most of these robots move by means of wheels or caterpillars, some of them utilize walking mechanisms. Such robots, however, cannot enter narrow slots (for example, during rescue operations in a zone of wreckage) or move in dense media other than gases or liquids. This justifies looking for new concepts of motion to enable robots to move efficiently in environments inaccessible to robots with wheel, caterpillar, and walking propelling systems. This issue is especially topical for medical robots designed for the motion through rather narrow channels (e.g., in blood vessels or the intestines) or among muscles to reach an affected organ to perform a diagnostic or surgical operation

关键词： Automatic control Robot control Vibration control robotics and automation Mobile robots Legged locomotion Medical robotics Wheels Humans Inspection

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