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A genetic approach to optimize the coverage performance of multiple random path-planning robots

12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009

作者： Habib, Ahsan Alam, M.S. Aldebrez, F.M. Siddique, N.H. Dept. of Applied Physics Electronics and Communication Engineering University of Dhaka Bangladesh Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom School of Computing and Intelligent Systems University of Ulster United Kingdom

ISBN: (纸本)9814291269

This paper presents a new approach to multi-agent coverage path planning problem. This algorithm enables multiple robots with limited sensor capabilities to perform coverage efficiently over a shared territory. Each robot is assigned with an exclusive route, which enables it to carry out its cleaning process simultaneously with minimal path overlapping. The objectives of this work are (i) Identify a path for each robot such that each robot is responsible for covering a different region. In this way, there will be minimal overlap between coverage of the robots, (ii) the methods and procedures must be applicable to a group of simple mobile robots with very few sensors to guarantee their industrial interest.

关键词： Motion planning

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Multi-channel EEG signal segmentation and feature extraction

Multi-channel EEG signal segmentation and feature extraction

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14th International Conference on Intelligent engineering Systems, INES 2010

作者： Procházka, Aleš Mudrová, Martina Vyšata, Oldřich Háva, Robert Araujo, Carmen Paz Suárez Department of Computing and Control Engineering Institute of Chemical Technology in Prague Czech Republic Neurocenter Caregroup Czech Republic Universidad de Las Palmas de G.C. Spain

ISBN: (纸本)9781424476527

Signal analysis of multi-channel data form a specific area of general digital signal processing methods. The paper is devoted to application of these methods for electroencephalogram (EEG) signal processing including signal de-noising, evaluation of its principal components and segmentation based upon feature detection both by the discrete wavelet transform (DWT) and discrete Fourier transform (DFT). The self-organizing neural networks are then used for pattern vectors classification using a specific statistical criterion proposed to evaluate distances of individual feature vector values from corresponding cluster centers. Results achieved are compared for different data sets and selected mathematical methods to detect and to classify signal segments features. Proposed methods are accompanied by the appropriate graphical user interface (GUI) designed in the MATLAB environment. © 2010 IEEE.

关键词： Signal analysis

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Robust adaptive sliding mode control for uncertain discrete-time systems with time delay

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Journal of the Franklin Institute 2010年第1期347卷 339-357页

作者： Xia, Yuanqing Zhu, Zheng Li, Chunming Yang, Hongjiu Zhu, Quanmin Department of Automatic Control Beijing Institute of Technology Beijing 100081 China School of Mechanical and Vehicular Beijing Institute of Technology Beijing 100081 China Faculty of Computing Engineering and Mathematical Sciences University of the West of England Bristol BS16 1QY United Kingdom

This paper focuses on robust adaptive sliding mode control for discrete-time state-delay systems with mismatched uncertainties and external disturbances. The uncertainties and disturbances are assumed to be norm-bounded but the bound is not necessarily known. Sufficient conditions for the existence of linear sliding surfaces are derived within the linear matrix inequalities (LMIs) framework by employing the free weighting matrices proposed in He et al. (2008) [3], by which the corresponding adaptive controller is also designed to guarantee the state variables to converge into a residual set of the origin by estimating the unknown upper bound of the uncertainties and disturbances. Also, simulation results are presented to illustrate the effectiveness of the control strategy. © 2009 The Franklin Institute.

关键词： Linear matrix inequalities

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Experimental comparison of AdaBoost algorithms applied on leg detection with different range sensor setups

Experimental comparison of AdaBoost algorithms applied on le...

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IEEE International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD)

作者： Srećko Jurić-Kavelj Ivan Petrović Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

When tracking people or other moving objects with a mobile robot, detection is the first and most critical step. At first most researchers focused on the tracking algorithms, but recently AdaBoost (supervised machine learning technique) was used for people legs detection in 2D range data. The results are promising, but it is unclear if the obtained classifier could be used on the data from another sensor. As it would be a huge inconvenience having to train a classifier for every sensor (setup), we set out to find if, and when is a classifier trained on one sensor setup transferable to another sensor setup. We tested two sensors in five different setups. In total, we acquired 2455 range scans. Experiments showed that the classifier trained on noisier sensor data performed better at classification of data coming from other sensor setups. Classifiers trained on less noisy data were shown to be overconfident, and performed poorly on noisy data. Furthermore, experiments showed that classifiers learned on ten times smaller datasets performed as good as classifiers trained on larger datasets. Since AdaBoost is a supervised learning technique, obtaining same classifier efficiency with significantly smaller dataset means less hand labeling of the data for the same results.

关键词： Leg Object detection Mobile robots Boosting Robot sensing systems Thumb Legged locomotion control engineering computing Machine learning algorithms Machine learning

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Multi agent based kinematics solution method for multi link robot

Multi agent based kinematics solution method for multi link ...

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Joint 5th International Conference on Soft computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010

作者： Haramaki, Shinya Hayashi, Akihiro Satake, Toshifumi Komori, Mochimitsu Department of Mechanical Engineering Ariake National College of Technology Ohmuta Fukuoka Japan Department of Mechanical Information Science and Technology Kyushu Institute of Technology Iizuka Fukuoka Japan Department of Control and Computing Engineering Asahikawa National College of Technology Asahikawa Hokkaido Japan Department of Integrated System Engineering Kyushu Institute of Technology Tobata Fukuoka Japan

This paper proposes a framework of a distributed kinematics resolution model which can be applied to various types of multi link robot structures. In the framework, hardware modules which consists of joints and links are defined as joint components of robotic systems, then kinematics resolution models are composed of a set of the local kinematics modules (LKMs) which are software module to compute the localized direct and inverse kinematics corresponding to each joint component. Kinematics computation throughout the robotic systems is resolved by the localized kinematics calculation of LKMs for an end effecter to a target position and an information exchange among LKMs. The proposed framework has been applied to case studies of the inverse kinematics problems of 7 degree of freedom multi link robot manipulator. Case studies have confirmed the proposed model to be able to provide a dexterous framework of kinematics resolution systems for modular type robotic systems and various types of robotic systems.

