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2011 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2011

作者： Zaheer, Shyba Gulrez, Tauseef Deaprtment of Electrical Engineering College of Engineering and Applied Sciences Al Ghurair University Dubai Academic City United Arab Emirates Department of Computer Science Center for Intelligent Machines and Robotics Research COMSATS Institute of Information Technology Lahore Pakistan

ISBN: (纸本)9781612844824

This paper addresses the problem of robotics trajectory building for efficient navigation and consequently exploration. A concept of beta-eigenvector has been introduced to find an outlier for the existing non-point based trajectory obtained from raw laser data. We have used our paradigm of "free configuration eigenspaces" method [1], with specific focus on outlier detection. The key idea proposed in this paper is to replace the Gaussian distribution utilized by the probabilistic principal component analysis (PPCA) with the beta-distribution. It is a well known issue that the conventional PCA is sensitive to anomalous observations because the calculation of sample mean and covari-ance matrix can be significantly influenced by a small number of outliers. Similarly, PPCA is not robust to outliers since the data are assumed to follow a multivariate Gaussian distribution that is easily affected by deviant observations. An outlier detection is done using Beta-Probabilistic Principal Component Analysis (BPPCA), further more an analysis is proposed to identify which variables contribute the most to the occurrence of outliers. The proposed technique is applied on real-time robotics sensor data as well as on the real-time robotics simulation environment. © 2011 IEEE.

关键词： Gaussian distribution

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Initial Development of a Portable Acoustic Array on a Large-Scale E-Textile Substrate

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MRS Online Proceedings Library (OPL) 2011年第1期736卷 D3.7-D3.7页

作者： K. A. Luthy L. S. Mattos J. C. Braly E. Grant J. F. Muth A. Dhawan K. Natarajan T. Ghosh A. Seyam Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC Department of Textile and Apparel Technology and Management North Carolina State University Raleigh NC

Electronic textiles offer possibilities for producing large-area sensors circuits on conformal substrates. To demonstrate this concept, a 5×4 element acoustic array was produced on a 3m × 1m fabric substrate. In the course of fabricating the acoustic array a variety of production issues were identified that impacted the performance of the prototype when experimental tests were carried out with this prototype acoustic array. Fabric-based acoustic array design and production, along with design issues related to scaling an acoustic array to handle larger numbers of microphones on large-area fabrics, are the focus of this paper.

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Adaptive and repetitive controller for robotic manipulators with slowly updating scheme using B-spline shape function

Adaptive and repetitive controller for robotic manipulators ...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Rakprayoon, Pannatee Sanposh, Peerayot Chayopitak, Nattapon Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Pathumthani 12120 Thailand

ISBN: (纸本)9781457721373

This paper studies the real-time adaptive and repetitive control problem using the Desired Compensation Learning Law (DCLL) that has the advantage of robustness under the presence of unknown parameters with low memory requirement. The control structure of DCLL consists of a feedforward compensator that is designed by a linear combination of shape functions that is adaptable to parameter variations;hence the selection of appropriate shape functions plays an important role in the adaptive ability and accuracy of DCLL. In this study, the B-spline shape function is proposed to be used under the slowly updating scheme and the obtained results show that the robustness and accuracy of the tracking can be greatly improved even under payload variation and torque limits. © 2011 IEEE.

关键词： Interpolation

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Emergence of rationality amongst simple nodes performing adaptive filtering

Emergence of rationality amongst simple nodes performing ada...

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

作者： Vikram Krishnamurthy Omid Namvar Gharehshiran Amir Danak Department of Electrical and Computer Engineering University of British Columbia Vancouver Canada Center of Intelligent Machines McGill University Montreal Canada

We present a decentralized adaptive filtering algorithm where each agent acts selfishly to maximize its payoff. Agents are only aware of the actions of other agents within their coalitions and have no knowledge of the actions of agents outside the coalition. We show that the global behavior of the system converges to the set of correlated equilibria. Thus simple behavior by individual agents can result in sophisticated global behavior.

关键词： Joints Games Approximation methods Stochastic processes Switches Convergence Approximation algorithms

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Beta-eigenspaces for autonomous mobile robotic trajectory outlier detection

Beta-eigenspaces for autonomous mobile robotic trajectory ou...

