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Distributed leader-follower navigation of mobile robots

Distributed leader-follower navigation of mobile robots

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International Conference on Control and Automation (ICCA)

作者： A. Fujimori T. Fujimoto G. Bohacs Department of Mechanical Engineering Shizuoka University Hamamatsu Japan Department of Building Machines Materials Handling Machines and Industrial Logistics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

This paper presents a formated navigation based on the leader-follower approach. In this approach, the control law of the follower robot includes the states of the leader robot. This is a drawback for implementing the control laws on real mobile robots. To overcome this drawback, this paper proposes a new follower's control law, called the self-made follower input, in which the state of the leader robot is estimated by the relative equation between the leader and the follower robots in the discrete-time domain. On the other hand, a control law of the leader robot is designed with a chained system to track a given reference path. The effectiveness of the proposed techniques is demonstrated in numerical simulation.

关键词： Navigation Mobile robots Robot kinematics Equations Communication system control State estimation Control systems Numerical simulation Mobile communication Mechanical engineering

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Passive robotic movement therapy of the spastic hemiparetic arm with REHAROB: report of the first clinical test and the follow-up system improvement

Passive robotic movement therapy of the spastic hemiparetic ...

引用

IEEE International Conference on Rehabilitation Robotics (ICORR)

作者： A. Toth G. Fazekas G. Arz M. Jurak M. Horvath Department of Manufacturing Engineering Budapest University슠of슠Technology슠and슠Economics Budapest Hungary National Institute of Medical Rehabilitation Budapest Hungary Department of Movement Rehabilitation Szent Janos Hospital Budapest Hungary

An investigation into the use of standardized, unmodified, industrial, robots for motion therapy of hemiparetic extremities was initiated in 2000. A system called REHAROB, designed and built over a three year period, was completed for this clinical trial in 2003. The results confirmed that therapy using this system was safe and thus performed as intended. In 2004, following this trial, the programming interface and the interface device between the patient and the robots were improved. A controlled clinical study is currently under way to assess the clinical efficiency of the REHAROB movement therapy. This paper describes the results of the first clinical trial with the REHAROB therapeutic system, and also reports why and how the system was improved for the second clinical trial.

关键词： Medical treatment System testing Rehabilitation robotics Service robots Medical robotics Clinical trials Extremities Robot programming Hemorrhaging Neoplasms

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Benchmarking for graph transformation

Benchmarking for graph transformation

引用

IEEE Symposium on Visual Languages and Human Centric Computing (VL/HCC)

作者： G. Varro A. Schurr D. Varro Department of Computer Science and Information Theory Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Real-Time Systems Lab Data Systems Technology Institute Technical University of Darmstadt Darmstadt Germany

Model transformation (MT) is a key technology in the model-driven development approach of software engineering that provides automated means to capture the evolution of models and mappings between modeling languages. The pattern and rule-based paradigm of graph transformation is considered a very popular approach for specifying such model transformations. While the expressiveness of different MT specification techniques is frequently compared on well-known transformation problems (e.g. UML-to-XMI, or UML-to-EJB mappings), no such benchmarks exist currently for comparing the performance of different model transformation tools. In the paper, we propose a systematic method for quantitative benchmarking in order to assess the performance of graph transformation tools. Typical features of the graph transformation paradigm and various optimization strategies exploited in different toots are identified and categorized. Moreover, the performance of several popular graph transformation tools is measured and compared on a well-known distributed mutual exclusion problem.

关键词： Software engineering Real time systems Data systems Information systems Computer architecture Microwave integrated circuits Modeling Productivity Automation Civil engineering

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Cubic phase distortion of single attosecond pulses being reflected on narrowband Mo/Si filtering mirrors

Cubic phase distortion of single attosecond pulses being ref...

引用

European Conference on Quantum Electronics (EQEC)

作者： A. Lukacs Z. Varallyay R. Szipocs P.O. Box 622 Research and Development Ultrafast Lasers Limited Budapest Hungary Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Research Institute of Solid State Physics and Optics Budapest Hungary

We show that cubic phase distortion caused by narrowband Mo/Si multilayer filtering X-ray mirrors may considerably increase the time duration of single attosecond pulses.

