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作者： Izumi, Kiyotaka Ishii, Shinichi Watanabe, Keigo Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1 Honjomachi Saga 840-8502 Japan

ISBN: (纸本)9784990288020

A fuzzy coach-player system is here improved as an instruction system with voice interface. However, this system deals with some fuzziness included in voice instructions and introduces hierarchical instructions, which is composed of two instruction levels. One is a local instruction level that uses any action commands directly. The other is a global instruction level that uses a task command. Such a fuzzy coach-player system is applied for the manipulation of a robotic forceps and the effectiveness of the present system is verified through some experiments. ©ISAROB 2008.

关键词： Robotics

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Simplified adaptive control with guaranteed H∞ performance

Simplified adaptive control with guaranteed H∞ performance

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作者： Yamin, R. Ben Yaesh, I. Shaked, U. Control Department Advanced Systems Division I.M.I Ramat-Hasharon 47100 Israel Department of Electrical Engineering-Systems Tel-Aviv University Tel-Aviv 69978 Israel

ISBN: (纸本)9783902661296

Robust simplified adaptive controllers for continuous-time systems with uncertainties and disturbances are considered. Sufficient conditions for closedloop stability and prescribed H∞ disturbance attenuation level of the proposed simplified adaptive control scheme, are introduced, under an almost-strictlypositive- realness requirement on the plant. A numerical example is given, which demonstrates the proposed method.

关键词： Continuous time systems

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Identification of fractional order model structures using conversion of infinite terms of a response to finite terms

Identification of fractional order model structures using co...

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7th International Conference on Electrical and Electronics engineering, ELECO 2011

作者： Nazarian, Peyman Haeri, Mohammad Electrical Engineering Department Zanjan Branch Islamic Azad University Zanjan Iran Advanced Control Systems Lab. Electrical Engineering Department Sharif University of Technology Tehran Iran

ISBN: (纸本)9786050102048

In this paper, a new method is proposed to determine parameters of some types of fractional order models to represent a system dynamics using its step response. The model structure is assumed to have rational commensurateorder as α = M/N . By this assumption infinite terms of the model step response is converted into finite terms limited to N. The proposed method is practically applicable on all fractional order model structures due to the order approximation imposed by the limited precisions in available computational tools. © 2011 Chamber of Turkish Electric.

关键词： Model structures

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Real time tracking and monitoring of human behavior in an indoor environment

Real time tracking and monitoring of human behavior in an in...

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作者： Habib, Maki K. Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502 Japan American University Cairo Egypt

ISBN: (纸本)9783540690306

This chapter reports the development of a real time 3D sensor system and a new concept based on space decomposition by encoding its operational space using limited number of laser spots. The sensor system uses the richness and the strength of the vision while reducing the data-load and computational cost. The chapter presents the development and implementation of an intelligent 3D Fiber Grating (FG) based vision-system that can monitor and track human being status in real time for monitoring purposes to support wide range of applications. The 3D visual sensor is able to measure three-dimensional information with respect to human, objects and surrounding environment. The sensor system consists of a CCD camera, a laser spot array generator (constitutes: laser diode and driver, lens, fiber gratings and holder), and a processing unit with alarm facilities and interfacing capabilities to a higher-level controller and decision-making along with a user-friendly interface. The system works by projecting a two-dimensional matrix of laser spots generated through two perpendicularly overlaid layers of FGs. Then, the spot array generator projects the laser spot array on the front scene within the active view of the CCD camera and the reflected laser spots from the scene play an essential role in detecting and tracking targets. It is possible to adjust or translate the position of the laser spot generator with respect to the CCD camera to have better and balanced resolution. In addition, it is possible to rotate the FG in order to obtain a better laser spot pattern that can facilitate processing and enhance accuracy. Furthermore, multi-laser spot generators can be configured with one CCD camera to widen the operational coverage of the developed sensor system. This chapter introduces and illustrates the structure of the developed sensor system, its operational principles, performance analysis and experimental results. © 2008 Springer-Verlag Berlin Heidelberg.

