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American Control Conference

作者： Hosein Mahjoubi Katie Byl Robotics Laboratory Department of Electrical and Computer Engineering University of California at Santa Barbara Santa Barbara CA 93106 USA

ISBN: (纸本)9781479932757

research on bio-inspired flapping-wing micro-aerial vehicles (MAVs) has experienced a steady growth over the past two decades. In particular, experiments on insect flight dynamics may provide new solutions for various challenges ranging from morphological design to force control mechanisms. A significant amount of research in this area is focused on modeling and simulation of such dynamics;however, mass of the wings and corresponding inertia effects are often ignored for simplification purposes. In this paper, the MAV is considered to be a structure with three rigid bodies, i.e., a main body and two wings. Wing strokes are limited within the body's transverse plane, though each wing can also passively pitch around its lateral axis. Using the Lagrangian, a dynamic multibody model of this system is developed to ?1? analyze the significance of wing mass in flight dynamics and ?2? simulate flight control experiments. The employed control approach is based on investigated relationships between mechanical impedance properties of the wing pitch joints and average values of aerodynamic forces. The results suggest that the wings' mass and mechanical impedance properties of the joints can be optimized together to enhance lift/thrust production. In addition, simulations of various flight maneuvers with the optimized model and proposed control approach always demonstrate an agile and stable behavior.

关键词： Insect Flight Multibody Systems Micro-Aerial Vehicles Simulations Flapping-Wing Tunable Impedance Passive Dynamics Maneuverability Flapping wings maneuverability bar linkage Wings simulating flying insect Flight maneuvers MECHANICAL CONTROL SYSTEMS lateral axis dynamics Aircraft control Characteristic impedance

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Viewpoint selection for vision systems in industrial inspection

Viewpoint selection for vision systems in industrial inspect...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jose Luis Alarcon-Herrera Xiang Chen Xuebo Zhang Department of Electrical and Computer Engineering University of Windsor Windsor Ontario Canada Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China

An automatic method for solving the problem of view planning in high-resolution industrial inspection is presented. The method's goal is to maximize the visual coverage, and to minimize the number of cameras used for inspection. Using a CAD model of the object of interest, we define the scene-points and the viewpoints, with the later being the solution space. The problem formulation accurately encapsulates all the vision- and task-related requirements of the design process for inspection systems. We use a graph-based approach to formulate a solution for the problem. The solution is implemented as a greedy algorithm, and the method is validated through experiments.

关键词： Cameras Inspection Lenses Solid modeling Visualization Image resolution Robot vision systems

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A holistic cloud-enabled robotics system for real-time video tracking application

A holistic cloud-enabled robotics system for real-time video...

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8th FTRA International Conference on Future Information Technology, FutureTech 2013

作者： Liu, Bingwei Chen, Yu Blasch, Erik Pham, Khanh Shen, Dan Chen, Genshe Department of Electrical and Computer Engineering Binghamton University SUNY Binghamton NY United States Air Force Research Laboratory Rome NY United States Air Force Research Laboratory Kirtland AFB Albuquerque NM United States Intelligent Fusion Technology Inc. Germantown MD United States

ISBN: (纸本)9783642408601

Future distributed sensor fusion applications will require efficient methods of information management such as Cloud computing. Using a server-based cloud-enabled software architecture would increase performance over hardware constraints (e.g., power, memory, and processors). In this paper, we propose a comprehensive framework for information fusion demonstrated for Cloud robotics, which possesses user favorable features such as good scalability and elasticity. Robots are connected together to form a networked robotic system that is able to accomplish more computationally intensive tasks. Supported by the emerging Cloud computing technology, cloud-enabled robotic systems (CERS) provide even more powerful capabilities to users, yet keeping the simplicity of a set of distributed robots. Through an experimental study, we evaluate the memory, speed, and processors needed for a video tracking application. © 2014 Springer-Verlag.

关键词： Cloud computing

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Emotion analysis of children's stories with context information

Emotion analysis of children's stories with context informat...

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Asia-Pacific Signal and Information Processing Association Annual Summit and Conference (APSIPA)

作者： Zhengchen Zhang Minghui Dong Shuzhi Sam Ge Human Language Technology Department Institute for Infocomm Research (I2R) A *STAR Singapore Robotics Institute University of Electronic Science and Technology of China Chengdu China Department of Electrical and Computer Engineering and Social Robotics Laboratory National University of Singapore Singapore

ISBN: (纸本)9781479942503

In this paper, we analyse the emotion of children's stories in sentence level by considering the context information. We demonstrate that the emotion of a sentence is not only dependent on its content, but also affected by its neighbours in a story. A Hidden Markov Model (HMM) based method is proposed to model the emotion sequence and to detect whether a sentence is neutral or not. We show the important features for emotion detection by studying a children's story corpus. An empirical evaluation is conducted to investigate the efficiency of the model. The results demonstrate that the proposed method can achieve competitive performance with the state-of-the-art methods, and it is affected more slightly by the training set than traditional classification methods. Classifier fusion is applied to combine different methods to achieve better results.

