检索结果-内蒙古大学图书馆

IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics

作者： Bart Peerdeman Ugo Fabrizi Gianluca Palli Claudio Melchiorri Stefano Stramigioli Sarthak Misra MIRA - Institute for Biomedical Technology and Technical Medicine (Control Engineering Group) University of Twente LAR DEIS - Laboratory of Automation and Robotics Department of Electronics Computer Science and Systems University of Bologna

ISBN: (纸本)9781457711992

Modern myoelectric hand prostheses continue to increase in functionality, while their control is constrained by the limits of myoelectric input. This paper covers the development and testing of grasp control systems for multifunctional myoelectric prosthetic hands. The functionality of modern hand prostheses is often focused on the task of grasping, which can be divided into high-level grasp planning and low-level finger control. Initially, models can used to test these control systems, but for proper evaluation actual implementation on a physical system is required. The University of Bologna (UB) Hand IV prototype is an anthropomorphic, tendon-driven robotic hand, which makes it well-suited to represent the structure of modern prostheses. One of the main control systems tested in this paper is based on the intrinsically passive controller (IPC), the structure of which offers guaranteed passivity and stability. After several grasping tests, the systems are evaluated on compliant behavior, grasping ability, and dynamic appearance. IPC proves to be a powerful approach to interaction control, without the associated sensor requirements which could be difficult to meet in modern hand prostheses.

关键词： Grasp control systems Prosthetic hand Prosthesis robotic hand

来源：评论

学校读者我要写书评

暂无评论

Behavior control for a humanoid soccer player using Webots

Behavior control for a humanoid soccer player using Webots

引用

21st International Conference on Electronics Communications and computers, CONIELECOMP 2011

作者： Ibarra Zannatha, J.M. Figueroa Medina, L.E. Cisneros Limon, R. Mejia Alvarez, P. Department of Automatic Control Cinvestav Mexico Department of Computer Systems Cinvestav Mexico

ISBN: (纸本)9781424495573

In this paper the behavior control system developed for a humanoid soccer player is presented, according to the current rules established by the International RoboCup Federation. It is important to point out that this work deals only with field players, excluding the goalkeeper. The behavior control is modeled as a finite-state automaton, which comprises activities as: visual perception (self localization, ball localization, movement estimation), behavior control and game strategies. The developed system is implemented in Webots, which is the official simulation platform used in the RobotStadium league of RoboCup. The results obtained are shown and the path to improve the developed system in our humanoid soccer players is established as future work. © 2011 IEEE.

关键词： Motion estimation

来源：评论

学校读者我要写书评

暂无评论

Distributed Identification of the Cell Transmission Traffic Model: A Case Study

Distributed Identification of the Cell Transmission Traffic ...

引用

American control Conference

作者： Marco Rinaldi Luca Capisani Antonella Ferrara Alfredo Nunez Mohammad Hajiahmadi Bart De Schutter Department of Computer Engineering and Systems Science Universita degli Studi di Pavia via Ferrata 1 27100 Pavia Italy Delft Center for Systems and Control Delft University of Technology Mekelweg 2 2628 CD Delft The Netherlands

ISBN: (纸本)9781457710957

The problem of the distributed identification of a macroscopic first-order traffic model, viz. the Cell Transmission Model (CTM), is considered in the paper. The parameters to be identified characterize the dynamics of the density in different sections of the freeway (cells). We explore different distributed identification schemes. The purposes of the approach are mainly to obtain good prediction models through the minimization of the one-step ahead prediction error of the densities of the cells, and to reduce the computational time and the effort required to perform the identification. The methodology is validated relying on real-life data measured on a portion of the A12 freeway in The Netherlands. An evaluation of the performance of the identified model used as a set of virtual sensors in different scenarios is presented.

关键词： Optimization Sensors Traffic control Computational modeling Mathematical model Predictive models Road transportation

来源：评论

学校读者我要写书评

暂无评论

Suggestive Therapeutic Pathways using Hyper-heuristics

引用

IFAC Proceedings Volumes 2012年第18期45卷 397-402页

作者： Prapa Rattadilok Mahdi Mahfouf Jonathan J. Ross Gary H. Mills George Panoutsos Abdelhafid Zeghbib Mouloud Denaï Department of Automatic Control and Systems Engineering the University of Sheffield S1 3JD United Kingdom Northern General Hospital Sheffield S5 7AU United Kingdom Teesside University Middlesbrough TS1 3BA United Kingdom

Therapeutic decision support can be used to promptly assist clinical decision making process. This paper presents a new approach to interpreting multiple data streams in intensive care environments, the resulting model can be used to correct and maintain patients’ health whilst treating underlying illnesses. Rather than simply directing which treatments to be applied, multiple suggestive treatment pathways can be provided allowing several “what-if” scenarios to choose from. Hyper-heuristics are used to guide the treatments and therapeutic pathways selection. Algorithmic validation is made using a human cardiovascular system model parameterised with various post surgery conditions.

