检索结果-内蒙古大学图书馆

IEEE Conference on Decision and control

作者： A. Adhami-Mirhosseini A. Pedro Aguiar M. J. Yazdanpanah Control and Intelligent Processing Center of Excellence University of Tehran P.O. Box 14395/515 Tehran Iran Lab. of Robotics and Systems in Engineering and Science (LARSyS) Inst. Superior Tecnico (IST) Technical University of Lisbon Av. Rovisco Pais 1049-001 Lisboa Portugal

ISBN: (纸本)9781612848006

This paper proposes a new control algorithm for automatic seabed tracking performed by a low cost autonomous underwater vehicle subject to the fact that the seabed profile is not known in advance. The control design amounts to cast the problem in the framework of nonlinear output regulation theory combined with pseudo-spectral methods to approximate the solutions of the regulator equations. To this end, the seabed tracking problem is re-formulated as a trajectory tracking problem and the reference signal is constructed using Fourier series to approximate the seabed profiles. An interesting feature of this approach is that the combination of the Fourier series with output regulation problem allows to bypass the need to compute explicitly the Fourier coefficients. Stability analysis and simulation results with real seabed data show the effectiveness of the proposed controller.

关键词： Equations Regulators Mathematical model Vehicles Chebyshev approximation Vehicle dynamics

来源：评论

学校读者我要写书评

暂无评论

Wavelet-based pre-filtering for low cost inertial sensors

引用

Journal of Applied Sciences 2010年第19期10卷 2217-2230页

作者： Hasan, Ahmed M. Samsudm, K. Ramli, A.R. Azmir, R.S. 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 Research Center of Excellence Universiti Putra Malaysia 43400 UPM-Serdang Malaysia

This study proposed to de-noise the IMU signal by effectively band-limiting the signal at the output of each inertial measurement sensor prior to its mechanization and further processing by the Strapdown INS (SDINS) algorithm. Wavelet Multi-Resolution Algorithm (WMRA) is utilized to improve the performance of the inertial sensors by removing their short term noise. The aim of this study is to reveal how WMRA is utilized to improve the performance of the inertial measurement unit systems and investigate how wavelet analysis can be used to analyse and de-noise output of the low-cost inertial sensors. The proposed multi-level decomposition was applied to real accelerometer and gyroscopes data obtained from MEMS IMU (MotionPak II). Different level of decomposition and thresholding filter was evaluated to obtain optimal results. Analysis of the results demonstrate reducing the INS position and velocity error for the specific IMU. © 2010 Asian Network for Scientific Information.

关键词： Inertial navigation systems

来源：评论

学校读者我要写书评

暂无评论

Fuzzy controller for cooperative object pushing with variable line contact

Fuzzy controller for cooperative object pushing with variabl...

引用

International Conference on Mechatronics (ICM)

作者： Mahsa Aliakbar Golkar Sarah Taghavi Namin Hossein Aminaiee Control and Intelligent Processing Center of Excellence Robotics and AI Laboratory Department of Electrical and Computer Engineering University of Tehran Iran

Designing an appropriate cooperation protocol in multi-robot systems such as multi-robot object manipulation systems is a challenging task. In this paper designing and implementing a cooperation protocol between two robots pushing an object toward an arbitrary goal configuration is investigated. The proposed method benefits from task decoupling which simplifies the cooperation protocol design. Each robot gets its proper action from a particular fuzzy inference system independently. The fuzzy controllers outputs are low-level robot commands by which the need to a robot path planning algorithm is eliminated. Simulation results show that robots could push the object to the goal configuration cooperatively. Experiments have been conducted to approve the proposed system.

关键词： Fuzzy control Robot kinematics Protocols Fuzzy systems Electric variables control control systems Multirobot systems Path planning Inference algorithms Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Dynamic manipulation of active objects: Modeling and optimization

Dynamic manipulation of active objects: Modeling and optimiz...

引用

IEEE/ASME (AIM) International Conference on advanced intelligent Mechatronics

作者： L. Makarem A. Akbarimajd M. Nili Ahmadabadi Robotics and AI Laboratory Control and Intelligent Processing Center of Exellence ECE Department University of Tehran Tehran Iran Faculty of Engineering University of Mohaghegh Ardabil Iran

In this paper the problem of dynamic manipulation of active objects by throwing is studied. Here active object means a multi-body object that can actively move its body parts. The prime reason for selecting this problem is existence of conceptual analogy between it and dynamic walking. The second reason is theoretical attraction in addition to its possible practical applications for manipulation of active objects in space or in micro scales. First the task is decomposed into three distinct phases and it is mathematically modeled. Main constraints such as requirement to hold dynamic grasp are also derived and mapped into the manipulator's configuration space. Then the task is formulated as an optimization problem and a proper cost function in the manipulator's configuration space is presented. Finally this optimization problem is solved for obtaining appropriate trajectories of manipulator's joints in addition to that of the active object. Simulation results in ADAMS verify the developed formulations.

