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检索条件"主题词=Control Engineering Computing"

共 1551 条记录，以下是691-700 订阅

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Performance Comparison of Compression Techniques Used in Bilateral control

Performance Comparison of Compression Techniques Used in Bil...

引用

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

作者： Kuzu, Ahmet Baran, Eray A. Bogosyan, Seta Gokasan, Metin Sabanovic, Asif Istanbul Tech Univ TR-80626 Istanbul Turkey Bilgem BTE Tubitak Kocaeli Turkey Sabanci Univ Istanbul Turkey Univ Alaska Fairbanks AK 99701 USA

ISBN: (纸本)9781479902248

This paper analyzes two recently proposed compression decompression algorithms used in networked motion control systems. The algorithms contain discrete cosine transform (DCT) based and discrete fourier transform (DFT) based codecs for the realization of signal transmission over network. The backgrounds of the algorithms are presented along with a discussion on the advantages and disadvantages. Comparison of the performances of both algorithms are presented based on three different evaluation criteria including compression ratio, buffer size and power error. The differences between the algorithms are validated with results obtained from a series of experiments. Theoretical details regarding the differences between the results obtained from experiments are provided to present a complete analysis between two approaches.

关键词： control engineering computing data compression discrete Fourier transforms discrete cosine transforms motion control networked control systems signal processing telecontrol

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SA-Tracer: A Tool for Assessment of UAV Swarm Operator SA during Mission Execution

SA-Tracer: A Tool for Assessment of UAV Swarm Operator SA du...

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3rd IEEE International Multi-Disciplinary Conference on Cognitive Methods in Situation Awareness and Decision Support (CogSIMA)

作者： Frische, Florian Luedtke, Andreas OFFIS Inst Informat Technol Oldenburg Germany

ISBN: (纸本)9781467324373;9781467324366

Maintenance of Situation Awareness (SA) during supervision of a swarm of highly autonomous Unmanned Aerial Vehicles (UAV) is a complex and visually demanding process. A solution for supporting UAV operators are Intelligent SA-Adaptive Interfaces (ISAAI), which dynamically adapt to the individual SA needs of operators. However, the successful deployment of ISAAIs depends on a suitable tool for assessing operator SA during mission execution. In this paper we present the tool SA-Tracer. SA-Tracer implements a formal situation model and analyses the scanning behaviour of UAV swarm operators in order to infer and assess SA on a formal basis. We present results of a first experiment performed in order to evaluate the suitability of SA-Tracer for the intended context of use and the validity of SA assessments produced by the tool.

关键词： autonomous aerial vehicles control engineering computing human computer interaction

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Rehabilitation Robotics Ontology on the Cloud

Rehabilitation Robotics Ontology on the Cloud

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13th IEEE International Conference on Rehabilitation Robotics (ICORR)

作者： Dogmus, Zeynep Papantoniou, Agis Kilinc, Muhammed Yildirim, Sibel A. Erdem, Esra Patoglu, Volkan Sabanci Univ Fac Engn & Nat Sci Istanbul Turkey Natl Tech Univ Athens Athens Greece Hacettepe Univ Physiotherapy & Rehabil Dept Ankara Turkey

ISBN: (纸本)9781467360241;9781467360227

We introduce the first formal rehabilitation robotics ontology, called REHABROBO-ONTO, to represent information about rehabilitation robots and their properties;and a software system REHABROBO-QUERY to facilitate access to this ontology. REHABROBO-QUERY is made available on the cloud, utilizing Amazon Web services, so that 1) rehabilitation robot designers around the world can add/modify information about their robots in REHABROBO-ONTO, and 2) rehabilitation robot designers and physical medicine experts around the world can access the knowledge in REHABROBO-ONTO by means of questions about robots, in natural language, with the guide of the intelligent user-interface of REHABROBO-QUERY. The ontology system consisting of REHABROBO-ONTO and REHABROBO-QUERY is of great value to robot designers as well as physical therapists and medical doctors. On the one hand, robot designers can access various properties of the existing robots and to the related publications to further improve the state-of-the-art. On the other hand, physical therapists and medical doctors can utilize the ontology to compare rehabilitation robots and to identify the ones that serve best to cover their needs, or to evaluate the effects of various devices for targeted joint exercises on patients with specific disorders.

