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An intelligent system for Aerial image Retrieval and Classification

引用

3rd Hellenic Conference on Artificial Intelligence, SETN 2004

作者： Gasteratos, Antonios Zafeiridis, Panagiotis Andreadis, Ioannis Laboratory of Robotics and Automation Section of Production Systems Department of Production and Management Engineering Democritus University of Thrace Building of University’s Library Kimmeria XanthiGR-671 00 Greece Laboratory of Electronics Section of Electronics and Information Systems Technology Department of Electrical and Computer Engineering Democritus University of Thrace Vassilisis Sophias 12 XanthiGR-671 00 Greece

ISBN: (纸本)3540219374

Content based image retrieval is an active research area of pattern recognition. A new method of extracting global texture energy descriptors is proposed and it is combined with features describing the color aspect of texture, suitable for image retrieval. The same features are also used for image classification, by its semantic content. An exemplar fuzzy system for aerial image retrieval and classification is proposed. The fuzzy system calculates the degree that a class, such as sea, clouds, desert, forests and plantations, participates in the input image. Target applications include remote sensing, computer vision, forestry, fishery, agricultures, oceanography and weather forecasting. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Fuzzy systems

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A Serpentine Robot Based on 3 DOF Coupled-driven Joint

A Serpentine Robot Based on 3 DOF Coupled-driven Joint

引用

IEEE International Conference on robotics and Biomimetics

作者： Shugen Ma Guangping Lan Y. Tanabe R. Sasaki K. Inoue Robotics Laboratory Shenyang Institute of Automation China Department of Systems Engineering Faculty of Eng Ibaraki University Hitachi Ibaraki Japan

This paper presents a novel joint design for serpentine robot. It has three degrees of freedom and can make the serpentine robot move in extremely difficult environments, such as the rubble of a collapsed structure in earthquake. The leading feature of this serpentine robot is that the novel designed joints based on coupled-driven mechanism was employed, providing more powerful torque under the same condition, and therefore allowing the serpentine robot to perform all kinds of locomotion effectively in three dimensional space. Moreover, the coupled-driven mechanism and the rear actuator performing roll action make the serpentine robot perform multiplex complex locomotion, which improve its flexibility and capability of traversing rugged terrain

关键词： Orbital robotics robotics and automation Mobile robots Propulsion Laboratories Earthquakes Parallel robots Rubber Design engineering systems engineering and theory

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Path planning of a snake-like robot based on serpenoid curve and genetic algorithms

Path planning of a snake-like robot based on serpenoid curve...

引用

World Congress on Intelligent Control and automation (WCICA)

作者： Jinguo Liu Yuechao Wang Bin Ii S. Ma Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences China Robotics Laboratory of Chinese Academy of Sciences Shenyang Institute of Automation (SIA) China Robotics Lab. Chinese Acad. of Sci. China Department of Systems Engineering Ibaraki University JAPAN

The path of the snake-like robot has no repetition because its motion is influenced by manifold indeterminate factors such as ground condition, mechanism's vibration and motor voltage's variety. A novel path planning technique based on serpenoid curve and genetic algorithms (GAs) has been proposed to control the snake-like robot in Shenyang Institute of automation (SIA, China). First, the ranges of the path and the curvature deviation have been calculated approximately and set as the bounds of genetic algorithms. Then using real time dual genetic algorithms, this path planning technique not only can decide the shortest path and the minimum curvature deviation, but also can limit the motion error's influence. Simulation results show that the results of the second layer of GAs are more available than that of the first layer of GAs and this novel technique is effective for the path planning of the SIA snake-like robot.

关键词： Path planning Genetic algorithms robotics and automation Automatic control Robot control Orbital robotics Motion control Laboratories Genetic engineering Manifolds

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Study on a snake-like robot adapting to the ground

Study on a snake-like robot adapting to the ground

引用

World Congress on Intelligent Control and automation (WCICA)

作者： Bin Li Dalong Tan Yuechao Wang Li Chen Shugen Ma Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Systems Engineering Lbaraki University Hitachi Japan

ISBN: (纸本)0780382730

Biological snakes' diverse locomotion modes and physiology make them supremely adapted for the ground. This paper discusses the biological snakes' locomotion mode on the diverse ground, and describes the development of a snake-like robot with the adaptability for the ground. The method to realize some locomotion modes is given. The method for detecting the characteristic of ground is proposed and identified in test.