关键词： Manipulator dynamics Legged locomotion Arm intelligent robots Leg Mechatronics Mathematical model Cost function Orbital robotics Motion control

来源：评论

学校读者我要写书评

暂无评论

An expert system realization of Adaptive Autonomy in electric Utility Management Automation

引用

Journal of Applied Sciences 2009年第8期9卷 1524-1530页

作者： Fereidunian, A. Zamani, M.A. Lesani, H. Lucas, C. Lehtonen, M. Control and Intelligent Processing Center of Excellence School of ECE University of Tehran Iran Power Systems and High Voltage Laboratory Helsinki University of Technology FI-02015 HUT Finland

Earlier we introduced a novel framework for implementation of Adaptive Autonomy (AA). This study presents an expert system realization of the AA framework, referred to as Adaptive Autonomy Expert System (AAES). The proposed AAES is based on the extracted rules from the Expert's Judgment on proper Levels of Automation (LOA) for various environmental conditions, modeled as Performance Shaping Factors (PSFs). Decision fusion method is used as expert system inference engine, where eight decision fusion methods arc developed as prospective ones. The AAES is realized in the practical case of electric power Utilily Management Automation (UMA) for the Greater Tehran Electricity Distribution Company (GTEDC). The practical list of PSFs and the judgments of GTEDC's experts are used as the expert system rule base in this research. The results of implementing the proposed AAES to GTEDC's network are evaluated according to two criteria: average error and error margin. Five out of eight decision fusion methods arc proven to be suitable inference engines, due to both criteria. Evaluation of the results shows that the proposed AAES can estimate proper LOAs for GTEDC's UMA system, which change due to the changes in PSFs;thus providing a dynamic (adaptive) LOA scheme for UMA. © 2009 Asian Network for Scientific Information.

关键词： Engines

来源：评论

学校读者我要写书评

暂无评论

OWA fuzzy linking histogram approach for image retrieval

OWA fuzzy linking histogram approach for image retrieval

引用

International Conference on Computational Cybernetics (ICCC)

作者： Maryam Tayefeh Mahmoudi Maedeh Beheshti Caro Lucas Fattaneh Taghiyareh Knowledge Engineering & Intelligent Systems Group Iran Telecom Research Center Tehran Iran School of Electrical and Computer Engineering University of Tehran Tehran Iran School of computer engineering Iran University of Science and Technology Tehran Iran Control and Intelligent Processing Laboratory University of Tehran Tehran Iran School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran

Color image histograms are very useful tools for content based image retrieval (CBIR) that can be applied on features such as colour, texture and shape. As these kinds of histograms results with large variations between neighbouring bins, they seem so sensitive to any kind of changes such as noise, illumination. To overcome this problem, in this paper, fuzzy linking histogram approach based on OWA aggregation operator is proposed, which is capable of projecting 3-dimensional (L*a*b*) colour histograms into single-dimension. The proposed method have been evaluated and compared with five other related methods in retrieving similar images from the common dataset which is available on http://***/~konkonst. The experimental results on 100 images within two categories of Cat and Sky reveals better performance of the proposed method in comparison with the other mentioned methods.

关键词： Open wireless architecture Joining processes Histograms Image retrieval Colored noise Color Content based retrieval Shape Noise shaping Lighting

来源：评论

学校读者我要写书评

暂无评论

Is There any Analogy Between Foot Stability and Dynamic Grasp?

Is There any Analogy Between Foot Stability and Dynamic Gras...

引用

2008 IEEE/RSJ International Conference on intelligent Robots and systems, Pages 526-1042

作者： Adel Akbarimajd Majid Mili Ahmadabadi Robotics and AI Laboratory Control and Intelligent Processing Center of Excellence ECE Department University of Tehran Iran

ISBN: (纸本)9781424420575

Similarities between foot stability in single support phase of dynamic legged locomotion and dynamic grasp during nonprehensile carrying of an object on a palm are studied. Both foot stability and dynamic grasp conditions are driven mathematically. Then it is shown that these two conditions share the same basic dynamical concepts. It is also revealed that dynamic grasp and foot stability conditions have structurally the same equations when the palm -in object manipulation- and the ground -in legged locomotion- are horizontal. In this situation, parameters of the equations are very similar. It is demonstrated that the effects of violation of foot stability and dynamic grasp conditions are behaviorally the same. In addition to analytical discussions, some simulation examples in ADAMS are provided to validate the presented models and the results.

