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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mohammad A. Khosravi Hamid D. Taghirad Reza Oftadeh Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran Intelligent Hydraulics and Automation Department (lHA) Tampere University of Technology Finland

In this paper design and control of planar cable-driven parallel robots are studied in an experimental prospective. Since in this class of manipulators, cable tensionability conditions must be met, feedback control of such robots becomes more challenging than for conventional robots. To meet these conditions, internal force control structure is introduced and used in addition to a PID control scheme to ensure that all cables remain in tension. A robust PID controller is proposed for partial knowledge of the robot, to keep the tracking errors bounded. Finally, the effectiveness of the proposed control algorithm is examined through experiments on K.N. Toosi planar cable-driven robot and it is shown that the proposed control structure is able to provide suitable performance in practice.

关键词： PD control Assembly Logic gates Servomotors Force

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GPS/INS integration based on dynamic ANFIS network

International Journal of Control and Automation

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International Journal of Control and Automation 2012年第3期5卷 1-22页

作者： Hasan, Ahmed Mudheher Samsudin, Khairulmizam Ramli, Abdul Rahman Computer Systems Research Group Department of Computer and Communication Systems Universiti Putra Malaysia 43400 UPM-Serdang Malaysia Intelligent Systems and Robotics Laboratory Institute of Advanced Technology Universiti Putra Malaysia 43400 UPM-Serdang Malaysia

This article presents a new structure for solving global positioning system (GPS) outages for long periods without requiring any prior information about the characteristics of the inertial navigation system (INS) and GPS. Kalman filter (KF) is widely used in INS and GPS integration to present a forceful navigation solution by overcoming the GPS outage problems. However, KF is usually criticized for working under predefined models and for its observability problem of hidden state variables, sensor dependency, and linearization dependency. Therefore, this article proposes a dynamic adaptive neuro-fuzzy inference system (DANFIS) to predict the INS error during GPS outages based on the current and previous raw INS data. The proposed integrated system is evaluated using a real field test data. The performance of the proposed technique is also compared with the traditional artificial intelligence (AI) technique and KF. The results showed great improvements in positioning and especially in velocity for MEMS grade IMU and for different length of GPS outages.

关键词： Inertial navigation systems

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欠驱动三连杆机器人的混杂控制方法

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中国科学：信息科学 2013年第2期43卷 287-302页

作者：赖旭芝张镇吴敏潘昌忠中南大学信息科学与工程学院长沙410083 先进控制与智能自动化湖南省工程实验室长沙410083 Advanced Robotics and Intelligent Systems(ARIS) Laboratory School of EngineeringUniversity of Guelph

针对第二关节为被动关节的欠驱动三连杆机器人,提出一种混杂控制方法.欠驱动三连杆机器人的运动空间分为3个阶段:退化阶段、摇起阶段和平衡阶段.首先,在退化阶段,对第三关节构造Lyapunov函数,并针对此函数设计控制律使其连杆相对于前一... 详细信息

针对第二关节为被动关节的欠驱动三连杆机器人,提出一种混杂控制方法.欠驱动三连杆机器人的运动空间分为3个阶段:退化阶段、摇起阶段和平衡阶段.首先,在退化阶段,对第三关节构造Lyapunov函数,并针对此函数设计控制律使其连杆相对于前一连杆自然伸展,使系统退化为类Pendubot机器人;同时基于能量不断增加的思想设计第一关节控制律,以节省后阶段的能量控制时间.其次,在摇起阶段,保持第三关节控制律形式不变;通过仅控制系统能量和同时控制系统能量、角速度两种方法设计第一关节控制律,使系统进入平衡区.最后,对退化后的系统采用线性控制将其稳定在竖直向上不稳定平衡点上.数值仿真结果表明文中所提方法具有控制时间短,所需力矩小等优点.