关键词： CCD cameras

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Affection based multi-robot team work

Affection based multi-robot team work

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作者： Banik, Sajal Chandra Watanabe, Keigo Habib, Maki K. Izumi, Kiyotaka Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga 840-8502 Japan American University Cairo Egypt

ISBN: (纸本)9783540690306

Multi-robot task allocation, cooperation and interaction among the members of a team are very complex topics that need to be explored more. A task can be accomplished by a multi-robot team with required performance and reliability being operated with a proper cooperative plan. A proper cooperative plan includes an intelligent task allocation method in a productive and efficient manner such that the assigned task to the team is performed with a level of performance satisfaction. The robots need to be intelligent enough to dynamically adjust with changing workload either by changing actions or by making new cooperative plan. In this chapter, we describe proposed approaches to multi-robot task allocation and cooperation in a chronological way such that they can be studied and compared for future development with affection based augmentation. In respect of some drawbacks (like high communication overhead, dead lock, etc) with the existing approaches, we present the affection based task allocation and cooperation that has been used for a very few cases. We also present the complexity of the affective method and give some hints to compensate the complexity problems. Later on, we present also a stochastic approach for affection based task allocation, cooperation and interaction for a multi-robot team. © 2008 Springer-Verlag Berlin Heidelberg.

关键词： Industrial robots

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Realization of artificial intelligence for integrative electroencephalogram interpretation

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Artificial Life and Robotics 1998年第2期2卷 91-95页

作者： Nakamura, M. Sugi, T. Ikeda, A. Shibasaki, H. Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Honjomachi Saga840-8502 Japan Department of Brain Pathophysiology Graduate School of Medicine Kyoto University Sakyo-ku Kyoto606-8507 Japan

A fully automatic interpretation of an awake electroencephalogram (EEG) has been developed. Automatic integrative EEG interpretation consists of four main parts: quantitative EEG interpretation, EEG report making, preprocessing of EEG data, and adaptable EEG interpretation. Automatic integrative EEG interpretation reveals essentially the same findings as those of an electroencephalographer (EEGer), and is therefore applicable in clinical situations as an additional tool for the EEGer. The method has been developed through collaboration between the engineering field (Saga University) and the medical field (Kyoto University). This work can be understood as a realization of artificial intelligence. The procedure for this realization of artificial intelligence will also be applicable in other fields of systems control. © 1998, ISAROB.

关键词： Electroencephalography

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Three-dimensional tracking and height verification of polystyrene particles with piezo actuator positioning by means of multi-wavelength evanescent fields 20

Three-dimensional tracking and height verification of polyst...

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20th International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2020

作者： Blattler, Aran Khajornrungruang, Panart Suzuki, Keisuke Permpatdechakul, Thitipat Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan Department of Intelligent and Control Systems Advanced Mechanical Division Kyushu Institute of Technology Fukuoka Japan

ISBN: (纸本)9780995775176

To understand the nanoparticle motion behaviours on a surface, we have studied to investigate the three-dimension tracking of an individual nanoparticle with nanometre localisation accuracy. In three-dimensional nanoparticle moving position, the X and Y coordinates are on the parallel plane to the surface, which their coordinates can be tracked in general microscopy. However, the Z coordinate is the nanoparticle height position perpendicularly to the surface plane, which could not be generally tracked without longitudinal scanning method. In this paper, the polystyrene 100 nm standard particles were used to investigate the three-dimensional tracking. The individual standard nanoparticles were fixed on the tip, which was vertically travelled with the piezo actuator for movement control on the third dimension to verify the actual height Z. Our developed optical microscopy apparatus has been applying multi-wavelength evanescent fields, and obtaining multi scattering light intensities from the observed nanoparticles near to surface. Commonly, the X and Y coordinates of nanoparticle were determined by the centre of mass of each scattering light intensity. The height Z was investigated from the integration of the detected scattering intensities of each wavelength. By using our method, the height Z uncertainty could be measured approximately less than ±20 nm, and the penetration height measurability was approximately 250 nm far from the reference surface. Consequently, we could three-dimensionally track the individual standard nanoparticle in recording speed higher than 50 frames per second. Copyright © Proceedings of the 20th International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2020. All rights reserved.