关键词： Foot Stability analysis Robots Legged locomotion Manipulator dynamics Robot kinematics Sufficient conditions

来源：评论

学校读者我要写书评

暂无评论

Vibration-based terrain classification for electric powered wheelchairs

Vibration-based terrain classification for electric powered ...

引用

4th IASTED International Conference on Telehealth and Assistive Technologies, Telehealth/AT 2008

作者： Coyle, Eric Collins, Emmanuel G. DuPont, Edmond Dan, Ding Hongwu, Wang Cooper, Rory A. Grindle, Garrett Dept. of Mechanical Engineering at FAMU-FSU Center for Intelligent Systems Control and Robotics Tallahassee FL 32310 United States Dept. of Rehabilitation Science and Tech. Human Engineering Research Laboratory Univ. of Pittsburgh Pittsburgh PA 15261 United States

ISBN: (纸本)9780889867406

Automated terrain classification for electric powered wheelchairs (EPWs) has two primary motivations. First, certain terrains (e.g., sand and gravel) make wheelchair mobility more difficult. To alleviate this problem the wheelchair control system can be manually tuned for maximum speeds and/or accelerations to help adapt to various terrains. Terrain classification can then be used to automate the switch from one control mode to another. Second, terrain classification can help yield a better understanding of the surfaces traversed by various groups of wheelchair users. This can provide the data needed to develop wheelchairs geared to specific groups of users. This paper presents an algorithm for vibration-based terrain classification on EPWs. This algorithm has been shown to be highly accurate in offline analysis of experimental data. Future work will stress online implementation and algorithm improvements.

关键词： Wheelchairs

来源：评论

学校读者我要写书评

暂无评论

A framework for implementation of adaptive autonomy for intelligent electronic devices

引用

Journal of Applied Sciences 2008年第20期8卷 3721-3726页

作者： Fereidunian, A. Lesani, H. Lucas, C. Lehtonen, M. Control and Intelligent Processing Center of Excellence School of ECE University of Tehran 14395-515 Iran Power Systems and High Voltage Laboratory Helsinki University of Technology FI-02015 HUT Finland

This research letter introduces a novel framework for the implementation of Adaptive Autonomy for intelligent Electronic Devices (TEDs). The study aims at achieving an optimum function allocation between IEDs and humans in automation systems. The function allocation should be adapted to the changes in environmental conditions, thus referring to as Adaptive Autonomy (AA). Performance Shaping Factors (PSFs) concept is utilized to represent the environmental conditions. Moreover, Experts' Judgment method is used, to tackle the complex issue of human reliability assessment. The framework is implemented to the power distribution automation system of the Greater Tehran Electricity Distribution Company (GTEDC) and the obtained results are discussed then. Furthermore, the trends of the IED autonomy levels are investigated versus the situation criticality and the automation stages. Apart from introducing a novel implementation framework for IEDs' AA, this letter discusses on the application-oriented issues, due to the context-based nature of the Human-Automation Interaction (HAT). The developmental relevance of this study is significant, as it is performed in a Metropolitan area of an Asian/Middle Eastern developing country, thus generalize-able to the similar applications to a reasonable extend. © 2008 Asian Network for Scientific Information.

关键词： Developing countries

来源：评论

学校读者我要写书评

暂无评论

Graph Signature for Self-Reconfiguration Planning

Graph Signature for Self-Reconfiguration Planning

引用

2008 IEEE/RSJ International Conference on intelligent Robots and systems, Pages 526-1042

作者： Masoud Asadpour Alexander Sproewitz Aude Billard Pierre Dillenbourg Auke Jan Ijspeert ECE Dept. University of Tehran Control and Intelligent Processing Center of Excellence Iran Bio-Inspired Robotics Group (BIRG) Switzerland Learning Algorithms and Systems Laboratory (LASA) Switzerland Centre de Recherche et d Appui pour la Formation Switzerland Centre de Recherche et d'Appui pour la Formation (CRAFT) Ecole Polytechnique Fédérale de Lausanne (EPFL) Switzerland Bio-Inspired Robotics Group (BIRG)

ISBN: (纸本)9781424420575

This project incorporates modular robots as building blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection/disconnection of modules and rotations of the degrees of freedom. This paper introduces a new approach to self-reconfiguration planning for modular robots based on the graph signature and the graph edit-distance. The method has been tested in simulation on two type of modules: YaMoR and M-TRAN. The simulation results shows interesting features of the approach, namely rapidly finding a near-optimal solution.

关键词： Modular self-reconfigurable robots Adaptive furniture Graph isomorphism Graph signature Graph edit distance Modular robots graph editing Line graph Reconfiguration Furnishings signatures Building blocks Degree of freedom crop rotation

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：