关键词：欠驱动机械系统机器人混杂控制 Lyapunov函数退化控制能量控制

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Guest Editorial: intelligent Information Technology in Agriculture

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intelligent Automation & Soft Computing 2013年第3期19卷 227-229页

作者： Dong Ren[a] Chunjiang Zhao[b] & Simon X. Yang[c] [a] College of Computer and Information Technology China Three Gorges University Yichang 443002 P.R. China [b] Beijing Research Center for Information Technology in Agriculture Beijing Academy of Agriculture and Forestry Sciences Beijing 100097 P.R. China [c] Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph Ontario N1G 2W1 Canada

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A coding style-based plagiarism detection

A coding style-based plagiarism detection

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International Conference on Interactive Mobile and Computer Aided Learning (IMCL)

作者： S. Arabyarmohamady H. Moradi M. Asadpour Advanced Robotics and Intelligent Systems Laboratory & Control and Intelligent Processing Center University of Tehran

In this paper a plagiarism detection framework is proposed based on coding style. Furthermore, the typical style-based approach is improved to better detect plagiarism in programming codes. The plagiarism detection is performed in two phases: in the first phase the main features representing a coding style are extracted. In the second phase the extracted features are used in three different modules to detect the plagiarized codes and to determine the giver and takers of the codes. The extracted features for each code developer are kept in a history log, i.e. a user profile as his/her style of coding, and would be used to determine the change in coding style. The user profile allows the system to detect if a code is truly developed by the claimed developer or it is written by another person, having another style. Furthermore, the user profile allows determining the code giver and code taker when two codes are similar by comparing the codes' styles with the style of the programmers. Also if a code is copied from the internet or developed by a third party, then the style of who claims the ownership of the code is normally less proficient in coding than the third party and can be detected. The difference between the style levels is done through the style level checker module in the proposed framework. The proposed framework has been implemented and tested and the results are compared to Moss which shows comparable performance in detecting plagiarized codes.

关键词： Plagiarism Feature extraction Encoding Vectors Watermarking Internet Conferences

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How design can affect the energy required to regulate the stiffness in variable stiffness actuators

How design can affect the energy required to regulate the st...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Amir Jafari Nikos G. Tsagarakis Irene Sardellitti Darwin G. Caldwell Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Switzerland Department of Advanced Robotics Italian Institute of Technology Genoa Italy

Variable stiffness actuators have been developed based on different design solutions which can be arranged into two groups: antagonistic and series design. In both the cases two actuation units are combined with passive elastic elements to adjust both the stiffness and the equilibrium position of the actuated joint. To regulate the stiffness, mechanical work is required to be done which depending on the design principle of the actuator results in certain energy consumption. In this paper different variable stiffness design approaches with different types of springs (linear, quadratic, exponential and cubic) are analyzed and compared with respect to the energy required to regulate the stiffness. The results give some insights about the design parameters which mostly affect the energy consumption for the stiffness adjustment. In this work, it is shown that among different design and spring arrangements, the variable stiffness in series design which uses linear springs with constant pretension, requires the minimum energy consumption to adjust the stiffness.

关键词： Springs Force Torque Couplings Actuators Joints Energy consumption

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A multiple feature fusion model for image segmentation based on hierarchical visual pathway

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Advances in Information Sciences and Service Sciences 2012年第8期4卷 274-282页

作者： Hu, Dekun Li, Jianping Yang, Simon X. Gregori, Stefano School of Computer Science and Engineering University of Electronic Science and Technology of China China Advanced Robotics and Intelligent Systems Lab School of Engineering University of Guelph Canada

To segment an object from its background in an image for advanced vision processing, this paper presents a novel bio-inspired general framework for image segmentation in complex nature scenes, which is a hierarchical system that mimics the organization of layered early visual area in primate visual cortex. The proposed methodology consists of two typical stages: the first stage is a parallel modular structure including three segmenting operators based on color feature, form feature and texture feature, each of which solves the segmentation problem independently for the same input. Then, a fusion operation, multiple feature fusion segmentation (MFFS), integrates these three feature segmentations together through the backpropagation neuron network (BPNN) in the last stage, which simulates the operation of area following the lateral geniculate nucleus in primary visual cortex. The proposed approach is applied to several segmentation experiments of many single objects in clustering conditions, the result shows that the approach is capable of competing with state-of-the-art systems.

