检索结果-内蒙古大学图书馆

2011 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： David Folio Christian Dahmen Tim Wortmann M. Arif Zeeshan Kaiyu Shou Salvador Pané Bradley J. Nelson Antoine Ferreira Sergej Fatikow Laboratoire PRISME ENSI de Bourges Bourges France Division Microrobotics and Control Engineering University of Oldenburg Oldenburg Germany Multi-Scale Robotics Laboratory Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland

The propulsion of nano-ferromagnetic objects by means of MRI gradients is a promising approach to enable new forms of therapy. In this work, necessary techniques are presented to make this approach work. This includes path planning algorithms working on MRI data, ferromagnetic artifact imaging and a tracking algorithm which delivers position feedback for the microdevice and a propulsion sequence to enable interleaved magnetic propulsion and imaging. Using a dedicated software environment integrating path-planning methods and real-time tracking, a clinical MRI system is adapted to provide this new functionality for potential controlled interventional targeted therapeutic applications. Through MRI-based sensing analysis, this paper aims to propose a framework to plan a robust pathway to enhance the navigation ability to reach deep locations in human body. The proposed approaches are validated with different experiments.

关键词： Magnetic resonance imaging Navigation Target tracking Uncertainty Planning Sensors

来源：评论

学校读者我要写书评

暂无评论

New simplified model for an under-actuated quadruped robot in bounding motion

New simplified model for an under-actuated quadruped robot i...

引用

International Conference on control, Instrumentation, and Automation

作者： Hamed Kazemi Vahid Johari Majd Majid M. Moghaddam Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran Intelligent Control Systems Laboratory Tarbiat Modares University Tehran Iran Robotics and Mechatronics Laboratory Mechanical Engineering Department Tarbiat Moalem University Tehran Iran Mechanical Engineering Department Tarbiat Modares University Tehran Iran

In this paper, a quadruped robot is studied in bounding motion. A new simplified model of quadruped robot in bounding motion with four actuated and two unactuated joints is developed. The kinetic and potential energies of the under-actuated mechanical model of the quadruped robot are obtained and the dynamics of the robot model is derived using the Lagrangian method. It is shown that the dynamical equation of the proposed simplified model belongs to a class of second-order nonholonomic mechanical systems. The main motivation of this paper is to obtain quadruped model in bounding motion such that one can apply different control methods directly or after transformation in the obtained dynamic equations. Utilizing MATLAB, dynamics of the planar model has been simulated in backward and forward states. Physical parameters of the Little-Dog robot as an instance of the quadruped robot are considered in simulation The simulation is without control and therefore is unstable but it illustrates robot's manner in bounding motion before instability.

关键词： Mathematical model Legged locomotion Dynamics Equations Joints Robot kinematics

来源：评论

学校读者我要写书评

暂无评论

Real-time co-operative decision making & control systems

Real-time co-operative decision making & control systems

引用

XXII International Symposium on Information, Communication and Automation Technologies, ICAT

作者： Ljubo B. Vlacic Daniel I. Thomas Joshué Pérez Intelligent Control Systems Laboratory (ICSL) Griffith University Brisbane Australia Technology One Limited Brisbane Australia Centre of Automation and Robotics University Polytechnic of Madrid Madrid Spain

Learning and adaptability (and thus the ability of being co-operative) are important features of decision & control systems. This paper investigates decision making and control concepts that enable human beings and artificial beings to interact and co-operate in real time in a dynamic and reliable way. It examines the aspects of being co-operative and substitutable in the context of: (i) co-operative driving by driverless vehicles; and (ii) computer game play scenarios for collaborative and social interactions.

关键词： Humans Games Decision making Collaboration Computers control systems Robots

来源：评论

学校读者我要写书评

暂无评论

Agent self-assessment: Determining policy quality without execution

Agent self-assessment: Determining policy quality without ex...

