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International Conference on Peer-to-Peer Computing

作者： Muhammad Irfan Yousuf Suhyun Kim Human Computer Interaction and Robotics Department Imaging Media Research Center University of Science and Technology Korea Institute of Science and Technology Seoul Korea

In the recent years, the P2P file sharing systems have adopted rating systems in the hope to stop the propagation of bad files. In a rating system, users rate files after downloading and a file with positive feedback is considered a good file. However, a dishonest rater can undermine the rating system by giving positive rating to bad files and negative rating to good files. In this paper, we design two filters based on probabilistic models such that the good files with negative feedback are not completely kept out of the system. The first filter is based on the binomial distribution of the ratings of a file, and the second filter considers the confidence of the downloading peer and the difference of positive and negative ratings of a file to calculate the probability to take a risk to download the file or reject it. Our filters only need the ratings of a file and this makes them suitable for popular torrent sharing websites that rank the files using a binary rating system without any information about raters. In addition, we can implement them entirely on the client side without any modification to the content sharing sites.

关键词： Peer-to-peer computing Probability Probability density function Probabilistic logic Predictive models Data models Radiation detectors

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Networked Control Systems with Application in the Industrial Tele-robotics

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IFAC-PapersOnLine 2015年第10期48卷 147-152页

作者： A. Kheirkhah D. Aschenbrenner M. Fritscher F. Sittner K. Schilling Zentrumfuer Telematik Allesgrundweg 12 DE-97218 Gerbrunn Department of Computer Science VII: Robotics and Telematics University of Wuerzburg Am Hubland DE-97074 Wuerzburg

Networked Control Systems (NCS) are used for remote control of distributed or non- co-located systems where the control loop is closed via a communication link. Remote access to industrial robotic systems is one of the application fields where robustness and reliability of the closed loop plays a significant role. Caused by the communication chain in the control loop, there are challenging constraints that can affect the stability and performance of a closed loop. One can consider a large number of difficulties in this type of control systems, for instance unknown delay and packet drop-out. There are already a large number of methods and approaches to handle issues in the NCS and because of increasing interest of the industry, many are still being developed to improve the features of the closed loops over communication networks. This paper summarizes the existing theory of the networked control systems under communication constraints and presents an H∞ synthesis for a simple plant. Finally the results are illustrated, discussed and validated using real measurements from a robotic system.

关键词： Network Control computer-based control systems Training and adaptation algorithms Constructive algorithms Tele-robotics

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RRTCAP∗ - RRT∗ Controller and Planner - Simultaneous Motion and Planning

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IFAC-PapersOnLine 2015年第10期48卷 52-57页

作者： Robin Heβ Tobias Lindeholz Daniel Eck Klaus Schilling Department of Computer Science VII: Robotics and Telematics University of Wurzburg 97074 Germany Zentrumfilr Telematik e.V. Allesgrundweg 12 97218 Gerbrunn Germany

This paper presents a trajectory planning approach, the Rapidly Exploring Random Tree∗ Controller and Planner (RRTCAP∗), combining the planning phase of a RRT∗-based algorithm with the execution phase on a real robot. Despite the necessary adaption of RRT∗ - planner, using Reed-Sheeps curves as local planning method, a trajectory controller is shown which is necessary for compensating deviations introduced by mechanical tolerances and simplified models. The algorithm is implemented on the existing mobile robot Outdoor MERLIN and evaluated in different scenarios using simulations, as well as hardware experiments.

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Non-simplex Enclosing Polytope Generation Concept for Tensor Product Model Transformation based Controller Design

Non-simplex Enclosing Polytope Generation Concept for Tensor...

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IEEE International Conference on Systems, Man, and Cybernetics

作者： József Kuti Péter Galambos Péter Baranyi Institute for Computer Science and Control Hungarian Academy of Sciences Kende u. 13-17 H-llll Budapest Hungary Antal Bejczy Center for Intelligent Robotics óbuda University Bécsi út 96/b H-1034 Budapest Hungary Dept. of Informatics Széchenyi István University Egyetem tér 1. H-9026 Gy?r Hungary

ISBN: (纸本)9781509018987

In polytopic model-based controller synthesis, the vertices of the model determine the achievable performance characteristics. This paper introduces a new concept, that allows for the sophisticated construction of non-simplex enclosing polytopes. The non-simplex structures in general, have much better descriptor properties than the simplex one that leads to less conservative synthesis. The paper demonstrates the workflow of controller design for a nonlinear system through the example of the TORA (Translational Oscillator with a Rotational Actuator) system. The numerical results clearly show that the proposed approach is capable of excluding non-stabilizable regions located between the exact convex hull and the enclosing simplex. The non-simplex polytope leads to an increased number of vertices but it practically does not influence the viability of Tensor-Product (TP) formalization and the feasibility of controller design while the achievable control performance can be improved significantly.

