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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Byoung-gi Lee JongSuk Choi Daijin Kim Munsang Kim Center of Cognitive Robot Research Korea Institute of Science and Technology Seoul South Korea Department Computer Science and Engineering Pohang University of Science and Technology South Korea Center of Intelligent Robotics Korea Institute of Science and Technology Seoul South Korea

Recently, many researchers have carried out works on audio-video integration. It is worth exploring because service robots are supposed to interact with human beings using both visual and auditory sensors. In this paper, we propose an audio-video method for sound source localization in reverberant environment. Using visual information from a vision camera, we could train our audio localizer to distinguish a real source from fake sources and improved the performance of audio localizer in reverberant environment.

关键词： Cameras Sensors Robots Visualization Training Microphone arrays

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Verification of sound source localization in reverberation room and its real time adaptation using visual information

Verification of sound source localization in reverberation r...

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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

It is important for intelligent robots to detect the location of user even though the user is not captured by vision cameras. Sound source localization is a technique to detect the direction of sound source using multiple microphones. It enables the robot to respond to the user's call. Sometimes, a robot operates in echoic room, but the performance of sound source localization in echoic room is very poor. In this work, a verification method for reverberation is proposed and tested how much it improves the performance of sound source localization in reverberant environment.

关键词： Microphones Training Reverberation Cameras Feature extraction Robot vision systems

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Parameter identification of a linear permanent magnet motor using particle swarm optimization

Parameter identification of a linear permanent magnet motor ...

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7th Annual International Conference on Electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Therdbankerd, Tithiwat Sanposh, Peerayot Chayopitak, Nattapon Fujita, Hideaki Department of Electrical Engineering Intelligent Mechatronics Automation Robotics and Control Laboratory Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center 112 Thailand Science Park Phahonyothin Rd. Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology S3-18 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9789746724913

Accurate and effective parameter identification is an important engineering task in high performance control system design. One emerging approach to effectively identify such nonlinear or dynamic unknown parameters is to use Particle Swarm Optimization (PSO) algorithm. Linear Permanent Magnet (LPM) motor is a high performance actuator employed in many applications that require direct linear motion without mechanical transmission for high acceleration and accurate positioning. Therefore, accurate motor parameters are necessary to effectively control the LPM motors. This paper proposes a simple PSO based method with chirp inputs to identify the LPM motor's parameters. The simulations and experiments are conducted to verify the results and determine the effectiveness of the proposed method.

关键词： Parameter estimation

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Stylized motion generalization through adaptation of velocity profiles

Stylized motion generalization through adaptation of velocit...

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19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010

作者： Gielniak, Michael J. Liu, C. Karen Thomaz, Andrea L. Department of Electrical and Computer Engineering Georgia Institute of Technology 777 Atlantic Dr. NW Atlanta GA 30332 United States School of Interactive Computing Georgia Institute of Technology 85 5th St. NE Atlanta GA 30308 United States Robotics and Intelligent Machines Center Georgia Institute of Technology 801 Atlantic Dr. NW Atlanta GA 30332 United States

ISBN: (纸本)9781424479917

Stylized motion is prevalent in the field of Human- Robot Interaction (HRI). Robot designers typically hand craft or work with professional animators to design behaviors for a robot that will be communicative or life-like when interacting with a human partner. A challenge is to apply this stylized trajectory in varied contexts (e.g. performing a stylized gesture with different end-effector constraints). The goal of this research is to create useful, task-based motion with variance that spans the reachable space of the robot and satisfies constraints, while preserving the "style" of the original motion. We claim the appropriate representation for adapting and generalizing a trajectory is not in Cartesian or joint angle space, but rather in joint velocity space, which allows for unspecified initial conditions to be supplied by interaction with the dynamic environment. The benefit of this representation is that a single trajectory can be extended to accomplish similar tasks in the world given constraints in the environment. We present quantitative data using a continuity metric to prove that, given a stylized initial trajectory, we can create smoother generalized motion than with traditional techniques such as cyclic-coordinate descent. © 2010 IEEE.

关键词： Trajectories

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Parameter identification of a Linear Permanent Magnet motor using Particle Swarm Optimization

Parameter identification of a Linear Permanent Magnet motor ...