关键词： Hidden Markov models Training Accuracy Support vector machines Testing Feature extraction Context

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Call for papers Special issue on Learning and control in cooperative multi-agent systems

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Control Theory and Technology 2014年第2期12卷 215-216页

作者： Frank L. Lewis Zhong-Ping Jiang Tengfei Liu UTA Research Institute The University of Texas at Arlington Texas U.S.A. Department of Electrical and Computer Engineering Polytechnic Institute of NYU BrooklynNY U.S.A. State Key Laboratory of Synthetical Process Automation Northeast University Shenyang China

Cooperative control of multi-agent systems linked by communication networks is a well-developed and still growing field. The interplay of the individual agent dynamics and the communication graph topology results in intriguing and often surprising behaviors that are not manifested in the study of control systems for single-agent dynamics. This field brings systems theory, feedback control, graph theory, communication systems, complex systems theory to provide rigorous analysis and design for multiple dynamical systems interconnected by a graph information flow structure. Applications have been made to vehicle formation control, coordinated multi-satellite control, electric power system control, robotics, autonomous airborne systems, manufacturing production lines, and the synchronization of dynamical processes in chemistry, physics, biology, and chaotic systems.

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Photonic network vision 2020 - Toward smart photonic cloud

Photonic network vision 2020 - Toward smart photonic cloud

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作者： Kitayama, Ken-Ichi Hiramatsu, Atsushi Fukui, Masaki Tsuritani, Takehiro Yamanaka, Naoaki Okamoto, Satoru Jinno, Masahiko Koga, Masafumi Department of Electrical Electronic and Information Engineering Osaka University Suita 565-0871 Japan NTT Photonics Laboratories Yokosuka Japan NTT Advanced Technology Corporation United States Department of Optical Transport Network Laboratory KDDI Research and Development Laboratories Inc. Saitama 356-8502 Japan Department of Computer Science Keio University Yokohama 223-8522 Japan Department of Electrical Engineering Kagawa University Takamatsu 239-0847 Japan Department of Electrical and Electronic Engineering Oita University Oita 870-1124 Japan

A vision of the photonic network in 2020 is presented, which envisages a 'smart photonic cloud.' A smart photonic cloud is defined as a universal network platform without any physical or logical constraint that provides flexible connectivity for machine-to-machine communication such as networked high-performance computing or intra- and inter-data center networks. The key requirements for the network in the Big Data era include an ultralarge capacity with low power consumption, low latency, as well as flexibility on demand to the changes in the configuration and bandwidth of the optical path. To cope with the growing demand for network virtualization, novel photonic layer virtualization will be proposed, which differs from the conventional approach in terms of the number of slices and the dynamic range of the bandwidth of each slice. First, the objectives and the guiding principle of the vision will be addressed. Next, three 'Ss' will be presented that represent the key enabling technologies, namely scale-free photonics, smart photonic networking, and a synthetic transport platform. A key engine with which to realize the above three enabling technologies is the photonic network processor (P-NP), which can define versatile functionality of switches and transmission systems by software. The P-NP takes advantage of the rapid progress made on digital signal processing for coherent optical transmission systems, and it consists of pools of optical frontends, digital signal processors, L1/L2 switches, which are either electrically or optically interconnected based on silicon photonic technology. Finally, a multifunctional optical cross-connect and a bit-rate-flexible optical transponder are presented as examples of P-NP applications. © 1983-2012 IEEE.

关键词： Optical fiber communication

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Modeling and Verification of Humanoid Robot Task Coordination

Modeling and Verification of Humanoid Robot Task Coordinatio...

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IEEE International Symposim on High Assurance Systems engineering

作者： Yujian Fu Steven Drager Department of Electrical Engineering & Computer Science Alabama A&M University Huntsville Alabama Information Directorate RITA Air Force Research Laboratory Rome NY

This paper presents a component-based framework of humanoid robot task coordination using Predicate Transition Nets (PrT Nets). Humanoid robots have a large number of degrees of freedom (DOF) and they are expected to generate human-like stable behaviors to finish missions. Their motions have to satisfy a set of constraints (balance, coordinated motions, collision free movements), which increases the complexity of the system - each movement may consist of several types of movements and tasks simultaneously. Task is defined as a sequence of movements and/or actions towards to completing a given mission. It is key to represent the task coordination precisely and correctly to program on humanoid robots' motions. To solve the challenge issue of multiple task coordination for a humanoid robot, we presented a framework that integrates Component Based Software Development (CBSD) with Predicate Transition Nets to analyze the correctness of task co ordinations. Each component's behavior can be represented by a Predicate Transition Net, and the constraints of the behaviors are described by a set of temporal logic formulae. To ensure the task co ordinations are met, a rewriting logic-based model checker is applied to verify the system against the constraints. This formal framework is general and can be used for other type humanoid robots. It allows the representation of motion plans and provides the flexibility of semantic analysis on the humanoid robotics systems.