关键词： LMI-based design TP Model Transformation Polytopic modelling qLPV modelling

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An Autonomous Competitive Learning Algorithm using Quantum Hamming Neural Networks

An Autonomous Competitive Learning Algorithm using Quantum H...

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International Joint Conference on Neural Networks

作者： Mohammed Zidan Alaa Sagheer Nasser Metwally Center for Artificial Intelligence and RObotics (CAIRO) Faculty of Science Aswan University Aswan EGYPT Department of Computer Science College of Computer Science and IT King Faisal University KINGDOM of SAUDI ARABIA Department of Mathematics College of Science University of Bahrain Bahrain

ISBN: (纸本)9781479919611

Quantum neural network is a fledging research domain based on the merge of classical neural network and quantum computing. In this paper, we add the quantum effect to the classical hamming neural network algorithm in order to employ the advantages of quantum information to yield, finally, a novel quantum competitive learning algorithm. The proposed algorithm, called quantum hamming neural network (QHNN), is capable to recognize incomplete patterns, as well as, increase the probability of recognizing patterns on the account of undesired patterns. Moreover, these undesired patterns could be used as new patterns for training the algorithm in subsequent steps. The proposed algorithm is testified via a case study and a classification experiment, where promising results, reaches to 100%, are given and compared favorably with other reported quantum competitive algorithms.

关键词： Autonomous Competitive Learning Algorithm Quantum Hamming Neural Networks quantum computing quantum computing quantum effect quanta learning algorithms Neural network

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Telemedical Applications with Rulebased Descision- and Information-Systems (TARDIS)

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IFAC-PapersOnLine 2015年第10期48卷 7-11页

作者： Michael Albert Matthias Gors Klaus Schilling Zentrumfiir Telematik e.V. Allesgrundweg 12 97218 Gerbrunn Germany Department of Computer Science - Robotics and Telematics University of Wurzburg Wilrzburg Germany

Industrialized countries have a growing need for telemedical structures for dealing with the growing numbers of patients caused by the development of the demographic structures. The progress of performant mobile devices and affordable medical sensors offer the possibility for building up a telemedical system using commercial “off-the-shelf” devices by using personal area communication technologies. In order to achieve a very generic and flexible system, a rule-based framework was developed. It is used to model individual behaviors of the system, depending on the patients disease, treatment and the used devices. It allows to add autonomous functions to the patients mobile device and allows data preprocessing and feedback to the user even without an active data communication to the medical center. In the Tele-Service-Center the framework can be used to filter and analyze data or adapt the treatment of each individual patient. The proposed system was implemented and tested in real life with patients suffering from chronic obstructive pulmonary disease with a very good feedback.

关键词： Telematics Telemedicine Rule-based systems Decision support systems

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Trail-Map-based homing under the presence of sensor noise

Trail-Map-based homing under the presence of sensor noise

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Stelzer M. Suppa W. Burgard Institute of Robotics and Mechatronics DLR German Aerospace Center Oberpaffenhofen Germany Department of Computer Science University of Freiburg Freiburg Germany

The travel range of a mobile robot is directly linked to its energy consumption. Apart from the actuators, the computing resources are the main energy consumers. Thus, robots that can navigate with minimal computational resources would be able to travel longer distances and, hence, would be valuable tools in applications such as search and rescue or planetary exploration. Inspired from the navigational abilities of insects, we developed the Trail-Map as a data structure for biologically inspired homing that can easily be scaled in case of memory or computational shortage. The Trail-Map can be built in constant time and enables constant time homing vector calculation. In this paper, we evaluate the Trail-Map-based homing performance of a simulated mobile robot equipped with an omnidirectional camera under the presence of sensor noise, such as odometry errors and observation errors. Further, we will show that Trail-Map-based homing outperforms SLAM methods in terms of computational resources while achieving a comparable homing performance.

