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检索条件"主题词=Control Engineering Computing"

共 1551 条记录，以下是551-560 订阅

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Intelligent Cooperative control for Urban Tracking with Unmanned Air Vehicles

Intelligent Cooperative Control for Urban Tracking with Unma...

引用

International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Cook, Kevin Bryan, Everett Yu, Huili Bai, He Seppi, Kevin Beard, Randal Brigham Young Univ Dept Comp Sci Provo UT 84062 USA

ISBN: (纸本)9781479908172;9781479908158

We introduce an intelligent cooperative control system for ground target tracking in a cluttered urban environment with a team of Unmanned Air Vehicles (UAVs). We extend the work of Yu et. al. [1] to add a machine learning component that uses observations of target position to learn a model of target motion. Our learner is the Sequence Memoizer [2], a Bayesian model for discrete sequence data, which we use to predict future target location identifiers, given a context of previous location identifiers. Simulated cooperative control of a team of 3 UAVs in a 100-block city filled with various sizes of buildings verifies that learning a model of target motion can improve target tracking performance.

关键词： Bayes methods aerospace computing autonomous aerial vehicles clutter control engineering computing cooperative systems intelligent control learning (artificial intelligence) motion control multi-robot systems position control target tracking

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Self-Organisation for Building Automation Systems: Middleware LINC as an Integration Tool

Self-Organisation for Building Automation Systems: Middlewar...

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39th Annual Conference of the IEEE Industrial-Electronics-Society (IECON)

作者： Pacull, F. Ducreux, L-F Thior, S. Moner, H. Pusceddu, D. Yaakoubi, O. Guyon-Gardeux, C. Fedor, S. Lesecq, S. Boubekeur, M. Pesch, D. CEA LETI MINATEC Campus17 Rue Martyrs F-38000 Grenoble France UTRC I Cork Ireland Nimbus Ctr Embedded Syst Res Cork Inst Technol Cork Ireland

ISBN: (纸本)9781479902248

Building Automation usually involves a large number of systems that should cooperate in order to improve e.g. the user comfort, security, but also decrease the overall energy consumption. One aim of the EU funded SCUBA project is to improve the coordination among devices and systems installed in a building. This paper deals with the extension of a framework dedicated to Building Automation and built on top of the LINC resource-based middleware. Two particular tools developed in SCUBA and that make use of the middleware are also presented together with the encapsulation of the ontology-based Building Automation System model named BASOnt.

关键词： building management systems control engineering computing energy consumption middleware ontologies (artificial intelligence) self-adjusting systems

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Synthesizing Object Receiving Motions of Humanoid Robots with Human Motion Database

Synthesizing Object Receiving Motions of Humanoid Robots wit...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yamane, Katsu Revfi, Marcel Asfour, Tamim Disney Res Pittsburgh PA 15213 USA Karlsruhe Inst Technol Karlsruhe Germany

ISBN: (纸本)9781467356411;9781467356435

This paper presents a method for synthesizing motions of a humanoid robot that receives an object from a human, with focus on a natural object passing scenario where the human initiates the passing motion by moving an object towards the robot, which continuously adapts its motion to the observed human motion in real time. In this scenario, the robot not only has to recognize and adapt to the human action but also has to synthesize its motion quickly so that the human does not have to wait holding an object. We solve these issues by using a human motion database obtained from two persons performing the object passing task. The rationale behind this approach is that human performance of such a simple task is repeatable, and therefore the receiver (robot) motion can be synthesized by looking up the passer motion in a database. We demonstrate in simulation that the robot can start extending the arm at an appropriate timing and take hand configurations suitable for the object being passed. We also perform hardware experiments of object handing from a human to a robot.

