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检索条件"主题词=Control Engineering Computing"

共 1551 条记录，以下是431-440 订阅

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Collision Avoidance and its Experimental Investigation for a Side-Faced-Type Multi-Fingered Haptic Interface

Collision Avoidance and its Experimental Investigation for a...

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IEEE International Conference on Systems, Man, and Cybernetics (SMC)

作者： Endo, Takahiro Kawasaki, Haruhisa Gifu Univ Dept Mech Engn Gifu Japan

ISBN: (纸本)9781479938407

To display three-directional forces at a user's multiple fingertips and to allow the user to grasp a small virtual object, we previously developed a side-faced-type multi-fingered haptic interface. This haptic interface consists of a five-fingered haptic hand and an arm, and the haptic interface is located on the side of the user's body. Therefore, there is a risk that the haptic hand and the user's hand will collide while the user manipulates the haptic interface. In this paper, we realized a control system for collision avoidance for a side-faced-type multi-fingered haptic interface, and present experimental results demonstrating its validity.

关键词： collision avoidance control engineering computing dexterous manipulators haptic interfaces experimental investigation five-fingered haptic hand side-faced-type multifingered haptic interface three-directional forces Acoustics Collision avoidance Force Haptic interfaces Joints Ultrasonic variables measurement

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Survey of Vehicle IoT Bluetooth Devices 7

Survey of Vehicle IoT Bluetooth Devices

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IEEE 7th International Conference on Service-Oriented computing and Applications (SOCA)

作者： Oka, Dennis Kengo Furue, Takahiro Langenhop, Lennart Nishimura, Tomohiro ETAS KK Nishi Ku Yokohama Kanagawa 2206217 Japan

ISBN: (纸本)9781479968336

Modern vehicles equipped with wireless technologies such as Bluetooth can basically be considered mobile IoT devices. Users can connect their smart phones to their cars to for example use the car's speakers and microphones to make phone calls or read out various diagnostics data from the car such as engine speed and coolant temperature. However, to provide high usability and also often due to limitations in physical input/ output capabilities of Bluetooth devices, there may be errors in the implementations where Bluetooth security features are not fully utilized for the pairing procedure. For example, attackers can target vehicle IoT devices using fixed unchangeable PINs that are always in discoverable mode and pair with such devices by guessing the PINs. If these devices are connected to the invehicle network, an attacker in control of such a device could execute attacks by injecting arbitrary messages into the invehicle network. These attacks could have serious consequences on human life as they can affect the safety of the car. Therefore, it is imperative to provide proper security measures for vehicle IoT devices that provide a potential entrypoint to the in-vehicle network.

关键词： Bluetooth Internet of Things automobiles control engineering computing smart phones telecommunication security traffic engineering computing Bluetooth security features arbitrary messages car safety car speakers coolant temperature engine speed fixed unchangeable PIN in-vehicle network microphones mobile IoT devices modern vehicles pairing procedure phone calls physical input-output capabilities vehicle IoT Bluetooth devices wireless technologies Joining processes Pins Ports (Computers) Security Vehicle dynamics Vehicles Bluetooth Smartphone Telephone Wireless Technology coolant temperature Engine Speed Microphone Device Component control engineering computing vehicle Road safety Cars PIN Bone Nails telecommunication security Internet of things

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A Design of the Tele-operation control System for Liquid Container Transfer by an Overhead Traveling Crane

A Design of the Tele-operation Control System for Liquid Con...

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11th International Conference on Remote engineering and Virtual Instrumentation (REV)

作者： Kaneshige, Akihiro Kawasaki, Yudai Ueki, Satoshi Miyoshi, Takanori Terashima, Kazuhiko Toyota Natl Coll Technol Dept Mech Engn Toyota Japan Toyohashi Univ Technol Toyohashi Aichi Japan

ISBN: (纸本)9781479920242

This research is suggested a design method a tele-operation control for liquid container transfer by an overhead crane system that allows the operator to control the speed of the overhead crane freely and to feel the swing of the rod instinctively through the reaction force. In remote control, the information of the distant place is important. Particularly, feeling the reaction force for operation is important like watching the rod's movement with cameras. The proposed system in this research can be used via the internet and can be controlled from everywhere. For example, operating in a place such as the steel and the casting factory where is bad work environment due to a high temperature and mine dust, this tele-control system using the internet as its communication line can be useful, since it allows the operator to control the crane from a safer and good environment place. The usefulness of proposed system is demonstrated by an experiment.