关键词： Web services cloud computing control engineering computing medical robotics natural language interfaces ontologies (artificial intelligence) patient rehabilitation

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Provably-Correct Robot control with LTLMoP, OMPL and ROS

Provably-Correct Robot Control with LTLMoP, OMPL and ROS

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

作者： Wong, Kai Weng Finucane, Cameron Kress-Gazit, Hadas Cornell Univ Sibley Sch Mech & Aerosp Engn Ithaca NY 14853 USA

ISBN: (纸本)9781467363587

""This paper illustrates the Linear Temporal Logic MissiOn Planning (LTLMoP) toolkit. LTLMoP is an open source software package that transforms high-level specifications for robot behavior, captured using a structured English grammar, into a robot controller that guarantees the robot will complete its task, if the task is feasible. If the task cannot be guaranteed, LTLMoP provides feedback to the user as to what the problem is. Due to its modular nature, users can control a variety of different robots using LTLMoP, both simulated and physical, with the same specification. It shows an example robot waiter scenario, with LTLMoP controlling both a PR2 in simulation (using Gazebo), showcasing the interface between LTLMoP and the Robot Operating System (ROS)2, as well as an Aldebaran Nao humanoid in the lab.""

关键词： control engineering computing humanoid robots operating systems (computers) path planning public domain software temporal logic

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Human-Robot Cooperative Object Swinging

Human-Robot Cooperative Object Swinging

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Donner, Philine Moertl, Alexander Hirche, Sandra Buss, Martin Tech Univ Munich Inst Automat Control Engn D-80290 Munich Germany Tech Univ Munich Inst Informat Oriented Control D-80290 Munich Germany

ISBN: (纸本)9781467356411;9781467356435

This paper investigates goal-directed cooperative object swinging as a novel physical human-robot interaction scenario. We develop an energy-based control concept, which enables a robot to cooperate with a human in a goal-directed swing-up task. The robot can be assigned to be a leader or an actively contributing follower. We conduct a virtual reality experiment to compare effort sharing and performance of mixed human-human and human-robot dyads. The leader and the follower controllers yield similar results compared to their human standard.

关键词： control engineering computing human-robot interaction virtual reality

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The Embedded control System through Real-Time Task

The Embedded Control System through Real-Time Task

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5th International Conference on Modeling, Simulation and Applied Optimization (ICMSAO)

作者： Gharbi, Atef Khalgui, Mohamed Ben Ahmed, Samir ESSTI Tunis Tunisia INSAT Tunis Tunisia FST Tunis Tunisia

ISBN: (纸本)9781467358149;9781467358125

This paper deals with the study of Embedded control System through Real-Time Task. In the embedded control system, we decompose a component into several real-time tasks. To ensure safety control of tasks at run-time, we define service and reconfiguration processes for tasks and use the semaphore concept to obtain safety mutual exclusions. The Priority Ceiling Protocol (PCP) is applied as an approach to ensure the scheduling between periodic tasks with precedence and mutual exclusion constraints. We simulate the scheduling of Real-time tasks with PCP through the Cheddar tool.

关键词： control engineering computing embedded systems processor scheduling safety

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Towards Reorganization of International Classification of Functioning, Disability and Health for Design of Assistive Robots

Towards Reorganization of International Classification of Fu...

引用

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

作者： Tanaka, Hideyuki Matsumoto, Yoshio Natl Inst Adv Ind Sci & Technol Intelligent Syst Res Inst Tsukuba Ibaraki Japan

ISBN: (纸本)9781479923687

In order to develop assistive robots which truly contribute to the QOL improvement, elaborate designs based on effectiveness analyses in human life are indispensable. We are developing a design framework utilizing ICF (International Classification of Functioning, Disability and Health), and planning to make a design support tool. Although the ICF provides a practical perspective and comprehensive vocabularies to analyze and describe human life, it has some problems in terms of systematicity and machine-readability. We are trying to reorganize the vocabulary of the ICF by ontology-engineering approach. We expect that the utility of the ICF in information systems is enhanced by this reorganization. We describe the concept of our attempt, and show its utility by case examples.