关键词： control engineering computing database management systems human-robot interaction humanoid robots motion control

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World Pendulum @ e-lab

World Pendulum @ e-lab

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2nd Experiment at International Conference (Exp at)

作者： Figueiredo, Rui Pereira, Tiago Balula, Samuel Neto, Rui Fernandes, Horacio Amarante-Segundo, Gesil Borges, Isabel Inst Super Tecn Lisbon Portugal Inst Plasmas & Fusao Nucl Lisbon Portugal Univ Estadual Santa Cruz Santa Cruz CA USA Planetario Calouste Gulbenkian Lisbon Portugal

ISBN: (纸本)9781479927418

World Pendulum is a project with the main purpose of studying the behavior of standard gravity with latitude. Several automated simple pendulums are distributed across different latitudes. Each of these pendulums can be remotely operated over the Internet, communicating in real time the measured period of the oscillations, which may then be used to calculate the value of g. This article describes the World Pendulum project and it's implementation integrated into e-lab, a software framework that allows remote control of real experiments over the Internet[1]. Preliminary results show that a good agreement with the established spherical harmonics model is obtained, with the absolute overall error being under 0.0002 (m)/(s2).

关键词： Internet control engineering computing geophysics computing gravity pendulums telecontrol

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A New Approach to Clothing Classification using Mid-Level Layers

A New Approach to Clothing Classification using Mid-Level La...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Willimon, Bryan Walker, Ian Birchfield, Stan Clemson Univ Dept Elect & Comp Engn Clemson SC 29634 USA

ISBN: (纸本)9781467356411;9781467356435

We present a novel approach for classifying items from a pile of laundry. The classification procedure exploits color, texture, shape, and edge information from 2D and 3D local and global information for each article of clothing using a Kinect sensor. The key contribution of this paper is a novel method of classifying clothing which we term L-M-H, more specifically L-C-S-H using characteristics and selection masks. Essentially, the method decomposes the problem into high (H), low (L) and multiple mid-level (characteristics(C), selection masks(S)) layers and produces "local" solutions to solve the global classification problem. Experiments demonstrate the ability of the system to efficiently classify and label into one of three categories (shirts, socks, or dresses). These results show that, on average, the classification rates, using this new approach with mid-level layers, achieve a true positive rate of 90%.

关键词： clothing control engineering computing edge detection image classification image colour analysis image texture sensors service robots shape recognition

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Improving Task Skill Transfer Method by Acquiring Impedance Parameters from Human Demonstration

Improving Task Skill Transfer Method by Acquiring Impedance ...

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10th IEEE International Conference on Mechatronics and Automation (ICMA)

作者： Shimizu, Masayuki Endo, Yamato Onda, Hiromu Yoon, Woo-Keun Torii, Takao Shizuoka Univ Dept Mech Engn Hamamatsu Shizuoka 4328561 Japan FUJI MACHINE MFG CO LTD Tokyo Japan Natl Inst Adv Ind Sci & Technol Intelligent Syst Res Inst Tsukuba Ibaraki 3058568 Japan

ISBN: (纸本)9781467355605

This paper addresses how to acquire reusable robot skills for practical tasks based on a programming by demonstration approach. Specifically, this paper aims at improving the task skill transfer method, which has been proposed by the authors, by acquiring impedance parameters and equilibrium trajectories simultaneously from demonstration data. First, the overview of the task skill acquisition method is described. Then, how to acquire the impedance parameters is discussed. Finally, the effectiveness of the proposed method is verified by experiments.

关键词： control engineering computing robot programming

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Robotic in situ stiffness cartography of InP membranes by dynamic force sensing

Robotic <i>in situ</i> stiffness cartography of InP membrane...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Abrahamians, Jean-Ochin Sauvet, Bruno Polesel-Maris, Jerome Braive, Remy Regnier, Stephane Univ Paris 06 CNRS Inst Syst Intelligents & Robot UMR 7222 4 Pl Jussieu F-75005 Paris France CEA IRAMIS Serv Phys & Chim Surfaces & Interfaces F-91191 Gif Sur Yvette France CNRS Lab Photon & Nanostruct F-91460 Marcoussis France Univ Paris 07 F-75205 Paris France

ISBN: (纸本)9781467363587

Typical methods of measuring mechanical properties at the micro-scale are destructive, and do not allow proper characterisation on resonant MEMS/NEMS. In this paper, a cartography of local stiffness variations on a suspended micro-membrane is established for the first time, by a tuning-fork-based dynamic force sensor inside a SEM. Experiments are conducted on InP membranes 200nm thin, using a 9-DoF nanomanipulation system, complemented with virtual reality and automation tools. Results provide stiffness values ranging from 0.6 to 3 N/m on a single sample.