关键词： Internet containers control engineering computing cranes telecontrol Internet casting factory communication line liquid container transfer mine dust overhead crane system overhead traveling crane reaction force remote control rod steel factory telecontrol system teleoperation control system design Containers control systems Cranes Design methodology Educational institutions Force Liquids

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Validation of logic controllers from events observation in a closed-loop system 19

Validation of logic controllers from events observation in a...

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19th IEEE International Conference on Emerging Technology and Factory Automation (ETFA)

作者： Guignard, Anais Faure, Jean-Marc Ecole Normale Super Automated Prod Res Lab LURPA F-94230 Cachan France

ISBN: (纸本)9781479948451

Numerous worthwhile results have been published in the last two decades on validation of logic controllers by using formal methods like model-checking or conformance testing. Whatever the merits of these contributions, the first approach considers only a model of the control code while the second one focuses on an isolated controller that executes this code. However, from a control engineering point of view, validation of a logic controller requires also to analyze the behavior of the controller when it is connected to the plant it must control to form a closed-loop system. This paper proposes a method to check, from observation of I/O events, whether the behavior of such a controller conforms to its specification. The principle of this method is to build a model of the closed-loop system from the observed I/O events then to compare this model to the specification model. A criterion to terminate the observation step is defined by using previous results on identification of discrete event systems. This method is illustrated on a small example.

关键词： closed loop systems control engineering computing discrete event systems formal verification programmable controllers closed-loop system events observation logic controllers Analytical models Automata Biological system modeling Buildings Closed loop systems Discrete-event systems Radiation detectors

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Tactile Object Recognition using Deep Learning and Dropout 14

Tactile Object Recognition using Deep Learning and Dropout

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14th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

作者： Schmitz, Alexander Bansho, Yusuke Noda, Kuniaki Iwata, Hiroyasu Ogata, Tetsuya Sugano, Shigeki Waseda Univ Sch Creat Sci & Engn Sugano Lab Shinjuku Ku Okubo 2-4-12 Tokyo 1690072 Japan Waseda Univ Sch Creat Sci & Engn Sugano Lab Shinjuku Ku Tokyo 1620044 Japan Waseda Univ Grad Sch Fundamental Sci & Engn Tokyo 1698555 Japan Waseda Univ Sch Creat Sci & Engn Dept Modern Mech Engn Tokyo Japan Waseda Univ Sch Creat Sci & Engn Dept Modern Mech Engn Shinjuku Ku Tokyo 1698555 Japan

ISBN: (纸本)9781479971749

Recognizing grasped objects with tactile sensors is beneficial in many situations, as other sensor information like vision is not always reliable. In this paper, we aim for multimodal object recognition by power grasping of objects with an unknown orientation and position relation to the hand. Few robots have the necessary tactile sensors to reliably recognize objects: in this study the multifingered hand of TWENDY-ONE is used, which has distributed skin sensors covering most of the hand, 6 axis F/T sensors in each fingertip, and provides information about the joint angles. Moreover, the hand is compliant. When using tactile sensors, it is not clear what kinds of features are useful for object recognition. Recently, deep learning has shown promising results. Nevertheless, deep learning has rarely been used in robotics and to our best knowledge never for tactile sensing, probably because it is difficult to gather many samples with tactile sensors. Our results show a clear improvement when using a denoising autoencoder with dropout compared to traditional neural networks. Nevertheless, a higher number of layers did not prove to be beneficial.

关键词： control engineering computing dexterous manipulators distributed sensors learning (artificial intelligence) object recognition tactile sensors F/T sensors TWENDY-ONE deep learning denoising autoencoder distributed skin sensors dropout grasped objects recognition joint angles multifingered hand multimodal object recognition position relation power grasping tactile object recognition unknown orientation Object recognition Principal component analysis Skin Tactile sensors Training tactile sensors object recognition dexterous manipulators control engineering computing distributed sensors Machine Learning principal components analysis skin

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Analysis of the Effects of Failure and Noise in the Distributed Connectivity Maintenance of a Multi-robot System 15

Analysis of the Effects of Failure and Noise in the Distribu...