关键词： Humanoid robots Robot kinematics Legged locomotion Planning Ports (computers) Semantics

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A geometric approach for the sustainable economic growth of a country: The equilateral triangular model

A geometric approach for the sustainable economic growth of ...

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15th IFAC Workshop on International Stability, Technology and Culture, SWIIS 2013

作者： Groumpos, Peter P. Department of Electrical and Computer Engineering Laboratory for Automation and Robotics University of Patras Patras Greece

ISBN: (纸本)9783902823342

Strategic perspectives of sustainable development are considered and discussed. The concept of environmental sustainability is addressed and its relation to sustainable development is discussed. By undertaking mathematical calculations and geometrical axioms, this study shows a different approach in regional development based on various settings between three fundamental concepts: Education + research- Innovation + Entrepreneurship. The Triangle of Knowledge (ToK) is defined using the above three fundamental concepts. The Triangle of Knowledge refers to the interaction between education, research-innovation and entrepreneurship, which are key drivers for the Knowledge-Based-Society (KBS). This concept relates to the need to pay attention on an equal basis to the three factors on a systemic and continuous way. Particular contribution to the Triangle of Knowledge is attempted, through the introduction of Excellence within the proposed Equilateral Triangular Model Approach (ETMA). A new performance index is defined, the Excellence Performance Indicator (EPI) and used on this new proposed methodology of ETMA. A number of simulation runs using ETMA and the Triangle of Knowledge(ToK) is performed and a number of interesting results are obtained and discussed. Copyright © 2013 IFAC.

关键词： Sustainable development

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An overview of the triangle of knowledge as a driving force for sustainable growth in developing nations

An overview of the triangle of knowledge as a driving force ...

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15th IFAC Workshop on International Stability, Technology and Culture, SWIIS 2013

作者： Groumpos, P.P. Department of Electrical and Computer Engineering Laboratory for Automation and Robotics University of Patras Patras Greece

ISBN: (纸本)9783902823342

Today's challenging and critical world situation is briefly reviewed. Mathematical and geometrical approaches to the Knowledge Triangle (KT) concept are outlined and analyzed. The Triptych: Education + research+ Innovation has been used in the definition of the Knowledge Triangle (KT). The relationship of the KT and the Lisbon Strategy is presented and discussed. The European Institute of Technology (EIT) is briefly mentioned which also uses the KT but in addition is taking into consideration the important component of Entrepreneurship. A new approach to explore an expanded triptych of KT, by adding the Entrepreneurship-Business component (K-E+R-I+E-B), is attempted and a new definition is developed by exploring better the geometric triangle schema and the expanded triptych. The new term been introduced is the Triangle of Knowledge (ToK). It is fully explained and justified for this new approach using the expanded (K-E+R-I+E-B) fundamental concepts. The Triangle of Knowledge (ToK) guarantees the full and dynamic interaction between all components needed for the sustainable development-growth of a Region-Country. The different funding schemes are considered and the pyramid for sustainable development is presented for the first time especially for Developing Nations. This new approach seems to address better many fundamental issues and problems of the Knowledge- Based-Society (KBS). The important role that Control can play in the further development and mathematical study of the new proposed concept for the Triangle of Knowledge (ToK) is briefly formulated and analyzed. Interesting and future research directions for the proposed new approaches are presented and discussed. Copyright © 2013 IFAC.

关键词： Sustainable development

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Physics-aware informative coverage planning for autonomous vehicles

Physics-aware informative coverage planning for autonomous v...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Michael J. Kuhlman Petr Švec Krishnanand N. Kaipa Donald Sofge Satyandra K. Gupta Department of Electrical and Computer Engineering Naval Research Laboratory Washington DC USA Department of Mechanical Engineering University of Maryland MD USA University of Maryland at College Park College Park MD US Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory Washington DC USA

Unmanned vehicles are emerging as an attractive tool for persistent monitoring tasks of a given area, but need automated planning capabilities for effective unattended deployment. Such an automated planner needs to generate collision-free coverage paths by steering waypoints to locations that both minimize the path length and maximize the amount of information gathered along the path. The approach presented in this paper significantly extends prior work and handles motion uncertainty of an unmanned vehicle and the presence of obstacles by using a Markov Decision Process based approach to generate collision-free paths. Simulation results show that the proposed approach is robust to significant motion uncertainties and reduces the probability of collision with obstacles in the environment.

关键词： Iterative closest point algorithm Vehicles Uncertainty Planning Robot sensing systems Monitoring

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