关键词： Mobile robots Robot sensing systems Navigation Data structures Current measurement Actuators

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Study on Mission Reachability Problem for Multiple AUVs Based on Object-oriented Petri Net

Study on Mission Reachability Problem for Multiple AUVs Base...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

作者： Changlong Lin Yiping Li College of Computer Science and Technology Huaqiao University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781479987313

To cope with the difficulty for the development, upgrade and maintenance of control systems for Autonomous Underwater Vehicles (AUVs), this paper focuses on the architecture of AUVs. Firstly, the design of a generalized architecture is presented. And then, according to its characteristic of modular packaging and hierarchical organization, the Object-oriented Petri Net (OPN) method is adopted to model this architecture. Based upon this, to the problem of mission reachability, a sufficient criterion is proposed, thus, the correctness of the timing and logic relationship of this architecture is thoroughly demonstrated. Finally, experiments, in which different types of AUVs cooperate to detect objects, are carried out to validate the effectiveness of this architecture.

关键词： AUV Architecture Object-oriented Petri Net Reachability Autonomous underwater vehicles ARCHITECTURE Building construction Accessibility Petri nets object orientation control systems

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Unscented Particle Filter Using Scaled Spherical Simplex UKF

Unscented Particle Filter Using Scaled Spherical Simplex UKF

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第三十四届中国控制会议

作者： Peng Tang Guang qiong-Zhao Shao gang-Chen Zhong liang-Tang Wei He School of Computer Science and Engineering University of Electronic Science and Technology of China School of Mathematical Sciences University of Electronic Science and Technology of China Center for Robotics University of Electronic Science and Technology of China

ISBN: (纸本)9781467374439

In order to reduce the computation burden of conventional unscented particle filter, a method for particle filter based on spherical simplex unscented transformation(SSUT) is proposed. This method uses spherical simplex unscented Kalman filter to generate importance distribution of particle filter. It can extend its overlaps and posterior probability density, and reduce the computation burden by reducing sigma points. However, the sigma point set coverage radius expends over dimension of state space, which results in the deterioration of the aggregation of sigma points. Auxiliary random variable formulation of the scaled transformation can overcome the defect of sigma point set distribution expansion. So the scaled spherical simplex unscented particle filter(SSSUPF) is introduced. The simulation results show that compared with conventional unscented particle filter(UPF), the computation complexity of SSSUPF can be reduced by 50 percent, and compared with spherical simplex unscented particle filter(SSUPF), SSSUPF reduces the system noise and the measurement noise variance estimation error.

关键词： Spherical simplex unscented transformation,Scaled transformation,Particle filter,Nonlinear non-Gaussian

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Powered Upper-Limb Control using Passivity-Based Nonlinear Disturbance Observer for Unknown Payload Carrying Applications

Powered Upper-Limb Control using Passivity-Based Nonlinear D...

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IEEE International Conference on robotics and Automation

作者： Min Jun Kim Woongyong Lee Jae Yeon Choi Yong Sik Park Sung Ho Park Goobong Chung Kyung-Lyong Han I1 Seop Choi I1 Hong Suh Youngjin Choi Wan Kyun Chung the Robotics Laboratory School of Mechanical Engineering Pohang University of Science and Technology (POSTECH) Pohang 790-784 Gyung-buk Korea the Korea Institute of Robot and Convergence (KIRO) Pohang 790-784 Gyung-buk Korea the POSCO Technical Research Laboratories Pohang 790-300 Gyung-buk Korea the Department of Electronics and Computer Engineering Hanyang University Seoul Korea the Department of Electronic Systems Engineering Hanyang University Ansan Korea

ISBN: (纸本)9781467380270

This paper proposes a passivity-based nonlinear disturbance observer (DOB) design for a powered upper-limb robot control. The proposed DOB allows for the nonlinearities of the robot dynamics, whereas the typical DOB designs cannot. Moreover, by virtue of the passivity property, human operator and environmental interactions can be embedded in the control loop. As a DOB, the proposed approach has a disturbance observation property that makes the actual robot behave like a nominal model selected by the user. Performance analysis proposes a gain tuning rule. In experimental validation, actual powered upper-limb robot is used to perform unknown payload carrying applications.

关键词： Observer Unknown DOB

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