关键词： Hyper-heuristic Cardiovascular system model Hemodynamics Clinical decision support system Intensive care unit

来源：评论

学校读者我要写书评

暂无评论

Towards an Ontology for Autonomous Robots

Towards an Ontology for Autonomous Robots

引用

2012 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Liam Paull Gaetan Severac Guilherme V. Raffo Julian Mauricio Angel Harold Boley Phillip J Durst Wendell Gray Maki Habib Bao Nguyen S. Veera Ragavan Sajad Saeedi G. Ricardo Sanz Mae Seto Aleksandar Stefanovski Michael Trentini Howard Li COBRA Department of Electrical and Computer Engineering University of New Brunswick Fredericton Canada ONERA - University of Toulouse France Department of Automation and Systems Federal University of Santa Catarina Brazil Department of Computer Engineering Pontificia Universidad Javeriana Bogot Colombia National Research Council Canada US Army ERDC Vicksburg Ms Mechanical Engineering Department School of Sciences and Engineering The American University in Cairo New Cairo Egypt Defence Research and Development Canada - CORA Ottawa ON Canada Monash University Sunway Campus Systems Engineering and Automatic Control Autonomous Systems Laboratory research group Universidad Politcnica de Madrid Madrid Spain Defence Research and Development Canada - Atlantic NS Canada Department of Computer Science The George Washington University Defence R&D Canada - Suffield Medicine Hat AB Canada

ISBN: (纸本)9781467317375

The IEEE RAS Ontologies for Robotics and Automation Working Group is dedicated to developing a methodology for knowledge representation and reasoning in robotics and automation. As part of this working group, the Autonomous Robots sub-group is tasked with developing ontology modules for autonomous robots. This paper describes the work in progress on the development of ontologies for autonomous systems. For autonomous systems, the focus is on the cooperation, coordination, and communication of multiple unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), and autonomous underwater vehicles (AUVs). The ontologies serve as a framework for working out concepts of employment with multiple vehicles for a variety of operational scenarios with emphasis on collaborative and cooperative missions.

关键词： Ontologies Robot kinematics Sensors Planning Mobile robots Navigation

来源：评论

学校读者我要写书评

暂无评论

A roadmap for the adoption of space assets for train control systems: The Test Site in Sardinia

A roadmap for the adoption of space assets for train control...

引用

IEEE AESS European Conference on Satellite Telecommunications (ESTEL)

作者： Alessandro Basili Leonardo Ghisu Francesco Rispoli Berta Buttarazzi Alessandro Neri Fabio Senesi Bureauveritas Rome Italy Advisor Regione Sardegna Cagliari Italy Ansaldo STS Genova Italy Department of Enterprise Engineering University of Rome “Tor Vergata” Rom Italy RadioLabs Consortium Rome Italy RFI - Technical Department Automatic Train Control Systems Rome Italy

This paper deals with the introduction and exploitation of space technologies based on the ERTMS (European Railways Train Management System) architecture bundling the EGNOS-Galileo infrastructures in the train control system, in order to improve performance and enhancing safety, reducing the investments on the railways circuitry and its maintenance. These solutions can be successfully applied for local and regional lines and low traffic lines, where the issue for a railroad enhanced service, requires increasingly financing to maintain and improve infrastructure. In order to assess the performance and validate the space technologies in a real railways environment, a special focus will be dedicated to the case of the regional lines in Sardinia where is a plan to deploy a Test Site.

