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检索条件"主题词=Control Engineering Computing"

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Unifying Fuzzy controller for Indoor Environment Quality

Unifying Fuzzy controller for Indoor Environment Quality

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Joint World Congress of the International-Fuzzy-Systems-Association (IFSA) / Annual Meeting of the North-American-Fuzzy-Information-Processing-Society (NAFIPS)

作者： Molina-Solana, Miguel Ros, Maria Delgado, Miguel Univ Granada Dept Comp Sci & Artificial Intelligence Granada Spain

ISBN: (纸本)9781479903481

Optimizing energy consumption while maintaining an appropriate level of comfort is one of the current challenges in the Indoor Environment Quality (IEQ) field. In this paper, we propose an unified fuzzy controller for managing the different aspects involved in IEQ, overcoming the potentially inefficient interactions between several traditional controllers. We also describe the implemented web simulator to test the controller, and the results of applying the controller to a pilot room, measuring the air quality over a period of a month. Even though, further research and experimentation should be done, specially with the experts in order to fine tuning the rules and the controller, initial results are promising enough and the ease of use is quite remarkable by users.

关键词： HVAC Internet control engineering computing digital simulation energy consumption fuzzy control optimisation

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Automated Pointing of Cardiac Imaging Catheters

Automated Pointing of Cardiac Imaging Catheters

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Loschak, Paul M. Brattain, Laura J. Howe, Robert D. Harvard Univ Sch Engn & Appl Sci Cambridge MA 02138 USA

ISBN: (纸本)9781467356411;9781467356435

Intracardiac echocardiography (ICE) catheters enable high-quality ultrasound imaging within the heart, but their use in guiding procedures is limited due to the difficulty of manually pointing them at structures of interest. This paper presents the design and testing of a catheter steering model for robotic control of commercial ICE catheters. The four actuated degrees of freedom (4-DOF) are two catheter handle knobs to produce bi-directional bending in combination with rotation and translation of the handle. An extra degree of freedom in the system allows the imaging plane (dependent on orientation) to be directed at an object of interest. A closed form solution for forward and inverse kinematics enables control of the catheter tip position and the imaging plane orientation. The proposed algorithms were validated with a robotic test bed using electromagnetic sensor tracking of the catheter tip. The ability to automatically acquire imaging targets in the heart may improve the efficiency and effectiveness of intracardiac catheter interventions by allowing visualization of soft tissue structures that are not visible using standard fluoroscopic guidance. Although the system has been developed and tested for manipulating ICE catheters, the methods described here are applicable to any long thin tendon-driven tool (with single or bi-directional bending) requiring accurate tip position and orientation control.

关键词： biomechanics catheters control engineering computing data visualisation echocardiography medical image processing medical robotics position control robot kinematics

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Stable Haptic Interaction Using Passive and Active Actuators

Stable Haptic Interaction Using Passive and Active Actuators

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Rossa, Carlos Lozada, Jose Micaelli, Alain French Atom Energy Commiss CEA LIST Sensorial & Ambient Interfaces Lab F-91191 Gif Sur Yvette France

ISBN: (纸本)9781467356411;9781467356435

This paper presents a stable control method for a hybrid haptic device comprising a brake and a motor. A review of stability condition via describing function analysis is first presented. The results show that while brakes are intrinsically stable, an active device is limited in terms of stiffness. The stability is however improved if the brake simulates a physical damping. Subsequently, the stability condition is obtained via passivity condition analysis. The results demonstrate that the stiffness is improved by engaging both actuators to create resistive forces and the passivity is respected assuming a passive virtual environment. An energy and a stiffness-bounding algorithms have been developed in order to assure the stability of the coupled system in this case. It has been tested and validated using a I-DOF hybrid haptic device by the simulation of an unstable and an active virtual environments respectively. Experimental results show that the displayable stiffness is improved under stability conditions using the control method. Furthermore, it allows the hybrid system to simulate nonlinear and unstable virtual environments and the controller remains independent of the virtual environment model.

关键词： actuators brakes control engineering computing damping elasticity force control haptic interfaces machine control mechanical engineering computing nonlinear control systems stability vibration control

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V-REP: a Versatile and Scalable Robot Simulation Framework

V-REP: a Versatile and Scalable Robot Simulation Framework

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

作者： Rohmer, Eric Singh, Surya P. N. Freese, Marc Coppelia Robot Vallorbe Switzerland Univ Estadual Campinas Campinas SP Brazil Univ Queensland Brisbane Qld 4072 Australia

ISBN: (纸本)9781467363587

From exploring planets to cleaning homes, the reach and versatility of robotics is vast. The integration of actuation, sensing and control makes robotics systems powerful, but complicates their simulation. This paper introduces a versatile, scalable, yet powerful general-purpose robot simulation framework called V-REP. The paper discusses the utility of a portable and flexible simulation framework that allows for direct incorporation of various control techniques. This renders simulations and simulation models more accessible to a general-public, by reducing the simulation model deployment complexity. It also increases productivity by offering built-in and ready-to-use functionalities, as well as a multitude of programming approaches. This allows for a multitude of applications including rapid algorithm development, system verification, rapid prototyping, and deployment for cases such as safety/remote monitoring, training and education, hardware control, and factory automation simulation.