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International Conference on Electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON

作者： Tithiwat Therdbankerd Peerayot Sanposh Nattapon Chayopitak Hideaki Fujita Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Klong Luang Pathum Thani Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology Meguro Tokyo Japan

ISBN: (纸本)9781424456062;9789746724913

关键词： Parameter estimation Permanent magnet motors Particle swarm optimization Synchronous motors Signal processing robotics and automation Chirp Intelligent robots Control systems Laboratories

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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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7th Annual International Conference on Electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Suteeratanapirom, Wijin Rattanawaorahirankul, Rapeepong Laosapan, Chutima Sanposh, Peerayot Chayopitak, Nattapon Tungpimolrut, Kanokvate Kunieda, Hiroaki TAIST Tokyo Tech ICTES Program Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center 112 Thailand Science Park Phahonyothin Rd. Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology S3-65 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9789746724913

This research proposes a method to eliminate friction effect and reduced tracking error on CNC milling machines. A CNC milling machine has many connected mechanical components which have friction effects such as ball screws and rails. To control servo motors which are used to drive X-Y table in CNC milling machine, the conventional PID controller is widely used. In this research, Panasonic motor driver is set to the torque control mode. To compensate the friction effects, the friction feedforward compensation method is proposed. Moreover, to reduce the position tracking error, position feedforward controller is used. The simulation and implementation of position control in one axis of PID with Friction Feedforward Compensation and Position Feedforward Controller (FFC-PFC) are presented.

关键词： Friction

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Sensitivity function of LTI fractional order dynamic systems with respect to the orders

Sensitivity function of LTI fractional order dynamic systems...

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American Control Conference (ACC)

作者： Yan Li Dingyü Dingyü Xue YangQuan Chen Center of Self-Organizing & Intelligent Systems CSOIS Electrical an Computer Engineering Department Utah State University Logan UT USA School of Control Science and Engineering Shandong University Jinan Shandong China Institute of Robotics and Artificial Intelligent School of Information Science and Engineering Northeastern University Shenyang China

Many real natural or man-made dynamic systems can be better characterized using a fractional order dynamic model. Since in such a case the order assumes a non-integer value, it is of interest to consider the effect of small perturbation around the nominal value. It is of practical importance to analyze the influence of the order variations on the system behavior. This paper establishes an analytical method for the analysis of the sensitivity function of LTI fractional order dynamic systems with respect to the orders. The continuous dependent condition of the orders of fractional Green's function is derived, which is proved as a necessary and sufficient condition. The singularity of fractional Green's functions is discussed. Several examples are included for illustration.

关键词： Green's function methods Lyapunov method Intelligent robots Sufficient conditions Artificial intelligence Transfer functions Fractional calculus Integral equations Partial differential equations H infinity control

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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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International Conference on Electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON

作者： Wijin Suteeratanapirom Rapeepong Rattanawaorahirankul Chutima Laosapan Peerayot Sanposh Nattapon Chayopitak Kanokvate Tungpimolrut Hiroaki Kunieda TAIST Tokyo Technology China Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Klong Luang Pathum Thani Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology Meguro Tokyo Japan

ISBN: (纸本)9781424456062;9789746724913

关键词： Friction computer numerical control Metalworking machines Servomotors Three-term control Fasteners Rails Servomechanisms Torque control Error correction

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A learning-based autonomous driver: Emulate human driver's intelligence in low-speed car following

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Proceedings of SPIE - The International Society for Optical engineering 2010年 7693卷

作者： Wei, Junqing Dolan, John M. Litkouhi, Bakhtiar Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA 15213 United States Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 United States GM-CMU Autonomous Driving Collaborative Research Lab. GM R and D Center Warren MI 48090 United States

ISBN: (纸本)9780819481573

In this paper, an offline learning mechanism based on the genetic algorithm is proposed for autonomous vehicles to emulate human driver behaviors. The autonomous driving ability is implemented based on a Prediction- and Cost function-Based algorithm (PCB). PCB is designed to emulate a human driver's decision process, which is modeled as traffic scenario prediction and evaluation. This paper focuses on using a learning algorithm to optimize PCB with very limited training data, so that PCB can have the ability to predict and evaluate traffic scenarios similarly to human drivers. 80 seconds of human driving data was collected in low-speed (

关键词： Learning algorithms

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Rotary nanomotors based on head-to-head nanotube shuttles

Rotary nanomotors based on head-to-head nanotube shuttles

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Hamdi A. Subramanian L. X. Dong A. Ferreira B. J. Nelson ENSI Bourges Institut PRISME Bourges France Center for Integrated Nanotechnologies Sandia National Laboratories Albuquerque NM USA Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland Department of Electrical & Computer Engineering Michigan State University East Lansing MI USA

A novel rotary nanomotor is described using two axially aligned, opposing chirality nanotube shuttles. Based on inter-shell screw-like motion of nanotubes, rotary motion is generated by electrostatically pulling the two cores together. Simulations using molecular dynamics show the generation of rotation from armchair nanotube pairs and their actuation properties. The simulation results, together with recently reported progress in realizing batch-fabricated ultra-high density nanotube shuttles, point towards the use of these motors as building blocks in nanoelectromechanical systems (NEMS) and nanorobotic systems for sensing, actuation, and computation applications.

关键词： Nanoelectromechanical systems Carbon nanotubes Micromotors Computational modeling Intelligent robots Nanostructured materials Nanostructures Nanoscale devices Rotors Voltage

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