关键词： Rail transportation Satellites Europe Rails Satellite broadcasting control systems Safety

来源：评论

学校读者我要写书评

暂无评论

Visual SLAM with oriented landmarks and partial odometry

Visual SLAM with oriented landmarks and partial odometry

引用

21st International Conference on Electronics Communications and computers, CONIELECOMP 2011

作者： Hernandez, E. Ibarra, J.M. Neira, J. Cisneros, R. Lavin, J.E. Department of Automatic Control CINVESTAV-IPN Mexico Mexico Department of Computer Science and Systems Engineering University of Zaragoza Spain

ISBN: (纸本)9781424495573

In this paper, we describe a system that can carry out visual simultaneous localization and mapping (VSLAM) in structured indoor environments;this system uses a small-sized low-cost commercial humanoid robot which uses a camera mounted on a pan-and-tilt device (it was designed and built by us) as his head. Almost all of the VSLAM approaches use points 2D like features of the robot's environment for estimate his pose and the structure of his environment. We propose a new approach to get points 3D (i.e. feature's position and orientation with respect to the current robot's position are known) this approach is based in a monocular 3D reconstruction scheme;with this information we can improve the results in classical SLAM EKF method. Experiments had made in a structured environment, we implemented them for two cases, though;the first one was implemented without odometry and second one was carried out with partial odometry information;that means we included robot's orientation in EKF algorithm. This information had gotten with an IMU (Inertial Measurement Unit), which we installed in the robot. Finally, we want to point out that all the components used into the robotics' platform are low cost. © 2011 IEEE.

关键词： Anthropomorphic robots

来源：评论

学校读者我要写书评

暂无评论

Optimised robust placement of hard quality sensors for robust monitoring of quality in Drinking Water Distribution systems

Optimised robust placement of hard quality sensors for robus...

引用

World Congress on Intelligent control and Automation (WCICA)

作者： Rafał Łangowski Mietek A. Brdys Ruiyun Qi Department of Control Systems Engineering Gdańsk University of Technology Gdansk Poland School of Electronic Electrical and Computer Engineering College of Engineering and Physical Sciences University of Birmingham Edgbaston Birmingham UK College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China

A problem of optimised robust placement of the hard quality sensors in Drinking Water Distribution systems under several water demand scenarios for robust quality monitoring is formulated. Numerical algorithms to solve the problem are derived. The optimality is meant as achieving at the same time a desired trade off between the sensor capital and maintenance costs and resulting robust estimation accuracy of the monitoring algorithm for several water demand scenarios insuring robustness with respect to the demand uncertainty. The robust estimation algorithm recently developed by the authors is applied as a soft quality in design of the sensor placement algorithms. The method and algorithm are validated by application to Chojnice DWDS case study.

关键词： Sensors Robustness Monitoring Optimization Accuracy Educational institutions Algorithm design and analysis

来源：评论

学校读者我要写书评

暂无评论

Computational efficiency of Laguerre MPC using active set method

Computational efficiency of Laguerre MPC using active set me...

引用

13th IASTED International Conference on Intelligent systems and control, ISC 2011

作者： Khan, Bilal Rossiter, Anthony Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom

ISBN: (纸本)9780889868892

This paper explores the computational efficiency of the recently developed Laguerre optimal MPC. Laguerre OMPC facilitates substantial improvements in feasibility with lit- tle or no detriment to performance while not increasing the number of optimisation variables. However, it is shown that some of the structure of the optimisation problem is lost when using a Laguerre parameterisation. In contrast, Optimal MPC can has a strong structure which can be exploited in the active set method thus allowing relatively in- expensive optimisation with large numbers of degrees of freedom. This paper contrasts the two approaches to predictive control and in particular the computational load us- ing both a generic optimiser and active set methods.

关键词： Computational efficiency

来源：评论

学校读者我要写书评

暂无评论

Exploration and control of stochastic spatiotemporal systems with mobile agents

Exploration and control of stochastic spatiotemporal systems...

引用

作者： Zammit Mangion, A. Anderson, S.R. Kadirkamanathan, V. Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom

ISBN: (纸本)9783902661937

control of a spatiotemporal field with mobile agents has received considerable recent interest. A key problem in this area is the tendency of agents to become static once a local control objective is met. To overcome this issue, we propose a novel approach inspired by classic control theory, cautious control, that augments the control cost with field uncertainty. This provokes the agents into exploring the field by being attracted to regions of high uncertainty, in addition to satisfying the control objective. A top-down approach is employed to reduce the potentially complex, abstract problem into an N-step ahead decision making problem, which is easy to implement and shown to give improved results when compared to both static agents and agents which do not take into account field uncertainty. The ensuing intuitive conclusion is that, when faced with the problem of spatiotemporal control with mobile agents, it is largely advantageous to include field uncertainty in the trajectory planning control objective. © 2011 IFAC.

关键词： Sensor networks

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：