关键词： Phase distortion Narrowband Filtering Mirrors Optical pulse generation Laser theory Optical filters Nonhomogeneous media X-ray lasers Gas lasers

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Fast recovery algorithms for time encoded bandlimited signals

Fast recovery algorithms for time encoded bandlimited signal...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： A.A. Lazar E.K. Simonyi L.T. Toth Department of Electrical Engineering Columbia University New York NY USA National Council of Hungary for Information and Communication Technology Budapest Hungary Department of Telecommunication and Media Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

Time encoding is a real-time asynchronous mechanism of mapping amplitude information into a time sequence. We investigate fast algorithms for the recovery of time encoded bandlimited signals and construct an algorithm... 详细信息

关键词： Sampling methods Encoding Electronic mail Signal processing Councils Communications technology Telecommunications Informatics Computational complexity Information representation

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Unknown Input Detection Using Receding Horizon Approach

Unknown Input Detection Using Receding Horizon Approach

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IEEE International Symposium on Intelligent Control (ISIC)

作者： B. Kulcsar J. Bokor Department of Transport Automation Faculty of Transportation Engineering Budapest University슠of슠Technology슠and슠Economics Budapest Hungary System and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

The paper offers the possibility of the design of unknown input detection for dynamic systems under external noise effect. The presented geometric based fundamental problem in residual generation (FPRG) method uses on the one hand the Kalman filtering and on the other hand the moving horizon estimation (MHE) when stochastic noise on the input and on the output, with additive failure directions, are presents. The paper combines the optimal Kalman and MHE method with geometric based unknown input observer strategy. The MHE solution makes to treat constraints during the estimation process possible. A numerical example supports the necessity of constrained unknown input estimation

关键词： Fault detection State estimation Control systems Kalman filters Space technology Additive noise Automation Stability Predictive models Predictive control

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Reconstruction of myocardial short-scan SPECT images

Reconstruction of myocardial short-scan SPECT images

引用

IEEE International Conference on Intelligent Engineering Systems (INES)

作者： A. Szlavecz B. Benyo P. Varady T. Bukki Department of Control Engineering and Information Technology Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Department of Informatics Széchenyi István University Gyor Hungary Mediso Medical Imaging Systems Mediso Limited Budapest Hungary

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Shaping of ultrashort pulses using bulk acousto-optic filter

Shaping of ultrashort pulses using bulk acousto-optic filter

引用

Conference on Lasers and Electro-Optics Europe (CLEO EUROPE)

作者： P. Maak A. Barocsi L. Jakab P. Richter G. Kurdi K. Osvay A.P. Kovacs Department of Atomic Physics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary HAS Research Group on Laser Physics University of Szeged Szeged Hungary Department of Optics and Quantum Electronics University of Szeged Szeged Hungary

In this paper, we propose to use the shear acoustic mode of an AO crystal. This allows us to perform filtering by a bulk device in a relatively simple arrangement with the advantages of high diffraction efficiency configuration speed. We demonstrated this technique using 800 nm, 25 fs transform limited pulses from a Ti:sapphire oscillator and a 10 mm long TeO/sub 2/, acousto-optical crystal.

关键词： Pulse shaping methods Acoustic diffraction Shape control Acoustic pulses Optical filters Acoustic waves Frequency Pulse measurements Optical pulse shaping Optical control

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An evaluation of grasp force control in single-master multi-slave tele-micromanipulation

An evaluation of grasp force control in single-master multi-...

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2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Gilgueng Hwang H. Hashimoto P. Szemes N. Ando Institute of Industrial Science University of Tokyo Meguro Tokyo Japan Department of Auto. and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan

This paper proposes human-robot cooperative tele-micromanipulation system with novel single-master (PHANToM haptic device) multi-slaves (6 D.O.F parallel manipulator). The different kinematical configuration and the different D.O.F between the master and the slave introduces a mapping problem which can be serious for some cooperative manipulations. The position/force virtual mapping method is implemented in the single-master dual-slave tele-micromanipulation system to realize the human-robot cooperative internal force regulation while grasping task. The generated reference trajectories of both manipulators by the virtual mapping method are shared with the cooperative impedance control of multi-slaves to regulate the internal force while grasping an object. Lastly, an improved internal force regulation using the SMMS (single-master multi-slave) tele-micromanipulation system while grasping an object is verified by the pick-and-place experimental results.

关键词： Force control Haptic interfaces Master-slave Humans Grasping Force feedback Impedance Prototypes Control systems Informatics

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New e-learning tools for DC-DC converters

New e-learning tools for DC-DC converters

引用

European Conference on Power Electronics and Applications

作者： J. Hamar H. Funato S. Ogasawara I. Nagy Ogasawara & Funato Laboratory Department of Electrical and Electronic Engineering Utsunomiya University Utsunomiya Tochigi Japan Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Computer and Automation Institute Hungarian Academy of Sciences (ATOMKI) Hungary

The paper gives an overview of the Yoto project, a novel e-learning initiative to build up an electrical engineering knowledge base. It also presents a new e-module of the project relating to the steady-state operation of DC-DC converters. The multimedia rich module contains numerous interactive tools promoting the high level education in the academy sector and the vocational trainings in the industry. The interactive tools also highly support the circuit design process by enabling fast calculation and access to relevant circuit quantities and waveforms (voltages and currents) in steady-state without long simulations

关键词： Electronic learning DC-DC power converters Humans Steady-state Laboratories Informatics Automation Business Computer science education Electrical engineering

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