引用

IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning, (ADPRL)

作者： Alexander Hans Siegmund Duell Steffen Udluft Neuroinformatics and Cognitive Robotics Laboratory Ilmenau University of Technology Ilmenau Germany Machine Learning Group Berlin Institute of Technology Berlin Germany Intelligent Systems and Control Siemens AG Munich Germany

With the development of data-efficient reinforcement learning (RL) methods, a promising data-driven solution for optimal control of complex technical systems has become available. For the application of RL to a technical system, it is usually required to evaluate a policy before actually applying it to ensure it operates the system safely and within required performance bounds. In benchmark applications one can use the system dynamics directly to measure the policy quality. In real applications, however, this might be too expensive or even impossible. Being unable to evaluate the policy without using the actual system hinders the application of RL to autonomous controllers. As a first step toward agent self-assessment, we deal with discrete MDPs in this paper. We propose to use the value function along with its uncertainty to assess a policy's quality and show that, when dealing with an MDP estimated from observations, the value function itself can be misleading. We address this problem by determining the value function's uncertainty through uncertainty propagation and evaluate the approach using a number of benchmark applications.

关键词： Uncertainty Equations Markov processes Benchmark testing Approximation algorithms Machine learning Histograms

来源：评论

学校读者我要写书评

暂无评论

DisCoverage for non-convex environments with arbitrary obstacles

DisCoverage for non-convex environments with arbitrary obsta...

引用

2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Dominik Haumann Volker Willert Kim Listmann Roland Siegwart Andreas Breitenmoser Control Theory & Robotics Lab TU DarmstadtLandgraf- Georg-Str. 464283 DarmstadtGermany Autonomous Systems Laboratory (ASL) ETH ZurichTannenstrasse 38092 ZurichSwitzerland

DisCoverage is a distributed strategy for frontierbased multi-robot exploration. The robots coordinate by a partition of the environment, and choose their target points by optimizing a locally decomposable objective function. In [9] DisCoverage for convex regions was proposed. In this work, we extend DisCoverage to support arbitrary non-convex realworld environments with obstacles. Therefore, we introduce a transformation of non-convex environments to robot centric star-shaped domains. This results in a general solution with broader applications for exploration and path planning. Simulations as well as experiments with real robots demonstrate the exploration progress.

关键词： Robot kinematics Optimization Robot sensing systems Silicon Path planning Space exploration

来源：评论

学校读者我要写书评

暂无评论

Improved vertex control for time-varying and uncertain linear discrete-time systems with control and state constraints

Improved vertex control for time-varying and uncertain linea...

引用

2011 American control Conference (ACC)

作者： H.N. Nguyen P.-O. Gutman S. Olaru M. Hovd F. Colledani Automatic Control Department SUPELEC Systems Sciences (E3S) Gif sur Yvette France Faculty of Civil and Environmental Engineering Technion Israel Institute of Technology Israel Norwegian University of Science and Technology Norway LIST Interactive Robotics Laboratory CEA Fontenay-aux-Roses France

This paper addresses the problem of regulating a discrete-time linear uncertain and time-varying system to the origin. It is shown that, based on an interpolation technique, by minimizing an appropriate objective function, how feasibility and a robustly and asymptotically stable closed-loop behavior can be achieved. It is shown that the control is a piecewise affine and continuous function of the state. Several simulations demonstrate the performance of our results.

关键词： Interpolation Trajectory Robustness Linear programming Lyapunov methods Closed loop systems

来源：评论

学校读者我要写书评

暂无评论

Enhancing student learning: On-line interactive laboratory for modelling of real world control system applications

引用

IFAC Proceedings Volumes 2011年第1期44卷 7268-7273页

作者： Joshué Pérez Sebastián Dormido Ljubo Vlacic Centre of Automation and Robotics (CAR) University Polytechnic of Madrid (UPM) – Spanish National Research Council (CSIC) Madrid Spain Dep. Informática y Automática Escuela Técnica Superior de Ingeniería Informática Universidad Nacional de Educación a Distancia Madrid Spain Intelligent Control Systems Laboratory Griffith University Brisbane Australia

Abstract Teaching an introductory course on control systems to undergraduate students often seeks elaborations on real engineering world control system applications to assist students in grasping theoretical concepts. In this paper, the newly developed animated and interactive control systems tutorials are presented. The paper shows that this teaching approach helps students in bridging the gap between the classical control techniques and the real world applications. The course evaluations undertaken since the time of the inclusion of the animated tutorials into the teaching process clearly show the learning improvement gained, reflected in increased average scores, and reduced course fail grade.

关键词： Interactive control system tutorials Interactive teaching tools Animation Distance Education

来源：评论

学校读者我要写书评

暂无评论

Active fault tolerant control of an electro-hydraulic servo axis with a duplex-valve-system

Active fault tolerant control of an electro-hydraulic servo ...