关键词： control engineering computing force sensors membranes micromanipulators scanning electron microscopy vibrations virtual reality

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Optimal placement of spots in distributed proximity sensors for safe human-robot interaction

Optimal placement of spots in distributed proximity sensors ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Ceriani, Nicola Maria Avanzini, Giovanni Buizza Zanchettin, Andrea Maria Bascetta, Luca Rocco, Paolo Politecn Milan Dipartimento Elettron Informaz & Bioingn I-20133 Milan Italy

ISBN: (纸本)9781467356411;9781467356435

Industrial robots are today separated from human workers by means of safety barriers, that protect humans from the risk of collisions. This separation has a clear negative influence on diffusion of robotic technology in shopfloors. On the other hand the removal of protective barriers gives rise to safety issues, that can be addressed with a combination of approaches, including sensor based reactive control. In this paper a distributed proximity sensor, to be mounted on the links of the manipulator, is presented. The optimal placement of the spots of such sensor is discussed, taking into account detection capabilities and safety enhancement. Experiments developed on an ABB IRB 140 robot using off-the-shelf infrared distance sensors as spots are presented.

关键词： control engineering computing distance measurement distributed sensors human-robot interaction industrial manipulators occupational safety personnel

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Grounded Spatial Symbols for Task Planning Based on Experience 13

Grounded Spatial Symbols for Task Planning Based on Experien...

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13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

作者： Welke, Kai Kaiser, Peter Kozlov, Alexey Adermann, Nils Asfour, Tamim Lewis, Mike Steedman, Mark Karlsruhe Inst Technol Inst Anthropomat Adenauerring 2 D-76131 Karlsruhe Germany Univ Edinburgh Sch Informat 10 Crichton St Edinburgh EH8 9AB Midlothian Scotland

ISBN: (纸本)9781479926190

Providing autonomous humanoid robots with the abilities to react in an adaptive and intelligent manner involves low level control and sensing as well as high level reasoning. However, the integration of both levels still remains challenging due to the representational gap between the continuous state space on the sensorimotor level and the discrete symbolic entities used in high level reasoning. In this work, we approach the problem of learning a representation of the space which is applicable on both levels. This representation is grounded on the sensorimotor level by means of exploration and on the language level by making use of common sense knowledge. We demonstrate how spatial knowledge can be extracted from these two sources of experience. Combining the resulting knowledge in a systematic way yields a solution to the grounding problem which has the potential to substantially decrease the learning effort.

关键词： adaptive control continuous systems control engineering computing humanoid robots intelligent control knowledge acquisition mobile robots planning (artificial intelligence) state-space methods adaptive manner autonomous humanoid robot common sense knowledge continuous state space discrete symbolic entity grounded spatial symbol high level reasoning intelligent manner language level low level control and sensing sensorimotor level spatial knowledge task planning Dairy products Grounding Planning Robot sensing systems Semantics Syntactics

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Development of a Rapid control Prototyping System based on Matlab and a USB DAQ Unit

Development of a Rapid Control Prototyping System based on M...

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8th IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Lee, Y. S. Kim, W. S. Kim, S. Y. Inha Univ Sch Elect Engn Inchon 402751 South Korea

ISBN: (纸本)9781467363228;9781467363204

In this paper, we propose a new and cost-effective rapid control prototyping (RCP) system based on Matlab/Simulink and a DAQ (Data Acquisition) unit with the high speed USB communication interface. The proposed RCP system has a feature that a computer on which Simulink is running acts as a realtime controller and a DAQ unit performs data acquisition, transmission of the data to and from a computer, and the application of control data received from the computer. For its implementation, we develop 10 communication blocks each of which is constructed using S-function. In order to increase the data communication speed and thus to reduce the sampling period of the overall control system, we propose to use a batch transmission strategy through the USB interface. The proposed RCP system has several advantages over existing methods such as good maintainability, portability due to the USB interface, low cost, and no necessity for C-code generation even though it can only be applied to control systems with moderate sampling rates.

关键词： batch processing (computers) control engineering computing data acquisition mathematics computing peripheral interfaces

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