关键词： Inverse problems

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Wavelet use for reduction of watershed transform over-segmentation in biomedical images processing

Wavelet use for reduction of watershed transform over-segmen...

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10th International Conference on Information Technology and Applications in Biomedicine: Emerging Technologies for Patient Specific Healthcare, ITAB 2010

作者： Procházka, Aleš Vysata, Oldrich Jerhotova, Eva Department of Computing and Control Engineering Technická Street 5 166 28 Prague 6 Czech Republic Neurocenter Caregroup Jiráskova 1389 516 01 Rychnovnad Kněžnou Czech Republic

ISBN: (纸本)9781424465606

Problems of multi-dimensional signal enhancement, segmentation, feature extraction and components classification is essential in many engineering and biomedical applications. The paper is devoted to the use of watershed transform and wavelet transform for MR image components detection and discussion of over-segmentation problems. The goal of the paper is in (i) analysis of image de-noising, (ii) discussion of image enhancement, and (iii) multi-resolutional approach application for reduction of over-segmentation problems. Proposed lgorithms include the use of wavelet transform and gradient methods in the preprocessing stage and application of the watershed transform for enhanced images. Resulting algorithms are verified for simulated images and applied for a selected MR biomedical images containing different structures. © 2010 IEEE.

关键词： Wavelet transforms

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Power quality disturbances classification using specialized neural networks

Power quality disturbances classification using specialized ...

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International Conference on Harmonics and Quality of Power

作者： Cerqueira, Augusto S. Ferreira, Danton D. Pinto, Marcia B. S. Salmento, Marlon L. G. De Seixas, José M. Department of Electrical Circuits Federal University of Juiz de Fora Juiz de Fora MG 36036000 Brazil Automation and Control Engineering Federal University of Lavras Lavras MG 432434 Brazil Department of Electrical and Computing Engineering Federal University of Rio de Janeiro Rio de Janeiro RJ 300300 Brazil

ISBN: (纸本)9781424472444

This work presents an automatic classification system for power quality disturbances based on specialized neural networks. The proposed system is capable to classify multiple disturbances, which is very important in some power systems scenarios. A system was designed and tested with synthetic signals generated by software and the global efficiency achieved was 98.9%. The system was also evaluated with real data achieving good results. ©2010 IEEE.

关键词： Software testing

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Chidori – a bio-inspired cognitive architecture for collective robotics applications

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IFAC Proceedings Volumes 2010年第22期43卷 40-45页

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

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： bio-inspired cognitive architecture collaborative robotics swarm intelligence swarm-user interface multi-agent system particle swarm optimization

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Matrix representation of spiking neural P systems

Matrix representation of spiking neural P systems

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11th International Conference on Membrane computing, CMC 2010

作者： Zeng, Xiangxiang Adorna, Henry Martínez-Del-Amor, Miguel Ángel Pan, Linqiang Pérez-Jiménez, Mario J. Image Processing and Intelligent Control Key Laboratory of Education Ministry Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 Hubei China University of the Philippines Diliman 1101 Quezon City Philippines Research Group on Natural Computing Department of Computer Science and Artificial Intelligence University of Sevilla Avda. Reina Mercedes s/n 41012 Sevilla Spain

ISBN: (纸本)3642181228

Spiking neural P systems (SN P systems, for short) are a class of distributed parallel computing devices inspired from the way neurons communicate by means of spikes. In this work, a discrete structure representation of SN P systems with extended rules and without delay is proposed. Specifically, matrices are used to represent SN P systems. In order to represent the computations of SN P systems by matrices, configuration vectors are defined to monitor the number of spikes in each neuron at any given configuration;transition net gain vectors are also introduced to quantify the total amount of spikes consumed and produced after the chosen rules are applied. Nondeterminism of the systems is assured by a set of spiking transition vectors that could be used at any given time during the computation. With such matrix representation, it is quite convenient to determine the next configuration from a given configuration, since it involves only multiplication and addition of matrices after deciding the spiking transition vector. © 2010 Springer-Verlag.

关键词： Vectors

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2010 IEEE 5th International Conference on Bio-Inspired computing: Theories and Applications, BIC-TA 2010

作者： Zhang, Zhujin Wang, Shuo Zhang, Xingyi Zhang, Zheng Department of Control Science and Engineering Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan 430074 China School of Computer and Information Science University of South Australia Adelaide SA 5095 Australia Key Laboratory of Intelligent Computing and Signal Processing of Ministry of Education School of Computer Science and Technology Anhui University Hefei 230039 China

ISBN: (纸本)9781424464388

Randí et al. proposed a significant graphical representation for DNA sequences, which is very compact and avoids loss of information. In this paper, we build a fast algorithm for this graphical representation with time complexity O(n2), and find another important advantage in the representation: no degeneracy. Moreover, we propose a new method to do similarity analysis of DNA sequences based on the representation. The approach adopts four elements of covariance matrix as a descriptor, and is illustrated on the first exon of beta-globin genes from 11 different species. © 2010 IEEE.

关键词： DNA sequences

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