关键词： Nanoparticles

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Deterioration modeling strategy for pro-active services of commercial vehicles

Deterioration modeling strategy for pro-active services of c...

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作者： Prothmann, Christoph Kokes, Michael Liu, Steven Department of Advanced Engineering Daimler Trucks Daimler AG 70327 Stuttgart-Untertuerkheim Germany Institute of Control Systems University of Kaiserslautern 67663 Kaiserslautern Germany

ISBN: (纸本)9781424474264

The goal of deterioration modeling is to support the decision on pro-active replacement of parts in components that have a shorter life cycle than the vehicle (commercial vehicle) itself. A method of deterioration modeling is demonstrated and exemplified at a turbo charger that includes expertise on the components and an integrated mathematical-physical description of wear and takes into account the knowledge on endurance strength. The deterioration model input signals are the load histories of the components which have to be stored in the truck in so called load matrices. For these load matrices a storage space requirement analysis is presented that considers the operation time of the truck and the specific commercial vehicle requirements. © 2010 AACC.

关键词： Commercial vehicles

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Multi-Lens Visual SLAM with Integrated Moving Object Removal using Unsupervised Models 1

Multi-Lens Visual SLAM with Integrated Moving Object Removal...

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1st International Conference on Robotics, engineering, Science, and Technology, RESTCON 2024

作者： Hara, Ryoichirou Matsushima, Kousuke Kurume College Advanced Engineering Course National Institute of Technology Fukuoka Japan Kurume College National Institute of Technology Department of Control and Information Systems Engineering Fukuoka Japan

ISBN: (纸本)9798350348842

In advanced Driver-Assistance systems (ADAS), SLAM (Simultaneous Localization and Mapping) technology is required to accurately estimate the position and orientation of onboard cameras. Compared to LiDAR SLAM, Visual SLAM has the advantage of collecting rich environmental information at a lower cost. However, the accuracy of the estimated pose and map construction is greatly reduced by moving objects in the camera scene. To solve this problem, a multi-camera SLAM has been proposed, which works robustly in dynamic environments by using multiple cameras to acquire more feature points from omnidirectional environmental information. In this paper, we propose a robust SLAM system based on a multi-camera SLAM system combined with object detection and semantic segmentation networks. We then evaluate the robustness of the proposed method by comparing it to SLAM systems that do not remove moving objects. Experimental results showed that the Absolute Trajectory Error and the Relative Position Error performed better than conventional SLAM by masking moving objects. It also showed that more static objects were detected and constructed in the map. © 2024 IEEE.

关键词： Object detection

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Solving PnP Problem Using Improved Sparrow Search Algorithm

Solving PnP Problem Using Improved Sparrow Search Algorithm

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2024 International Symposium on Intelligent Signal Processing and Communication systems, ISPACS 2024

作者： Riku, Kurihara Matsushima, Kousuke Advanced Engineering Course National Institute of Technology Kurume College Kurume Japan Department of Control and Information Systems Engineering National Institute of Technology Kurume College Kurume Japan

ISBN: (纸本)9798350389210

The Perspective-n-Point (PnP) problem is a fundamental challenge in engineering that plays a crucial role in fields such as computer vision and augmented reality. This problem aims to estimate the position and orientation (pose) of a camera from known 3D points and their corresponding 2D projections on the image plane. With recent technological advancements, application areas such as autonomous vehicles, drones, and robotics are demanding increasingly faster and more accurate camera pose estimation. To address this challenge, we have introduced an improved Sparrow Search Algorithm (SSA) with the capability to dynamically restrict the search area. While the conventional SSA demonstrated excellent optimization capabilities, it faced efficiency issues when searching in high-dimensional spaces, such as those encountered in PnP problems. Our enhancement enables the algorithm to leverage information obtained during the search process to gradually narrow down the search area, thereby more efficiently locating the optimal solution. © 2024 IEEE.

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