关键词： Neural networks

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A Special Issue of intelligent Automation and Soft Computing GUEST EDITORIAL 3S AND PRECISION FARMING FOR AGRICULTURE

A Special Issue of Intelligent Automation and Soft Computing...

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World Automation Congress 2012

作者： DAOLIANG LI SIMON X.YANG EU-China Centre for Information and Communication Technologies China Agricultural University Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph

The global must pay more attention on agriculture to support the huge population on the earth and to promote sustainable *** the development of computing and information technologies such as 3S(GIS,RS and GPS;Geographic Information System,Remote Sensing,and Global Positioning System),computer,mathematics,communication,and their application in

关键词： GPS Automation A Special Issue of intelligent Automation and Soft Computing GUEST EDITORIAL 3S AND PRECISION FARMING FOR AGRICULTURE

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Mobile robots communication and control framework for USARSim

Mobile robots communication and control framework for USARSi...

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International Conference on intelligent and advanced systems, ICIAS

作者： Saeid Mokaram Khairulmizam Samsudin Abdul Rahman Ramli Hamideh Kerdegari Computer Systems Laboratory Department of Computer and Communication Systems Universiti Putra Malaysia Serdang Malaysia Intelligent Systems and Robotics Laboratory Institute of Advanced Technology Universiti Putra Malaysia Serdang Malaysia

In recent years there have been intensive efforts in robotics researches from the earliest stages of education. Subject of this paper is a powerful mobile robot communication and control framework for USARSim simulator that can be used both for research and education. Mobile Robots Communication and Control Framework (MCCF) is developed in order to offer faster and easier communication process with the USARSim server within Matlab that differentiates it from most existing basic open source control interfaces. Most notably, it takes the advantages of easy integration with other analysis and control methods that have been provided in Matlab tool-boxes. MCCF enables communication and control of a wide range of robots platforms including but not limited to wheeled-robots, legged-robots, submarine robots and aerial robots. In this paper we describe its general architecture, features and examples of utilization for researchers who are interested in mobile robot simulations for education and research.

关键词： Robot sensing systems MATLAB Mobile robots Servers Java

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Evaluation of fall detection classification approaches

Evaluation of fall detection classification approaches

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International Conference on intelligent and advanced systems, ICIAS

作者： Hamideh Kerdegari Khairulmizam Samsudin Abdul Rahman Ramli Saeid Mokaram Computer Systems Laboratory Department of Computer and Communication Systems Universiti Putra Malaysia Serdang Malaysia Intelligent Systems and Robotics Laboratory Institute of Advanced Technology Universiti Putra Malaysia Serdang Malaysia

As we grow old, our desire for being independence does not decrease while our health needs to be monitored more frequently. Accidents such as falling can be a serious problem for the elderly. An accurate automatic fall detection system can help elderly people be safe in every situation. In this paper a waist worn fall detection system has been proposed. A tri-axial accelerometer (ADXL345) was used to capture the movement signals of human body and detect events such as walking and falling to a reasonable degree of accuracy. A set of laboratory-based falls and activities of daily living (ADL) were performed by healthy volunteers with different physical characteristics. This paper presents the comparison of different machine learning classification algorithms using Waikato Environment for Knowledge Analysis (WEKA) platform for classifying falling patterns from ADL patterns. The aim of this paper is to investigate the performance of different classification algorithms for a set of recorded acceleration data. The algorithms are Multilayer Perceptron, Naive Bayes, Decision tree, Support Vector Machine, ZeroR and OneR. The acceleration data with a total data of 6962 instances and 29 attributes were used to evaluate the performance of the different classification algorithm. Results show that the Multilayer Perceptron algorithm is the best option among other mentioned algorithms, due to its high accuracy in fall detection.

关键词： Acceleration Feature extraction Accuracy Support vector machines Senior citizens Accelerometers Classification algorithms

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