引用

5th IFAC Symposium on Mechatronic systems, MECHATRONICS 2010

作者： Beck, Mark Schwung, Andreas Muenchhof, Marco Isermann, Rolf TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process Automation 64283 Darmstadt Germany TU Darmstadt Institute of Automatic Control Laboratory for Control Theory and Robotics 64283 Darmstadt Germany

ISBN: (纸本)9783902661760

In this paper fault detection, fault diagnosis and active fault tolerant control of an electro-hydraulic servo-axis with a duplex-valve-system are described. The fault detection is based on parity equations. The semi-physical models allow the detection of even small faults in the hydraulic system. The fault diagnosis used on the testbed is based on fuzzy-logic. In order to tolerate a failed hydraulic proportional valve, a duplex-valve-system built up with standard direct-driven proportional valves is applied. The fault management module allows the supervision of the hydraulic servo axis and decides on reconfiguration and fault accomodation of the control-loop. The Internal Model control (IMC)-tracking control structure used for reconfiguration allows bumpless transfer between controllers. Experimental results show the industrial applicability of the approach. © 2010 IFAC.

关键词： Fault detection

来源：评论

学校读者我要写书评

暂无评论

Chidori - A bio-inspired cognitive architecture for collective robotics applications

Chidori - A bio-inspired cognitive architecture for collecti...

引用

作者： Vasile, Cristian Pavel, Ana Buiu, CǍtǍlin Laboratory of Natural Computing and Robotics Department of Automatic Control and Systems Engineering Politehnica University of Bucharest Spl. Independentei 313 060042 Bucharest Romania

ISBN: (纸本)9783902661890

A cognitive collaborative multi-agent control architecture that addresses real-world control problems for swarms of mobile robots is proposed. The swarm's emergent behaviour is obtained by using a distributed Particle Swarm Optimization inspired algorithm. A swarm-user interface is also presented and offers a way for a human operator to interact with and guide the robotic swarm without limiting its emergent intelligence. The architecture is designed as a multi-agent system developed using JADE Framework. Three types of agents were defined: local behaviour agent, social behaviour agent and graphical user interface (GUI) agent. Each robot is associated with a pair of a local and a social behaviour agents which implement the reactive component and the interaction between the robots. The swarm forms a hierarchical structure composed of subswarms and neighbourhoods based on tasks and goals defined by the user or the swarm itself. The GUI agent is used as a link between the human expert and the swarm. The architecture was tested on a swarm of e-puck robots.

关键词： Multi agent systems

来源：评论

学校读者我要写书评

暂无评论

Simulation Platform for Self-assembly Structures in MRI-guided Nanorobotic Drug Delivery systems

Simulation Platform for Self-assembly Structures in MRI-guid...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Vartholomeos, Panagiotis Mavroidis, Constantinos Zenon Automation Technologies S.A. Greece Control Systems Lab. Department of Mechanical Engineering National Technical University of Athens Greece Bionano Robotics Laboratory Department of Mechanical and Industrial Engineering Northeastern University Boston MA 02115 United States

ISBN: (纸本)9781424450404

Magnetic Resonance Imaging (MRI) guided nanorobotic systems that could perform diagnostic, curative and reconstructive treatments in the human body at the cellular and sub-cellular level in a controllable manner have recently been proposed. The concept of a MRI-guided nanorobotic system is based on the use of a MRI scanner to induce the required external driving forces to guide magnetic nanocapsules to a specific target. However, the maximum magnetic gradient specifications of existing clinical MRI systems are not capable of driving superparamagnetic nanocapsules against the blood flow and therefore these MRIs do not allow for navigation. The present paper proposes a way to overcome this critical drawback through the formation of micron size agglomerations where their size can be regulated by external magnetic stimuli. This approach is investigated through modeling of the physics that govern the self-assembly of the nanoparticles. Additionally a computational tool has been developed that incorporates the derived models and performs simulation, visualization and post-processing analysis. Preliminary simulation results demonstrate that external magnetic field causes aggregation of nanoparticles while they flow in the vessel. This is a promising result -in accordance with similar experimental results- and encourages further investigation on the nanoparticle based self-assembly structures for use in nanorobotic drug delivery.

关键词： Magnetic resonance imaging

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：