关键词： assisted living control engineering computing control system synthesis handicapped aids ontologies (artificial intelligence) service robots

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SDR Input Power Estimation Algorithms

SDR Input Power Estimation Algorithms

引用

IEEE Aerospace Conference

作者： Briones, Janette C. Nappier, Jennifer M. NASA Glenn Res Ctr Cleveland OH 44135 USA

ISBN: (纸本)9781467318112

The General Dynamics (GD) S-Band software defined radio (SDR) in the Space Communications and Navigation (SCAN) Testbed on the International Space Station (ISS) provides experimenters an opportunity to develop and demonstrate experimental waveforms in space. The SDR has an analog and a digital automatic gain control (AGC) and the response of the AGCs to changes in SDR input power and temperature was characterized prior to the launch and installation of the SCAN Testbed on the ISS. The AGCs were used to estimate the SDR input power and SNR of the received signal and the characterization results showed a nonlinear response to SDR input power and temperature. In order to estimate the SDR input from the AGCs, three algorithms were developed and implemented on the ground software of the SCAN Testbed. The algorithms include a linear straight line estimator, which used the digital AGC and the temperature to estimate the SDR input power over a narrower section of the SDR input power range. There is a linear adaptive filter algorithm that uses both AGCs and the temperature to estimate the SDR input power over a wide input power range. Finally, an algorithm that uses neural networks was designed to estimate the input power over a wide range. This paper describes the algorithms in detail and their associated performance in estimating the SDR input power.

关键词： adaptive filters artificial satellites automatic gain control control engineering computing digital control neural nets satellite communication

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A Novel Framework for Virtual Prototyping of Rehabilitation Exoskeletons

A Novel Framework for Virtual Prototyping of Rehabilitation ...

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13th IEEE International Conference on Rehabilitation Robotics (ICORR)

作者： Agarwal, Priyanshu Kuo, Pei-Hsin Neptune, Richard R. Deshpande, Ashish D. Univ Texas Austin Dept Mech Engn Austin TX 78712 USA

ISBN: (纸本)9781467360241;9781467360227

Human-worn rehabilitation exoskeletons have the potential to make therapeutic exercises increasingly accessible to disabled individuals while reducing the cost and labor involved in rehabilitation therapy. In this work, we propose a novel human-model- in-the-loop framework for virtual prototyping (design, control and experimentation) of rehabilitation exoskeletons by merging computational musculoskeletal analysis with simulation-based design techniques. The framework allows to iteratively optimize design and control algorithm of an exoskeleton using simulation. We introduce biomechanical, morphological, and controller measures to quantify the performance of the device for optimization study. Furthermore, the framework allows one to carry out virtual experiments for testing specific "what-if" scenarios to quantify device performance and recovery progress. To illustrate the application of the framework, we present a case study wherein the design and analysis of an index-finger exoskeleton is carried out using the proposed framework.

关键词： control engineering computing digital simulation handicapped aids optimisation patient rehabilitation prosthetics virtual prototyping

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Unsupervised Learning Of Predictive Parts For Cross-object Grasp Transfer

Unsupervised Learning Of Predictive Parts For Cross-object G...

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

作者： Detry, Renaud Piater, Justus Univ Liege B-4000 Liege Belgium Univ Innsbruck Innsbruck Austria

ISBN: (纸本)9781467363587

We present a principled solution to the problem of transferring grasps across objects. Our approach identifies, through autonomous exploration, the size and shape of object parts that consistently predict the applicability of a grasp across multiple objects. The robot can then use these parts to plan grasps onto novel objects. By contrast to most recent methods, we aim to solve the part-learning problem without the help of a human teacher. The robot collects training data autonomously by exploring different grasps on its own. The core principle of our approach is an intensive encoding of low-level sensorimotor uncertainty with probabilistic models, which allows the robot to generalize the noisy autonomously-generated grasps. Object shape, which is our main cue for predicting grasps, is encoded with surface densities, that model the spatial distribution of points that belong to an object's surface. Grasp parameters are modeled with grasp densities, that correspond to the spatial distribution of object-relative gripper poses that lead to a grasp. The size and shape of grasp-predicting parts are identified by sampling the cross-object correlation of local shape and grasp parameters. We approximate sampling and integrals via Monte Carlo methods to make our computer implementation tractable. We demonstrate the applicability of our method in simulation. A proof of concept on a real robot is also provided.

关键词： Monte Carlo methods control engineering computing grippers robot vision shape recognition unsupervised learning

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