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15th IEEE International Symposium on Computational Intelligence and Informatics

作者： Battagello, Vinicius A. Ribeiro, Carlos H. C. Technol Inst Aeronaut ITA Comp & Elect Engn Postgrad Program Sao Jose Dos Campos SP Brazil Technol Inst Aeronaut ITA Sao Jose Dos Campos SP Brazil

ISBN: (纸本)9781479953370

To perform cooperative tasks in a decentralized manner, multi-robot systems are often required to communicate with each other. Therefore, maintaining the communication graph connectivity is a fundamental issue. In this paper, we analyse the effects of different types of disturbances (failure and noise) in the communication between agents, upon a connectivity maintenance control strategy. The results show that the connectivity strategy is resilient to the negative effects of such disturbances under realistic settings that consider a bandwidth limit for the control effort. This opens the perspective of applying the connectivity maintenance strategy in adaptive schemes that consider, for instance, autonomous adaptation to constraints other than connectivity itself, e.g. communication efficiency and energy harvesting.

关键词： control engineering computing cooperative systems graph theory multi-robot systems bandwidth limit communication efficiency communication failure communication graph connectivity connectivity maintenance control strategy cooperative task distributed connectivity maintenance energy harvesting multirobot system noise effect Eigenvalues and eigenfunctions Estimation Maintenance engineering Multi-robot systems Nickel Noise Robots multi-robot systems control engineering computing Maintenance engineering Noise Noise effects energy harvesting cooperative systems Eigenfunctions Graph theory Robot Nickel

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The PLC UML State-chart Design Pattern 19

The PLC UML State-chart Design Pattern

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19th IEEE International Conference on Emerging Technology and Factory Automation (ETFA)

作者： Racchetti, Lorenzo Fantuzzi, Cesare Tacconi, Lorenzo Bonfe, Marcello Univ Modena & Reggio Emilia I-42122 Reggio Emilia Italy Tetra Pak Packaging Solut SpA I-41123 Modena Italy Univ Ferrara I-44100 Ferrara Italy

ISBN: (纸本)9781479948451

We developed an UML-State-charts Object Oriented Design Pattern for PLCs IEC61131-3. This PLC UML-State-chart Design Pattern aims to explore the advantage of Object Oriented Programming by IEC61131-3 in PLCs, and to provide a direct map of UML State-chart to PLC code. We illustrates the design pattern and its use through UML Class diagrams and an application example. This Design Pattern can be used to reduce the development time of State-charts in automation software. It can also lead towards further investigations in PLC Design Patterns that may improve the whole development of automation software.

关键词： IEC standards Unified Modeling Language control engineering computing object-oriented programming programmable controllers PLC IEC61131-3 PLC UML state-chart design pattern UML class diagrams UML-state-charts object oriented design pattern automation software object oriented programming Actuators Automation Engines History Object oriented modeling Software Unified modeling language

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Effect of collaborative learning with robot that prompts constructive interaction

Effect of collaborative learning with robot that prompts con...

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IEEE International Conference on Systems, Man, and Cybernetics (SMC)

作者： Jimenez, Felix Kanoh, Masayoshi Yoshikawa, Tomohiro Furuhashi, Takeshi Nagoya Univ Grad Sch Engn Nagoya Aichi 4648601 Japan Chukyo Univ Sch Engn Nagoya Aichi Japan

ISBN: (纸本)9781479938407

In this study, we sought to examine how the behavior of a robot can prompt collaborative learning with a human. We focus on constructive interaction that has been regarded as a foundation of collaborative learning and occurs when two learners alternately solve a question. For this, the robot is designed to alternately perform speaker and listener motions for constructive interaction with a human. With the speaker motion, the robot explains a solving method to the partner and solves a question. Moreover, the robot improves its accuracy rate as learning progresses. With the listener motion, the robot does not solve a question and instead pays attention to the partner who is solving the question. The robot learns while solving a question issued by a learning system with a human student. College students recruited as volunteers learned with learning system with the robot for one month and were videoed during that time to see how they learned. The results of examination suggest that the robot prompts learners to learn by constructive interaction in collaborative learning and possibly gains the same learning effect as collaborative learning between two humans.