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IEEE International Conference on Technologies for Practical Robot Applications (TePRA)

作者： Shyba Zaheer Tauseef Gulrez Department of Electrical Engineering College of Engineering and Applied Sciences Al Ghurair University Dubai Academic City UAE Department of Computer Science Center of Intelligent Machines & Robotics Research COMSATS Institute of Information Technology Lahore Pakistan

This paper addresses the problem of robotics trajectory building for efficient navigation and consequently exploration. A concept of beta-eigenvector has been introduced to find an outlier for the existing non-point based trajectory obtained from raw laser data. We have used our paradigm of “free configuration eigenspaces” method, with specific focus on outlier detection. The key idea proposed in this paper is to replace the Gaussian distribution utilized by the probabilistic principal component analysis (PPCA) with the beta-distribution. It is a well known issue that the conventional PCA is sensitive to anomalous observations because the calculation of sample mean and covariance matrix can be significantly influenced by a small number of outliers. Similarly, PPCA is not robust to outliers since the data are assumed to follow a multivariate Gaussian distribution that is easily affected by deviant observations. An outlier detection is done using Beta-Probabilistic Principal Component Analysis (BPPCA), further more an analysis is proposed to identify which variables contribute the most to the occurrence of outliers. The proposed technique is applied on real-time robotics sensor data as well as on the real-time robotics simulation environment.

关键词： Trajectory Principal component analysis Robot sensing systems Lasers Mobile communication Mobile robots

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Reports of the AAAI 2010 fall symposia

Reports of the AAAI 2010 fall symposia

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作者： Azevedo, Roger Biswas, Gautam Bohus, Dan Carmichael, Ted Finlayson, Mark A. Hadzikadic, Mirsad Havasi, Catherine Horvitz, Eric Kanda, Takayuki Koyejo, Oluwasanmi Lawless, William F. Lenat, Doug Meneguzzi, Felipe Mutlu, Bilge Oh, Jean Pirrone, Roberto Raux, Antoine Sofge, Donald A. Sukthankar, Gita Van Durme, Benjamin Yorke-Smith, Neil Department of Educational and Counseling Psychology McGill University Canada Center for Intelligent Systems Vanderbilt University United States Microsoft Research Redmond United States Department of Software and Information Systems University of North Carolina Charlotte United States Complex Systems Institute United States Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology United States Media Lab. Massachusetts Institute of Technology United States ATR Intelligent Robotics and Communication Laboratories Kyoto Japan Department of Electrical and Computer Engineering University of Texas Austin United States Department of Mathematics Paine College Augusta GA United States Cycorp Austin TX United States Robotics Institute Carnegie Mellon University United States Department of Computer Sciences University of Wisconsin Madison United States University of Palermo Italy Honda Research Institute United States Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory Washington DC United States Department of Electrical Engineering and Computer Science University of Central Florida United States Department of Computer Science Johns Hopkins University United States American University of Beirut Lebanon SRI International's Artificial Intelligence Center United States

The Association for the Advancement of Artificial Intelligence (AAAI) presented the 2010 Fall Symposium Series on November 11-13, 2010. The eight symposia included Cognitive and Metacognitive Educational Systems, Commonsense Knowledge, Complex Adaptive Systems: Resilience, Robustness, and Evolvability, Computational Models of Narrative, Dialog with Robots, Manifold Learning and Its Applications, Proactive Assistant Agents and Quantum Informatics for Cognitive, Social, and Semantic Processes. Cognitive and Metacognitive Educational Systems aimed to provide a comprehensive definition of metacognitive educational systems that is inclusive of the theoretical, architectural, and educational aspects of this field. The AAAI Commonsense Knowledge Fall Symposium had the goal of bringing together the diverse elements of this community whose work benefits from or contributes to the representation of general knowledge about the world. One of the specific goals of Proactive symposium was to gather the researchers from various projects in assistant agents to share their wisdom in retrospect.