关键词： control engineering computing digital simulation robots

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An Android-based Platform for Augmented-Reality Remote Inspection Systems Prototyping

An Android-based Platform for Augmented-Reality Remote Inspe...

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IEEE Workshop on Environmental Energy and Structural Monitoring Systems (EESMS)

作者： Ferrari, Stefano Pentchev, Gheorghi B. V. Univ Milan Dept Comp Sci Milan Italy

ISBN: (纸本)9781479906284

A framework for developing prototypes of remote controlled inspection robots with semi-autonomous behavior and augmented reality enriched real-time video feedback is presented. This platform is constituted of very common and reusable hardware, equipped with open source software. The resulting system is very flexible and customizable, with a low set-up time, which provide an affordable fast prototyping framework.

关键词： augmented reality control engineering computing inspection mobile computing mobile robots public domain software robot vision telerobotics video signal processing

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Objective of RT-middleware Contests

Objective of RT-middleware Contests

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IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)

作者： Yamashita, Tomoki Kotoku, Testuo Hirai, Shigeoki Mayekawa MFG Co Ltd R&D Ctr Ibaraki Japan Natl Inst Adv Ind Sci & Technol Res & Innovat Promot Headquaters Tsukuba Japan Chiba Inst Technol Future Robot Res Ctr Chiba Japan

ISBN: (纸本)9781479923687

This paper gives a brief overview of the robottechnology (RT) middleware Contest. To improve the efficiency of software development for robotic systems, we plan to develop a common robot architecture based on software modularization. To realize the reusability and interoperability of software modules, we are promoting RT middleware technology through an open-source programing contest. The RT middleware Contest, which started in 2007, has been held each year as an organized session at the System Integration Division Annual Conference hosted by the Society of Instrument and control Engineers. The contest is now co-hosted with the Conference for Promotion of Robot Business, the Society of Instrument and control Engineers, and the National Institute of Advanced Industrial Science and Technology. The contest targets software libraries useful for building RT systems, RT components for specific hardware devices, and so on. Most of the prizes in this contest are established by cooperative and individual sponsors, and the award system was designed as a kind of voting system in which better entries received incentive award through a screening process based on the sponsors' own evaluation axis. In order to share and store robot technologies, source codes and manuals of all contest works can be downloaded from the OpenRTM-aist official website.

关键词： control engineering computing middleware open systems robot programming software architecture software libraries software reusability

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Learning Environmental Knowledge from Task-Based Human-Robot Dialog

Learning Environmental Knowledge from Task-Based Human-Robot...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Kollar, Thomas Perera, Vittorio Nardi, Daniele Veloso, Manuela Carnegie Mellon Univ Dept Comp Sci 5000 Forbes Ave Pittsburgh PA 15213 USA Univ Rome Dept Comp Control & Management Engn Sapienza Rome Italy

ISBN: (纸本)9781467356411;9781467356435

This paper presents an approach for learning environmental knowledge from task-based human-robot dialog. Previous approaches to dialog use domain knowledge to constrain the types of language people are likely to use. In contrast, by introducing a joint probabilistic model over speech, the resulting semantic parse and the mapping from each element of the parse to a physical entity in the building (e. g., grounding), our approach is flexible to the ways that untrained people interact with robots, is robust to speech to text errors and is able to learn referring expressions for physical locations in a map (e. g., to create a semantic map). Our approach has been evaluated by having untrained people interact with a service robot. Starting with an empty semantic map, our approach is able ask 50% fewer questions than a baseline approach, thereby enabling more effective and intuitive human robot dialog.