关键词： computer aided instruction control engineering computing control system synthesis educational robots groupware human-robot interaction collaborative learning college students human constructive interaction human student learning effect learning system listener motions robot behavior robot design speaker motions Accuracy Collaboration Collaborative work Databases Educational institutions Learning systems Robots

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Bootstrapping Humanoid Robot Skills by Extracting Semantic Representations of Human-like Activities from Virtual Reality 14

Bootstrapping Humanoid Robot Skills by Extracting Semantic R...

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14th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

作者： Ramirez-Amaro, Karinne Inamura, Tetsunari Dean-Leon, Emmanuel Beetz, Michael Cheng, Gordon Tech Univ Munich Inst Cognit Syst Fac Elect Engn D-80290 Munich Germany Natl Inst Informat Tokyo Japan Univ Bremen Inst Artificial Intelligence D-28359 Bremen Germany

ISBN: (纸本)9781479971749

Advancements in Virtual Reality have enabled well-defined and consistent virtual environments that can capture complex scenarios, such as human everyday activities. Additionally, virtual simulators (such as SIGVerse) are designed to be user-friendly mechanisms between virtual robots/agents and real users allowing a better interaction. We envision such rich scenarios can be used to train robots to learn new behaviors specially in human everyday activities where a diverse variability can be found. In this paper, we present a multi-level framework that is capable to use different input sources such as cameras and virtual environments to understand and execute the demonstrated activities. Our presented framework first obtains the semantic models of human activities from cameras, which are later tested using the SIGVerse virtual simulator to show new complex activities (such as, cleaning the table) using a virtual robot. Our introduced framework is integrated on a real robot, i.e. an iCub, which is capable to process the signals from the virtual environment to then understand the activities performed by the observed robot. This was realized through the use of previous knowledge and experiences that the robot has learned from observing humans activities. Our results show that our framework was able to extract the meaning of the observed motions with 80 % accuracy of recognition by obtaining the objects relationships given the current context via semantic representations to extract high-level understanding of those complex activities even when they represent different behaviors.

关键词： control engineering computing digital simulation humanoid robots virtual reality SIGVerse virtual simulator human-like activity representation humanoid robot skill iCub robot semantic representation semantic representation extraction virtual environment virtual robot Cameras Cleaning Motion segmentation Robot vision systems Semantics Training virtual reality Virtual environments Cameras Humanoid robots robot vision system control engineering computing Semantics Motion segmentation Digital simulation Computer Simulation Robot Functional training

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Self-organized Flocking of a Mobile Robot Swarm by Topological Distance-based Interactions 7

Self-organized Flocking of a Mobile Robot Swarm by Topologic...

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IEEE/SICE International Symposium on System Integration (SII)

作者： Yasuda, Toshiyuki Adachi, Akitoshi Ohkura, Kazuhiro Hiroshima Univ Inst Engn 1-4-1 Kagamiyama Higashihiroshima 7398527 Japan Hiroshima Univ Grad Sch Higashihiroshima 7398527 Japan

ISBN: (纸本)9781479969449

Self-organized flocking of robotic swarms has been investigated for approximately twenty years. Most studies are based on a computer animation model named Boid. The Boid model reproduces flocking motion by three simple behavioral rules: collision avoidance, velocity matching, and flock centering. Boid-like flocking motions are generated from the interacting positions and orientations of neighboring robots. This paper investigates a technique by which interactions among neighboring robots in a swarm are determined by their topological separations. The effectiveness of the proposed method is quantitatively evaluated in real robot experiments.

关键词： collision avoidance computer animation control engineering computing mobile robots multi-robot systems topology Boid model computer animation model flock centering flocking motion mobile robot swarm robot experiments robotic swarms self-organized flocking topological distance-based interactions topological separations velocity matching Aggregates Collision avoidance Measurement Robot kinematics Robot sensing systems Vectors Collision avoidance control engineering computing Manipulator sensing systems computer animation Robot kinematics Mobile robots multi-robot systems FLOCKING topology dike swarms

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