关键词： Semantics

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Introduction

Communications and Control Engineering

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Communications and Control engineering 2011年第9780857292551期 1-15页

作者： Sun, Zhendong Ge, Shuzhi Sam College Automation Science & Engineering Center for Control and Optimization South China University of Technology Guangzhou510640 China Department of Electrical and Computer Engineering The National University of Singapore Singapore Singapore Robotics Institue and Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China Chengdu China

Chapter 1 briefly introduces the problem formations and the organization of the book. In particular, given a feasible set of switching signals, the concepts of stability and stabilizability are introduced, and the related problems of stability and stabilization are briefly formulated and discussed. Examples and simulations are provided to exhibit the primary features of the problems with various switching mechanisms. © 2011, Springer-Verlag London Limited.

关键词： Stabilization

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AASVMES: An intelligent expert system for realization of Adaptive Autonomy using Support Vector Machine

AASVMES: An intelligent expert system for realization of Ada...

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International Conference on Control, Instrumentation, and Automation

作者： N. Hassanpour M. A. Zamani A. Fereidunian H. Lesani Systems and Machines Research Laboratory (SMRL) Control and Intelligent Processing Center of Excellence (CIPCE) School of ECE University of Tehran Tehran Iran Electrical and Computer Engineering Department K. N. Toosi University of Technology Tehran Iran

We earlier introduced a novel framework for realization of Adaptive Autonomy (AA) in human-automation interaction (HAI). This study presents an expert system for realization of AA, using Support Vector Machine (SVM), referred to as Adaptive Autonomy Support Vector Machine Expert System (AASVMES). The proposed system prescribes proper Levels of Automation (LOAs) for various environmental conditions, here modeled as Performance Shaping Factors (PSFs), based on the extracted rules from the experts' judgments. SVM is used as an expert system inference engine. The practical list of PSFs and the judgments of GTEDC's (the Greater Tehran Electric Distribution Company) experts are used as expert system database. The results of implemented AASVMES in response to GTEDC's network are evaluated against the GTEDC experts' judgment. Evaluations show that AASVMES has the ability to predict the proper LOA for GTEDC's Utility Management Automation (UMA) system, which changes in relevance to the changes in PSFs; thus providing an adaptive LOA scheme for UMA.

关键词： Support vector machines Training Expert systems Complexity theory Automation Adaptive systems Humans

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Adaptive and Repetitive Controller for Robotic Manipulators with Slowly Updating Scheme Using B-Spline Shape Function

Adaptive and Repetitive Controller for Robotic Manipulators ...

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IEEE International Conference on robotics and Biomimetics

作者： Pannatee Rakprayoon Peerayot Sanposh Nattapon Chayopitak Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Industrial Control and Automation Laboratory National Electronics and Computer Technology Center

ISBN: (纸本)9781457721366

关键词： shape functions Repetitive controllers Self tuning splines (mathematics) Scheme Robot Manipulator adaptive capacity memory requirements Control Architecture Manipulators Unknown parameter Linear Combination

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Analysis of a planar tensegrity-based compliant mechanism

Analysis of a planar tensegrity-based compliant mechanism

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ASME 2010 International Design engineering Technical Conferences and computers and Information in engineering Conference, IDETC/CIE2010

作者： Moon, Youngjin Crane III, Carl D. Roberts, Rodney G. Center for Intelligent Machines and Robotics Dept. of Mechanical and Aerospace Engineering University of Florida Gainesville FL 32611 United States Dept. of Electrical and Computer Engineering FAMU-FSU College of Engineering Florida State University Tallahassee FL 32306 United States

ISBN: (纸本)9780791844106

This paper presents an analysis of a planar tensegrity-based mechanism. In this study, a moving body is joined to ground by four compliant leg connectors. Each leg connector is comprised of a spring in series with an adjustable length piston. Two problems are solved in this paper. In the first, the values of the four spring constants and free lengths are given and the lengths of the four pistons are determined such that: (1) the top body is positioned and oriented at a desired pose;(2) the top body is at equilibrium while a specified external wrench is applied;and (3) the total potential energy stored in the four springs equals some desired value. In the second problem, the values for the four spring free lengths are given and the values for the four spring constants and the lengths of the four pistons are determined such that conditions (1) and (2) from above are met and also the instantaneous stiffness matrix of the top body equals a specified set of matrix values. The paper formulates the solutions of these two problems. Numerical examples are presented. © 2010 by ASME.

关键词： Pistons

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