关键词： control engineering computing human-robot interaction interactive systems learning (artificial intelligence) mobile robots probability semantic networks service robots speech synthesis

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Planner Test and Analyzing System for Deep Space Mission

Planner Test and Analyzing System for Deep Space Mission

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10th IEEE International Conference on control and Automation (IEEE ICCA)

作者： Zhao, Fanyu Cui, Pingyuan Xu, Rui Peng, Ting Chen, Dexiang Beijing Inst Technol Beijing 100081 Peoples R China

ISBN: (纸本)9781467347082;9781467347075

As deep space exploration develops, onboard autonomy capability of the explorer becomes increasingly important, which requires the onboard planner to be more efficient. To improve the autonomy, a ground-based real-time fidelity simulation environment is needed, which enables rapid integration, testing and analyzing of the explorer planner. This paper describes the development of a Planner Test and Analysis System (PTAS) based on exploration mission. The planner modules under development include flight software, dynamic models, data interfaces, and monitoring module. Unified interface has been designed for application of planners with system level integration. The flight software includes attitude control subsystem, autonomous navigation, trajectory computing subsystem, and execution control subsystem. Planning result is analyzed by the flight software into executable commands on the embedded computer, and then transmitted to dynamic models on the multi-CPU computer, which makes PTAS a hardware-in-loop system. With some interfaces users could configure their own dynamic models. Simulation status about the explorer states and the process of mission simulation could be monitored, while planning and execution results could be analyzed quantitatively through a graphical interface, to show the planning efficiency and help users to improve the planner.

关键词： aerospace computing attitude control control engineering computing digital simulation graphical user interfaces mobile robots multiprocessing systems path planning vehicle dynamics

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Study and Implementation of the Smallest Closed-Area (SCA) Mechanism for Self-Organization Network Architectures in Smart Home control Systems

Study and Implementation of the Smallest Closed-Area (SCA) M...

引用

IEEE 17th International Symposium on Consumer Electronics (ISCE)

作者： Chuang, Yue-Ru Yang, Wen-Jeng Lin, Shjh-Jie Chiu, Te-Lun Fu Jen Catholic Univ Dept Elect Engn New Taipei City Taiwan

ISBN: (纸本)9781467361996

The concepts of IOT and M2M have been widely discussed for the future intelligent living. In smart home environments, various "intelligent devices and facilities" should be able to be organized and connected suitably and automatically to provide specific functions for people's daily life. From the above perspective, an important issue is to design the properly relative behaviors and operations between the homogeneously and heterogeneously intelligent devices and facilities to provide required functions for people. In this paper, we focus on a smart home air-conditioner control network, and design the relative behaviors between home gateway, air-conditioners, doors, and windows. When a user remotely turns on an air-conditioner in a house, the relative doors and windows should perform proper operations automatically and immediately for energy-saving. For this purpose, a tree-based self-organization network architecture and the smallest closed-area mechanism are designed.

关键词： Internet of Things air conditioning control engineering computing home automation internetworking

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Emergent Emotion via Neural Computational Energy Conservation on a Humanoid Robot 13

Emergent Emotion via Neural Computational Energy Conservatio...

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

作者： Kirtay, Murat Oztop, Erhan Ozyegin Univ Dept Comp Sci Cekmekoy CampusNisantepe MahOrman Sk 13 TR-34794 Istanbul Turkey

ISBN: (纸本)9781479926190

This paper presents our initial work on how emotion based behaviors may emerge through computational mechanisms. We hold that in addition to basic emotions such as anger and fear that serves bodily well being of the organism, high level emotions such as boredom and affection have evolved to facilitate low cost brain computations. Higher level of emotions can be considered as affective state of the organism or mood, rather than the reflex-like physiologically triggered emotional responses such as fear and anger. In large and complex brains (e.g. primate brains), the neuronal energy consumption for cognition is non-negligible. We propose that for such organisms computational regulatory mechanisms for decision making give rise to behaviors that can be explained by various emotional states. As a proof of concept for this idea, we envision a robotic cognitive system and a select function that we assign a neural cost for its operation. To be concrete, we use a small humanoid robot platform (Darwin-OP) and implement a neural network (Hopfield Network) that allows the robot to recall learned patterns that it sees through its camera. As a model of neural computational energy consumption, we postulate that a change in the state of a neural unit of the network consumes one unit of (neural) energy. Therefore, the total computational energy consumed is determined by the incoming stimuli. The robot is programmed to avoid high energy consumption by showing aversive behavior when the energy consumption is high. Otherwise, the robot demonstrates engaging behavior. For an external observer these responses may be perceived as robot's having certain emotional (affectional) preference for input stimuli. In this article in addition to robot experiments, we also emphasize the biological support for our proposal and provide detailed exposition of biological background and its relevance for the hypothesis that (certain) emotions may emerge through computational mechanisms.

关键词： Hopfield neural nets cognitive systems control engineering computing decision making emotion recognition humanoid robots Darwin-OP Hopfield network emotion based behavior humanoid robot neural computational energy conservation neural network robotic cognitive system Biology Cameras Convergence Energy consumption Neural networks Noise Robots

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