关键词： Robots robotics and automation Laboratories Content addressable storage systems engineering and theory Physiology Testing

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Shape control of hyper-redundant modularized manipulator using variable structure regular polygon

Shape control of hyper-redundant modularized manipulator usi...

引用

2004 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS) (IEEE Cat. No.04CH37566)

作者： Jinguo Liu Yuechao Wang Shugen Ma Bin Li Robotics Laboratory Shenyang Institute of Automation (SIA) Graduate School Chinese Academy and Sciences Beijing China Robotics Laboratory Shenyang Institute of Automation (SIA) Chinese Academy and Sciences China Department of Systems Engineering Faculty of Engineering Ibaraki University Japan

Hyper-redundant manipulator has more degrees of freedom than the least necessary to perform a given task, thus it has the features of overcoming conventional industrial robot's limitation such as improving its kinematics and dynamic performances. Crucial as it is, effective control of hyper-redundant manipulator is difficult for its redundancy. A novel shape control technique based on the concept of variable structure regular polygon and subsystem has been proposed. This technique, using variable structure regular polygon and neural networks models, is completely capable of solving the control problem of a planar hyper-redundant manipulator with any number of links following any desired path. With regular polygon side number's variety and its shape's transformation, the manipulator's configuration changes accordingly and moves actively to perform the task form point to point or following a path. Compared with other methods to our knowledge, this technique has such superiorities as fewer control parameters, higher precision and less computation. Simulation of a six-link modularized manipulator's inspection work in a bottle-like concave has demonstrated that this control technique is available and effective.

关键词： Shape control Manipulator dynamics Kinematics robotics and automation Service robots Neural networks Jacobian matrices systems engineering and theory Electrical equipment industry Modeling

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Studies on lateral rolling locomotion of a snake robot

Studies on lateral rolling locomotion of a snake robot

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Li Chen Yuechao Wang Shugen Ma Bin Li Graduate School of Chinese Academy of Sciences China Robotics Laboratory Shenyang Institute of Automation Shenyang China Department of Systems Engineering Ibaraki University Hitachi Japan

A reconfigurable modular snake robot has been developed, which can not only move on a plane but aIso achieve some f-dimensional motions while reconfigured. Control equations of 3-dimensional locomotion were established by the composition of two bending motions in mutual orthogonal plane. Three types of lateral rolling locomotion, flapping, linear rolling and curved rolling, were achieved by controlling the amplitudes and the number of two waves in the two bending motions. Using the three types of locomotion the snake robot can realize net lateral translation, alternation of its contact base and rolling over some obstacles. The lateral rolling locomotion obtains its driving force through the interaction with the environment. The rolling shape and its direction depend on the transferring direction and phase difference of the two waves respectively.

关键词： Robots DC motors Orbital robotics robotics and automation Motion control Metalworking machines Laboratories systems engineering and theory Equations Shape

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Novel micro gripping, probing, and sensing devices for single-cell surgery

Novel micro gripping, probing, and sensing devices for singl...

引用

Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： W.J. Li Ning Xi Centre for Micro and Nano Systems Chinese University of Hong Kong New Territories Hong Kong China Micro/Nano Robotics and Automations Laboratory Shenyang Institute of Automation Chinese Academy and Sciences Shenyang Liaoning China Robotics and Automation Laboratory Department of Electrical Engineering Michigan State University East Lansing MI USA

Several novel devices under development in our laboratories to ultimately realize a micro robotic system for single cell nanoscale probing, injection, imaging and surgery is described in this paper. Thus far, we have 1) developed MEMS polymer grippers that can be actuated under water with very large deflection and are capable of gripping 500/spl mu/m embryonic cells in water with /spl sim/2 V input; 2) developed a probe-etching technique to controllably shape fiber probes into various tip geometries, i.e., fibers with initial diameter of 125 /spl mu/m were sharpened into tips with angles ranging from <2.7-9.7/spl deg/ and with nanoscale tip diameters of <1/spl mu/m; 3) developed a novel PVDF force sensing system with resolution in the sub-/spl mu/N range for applications in bio-manipulation, bio-injection, and potentially single cell surgery. Details of these technologies are discussed in this paper.

关键词： Surgery Shape control Laboratories Robot sensing systems Nanoscale devices Micromechanical devices Polymers Grippers Embryo Force control

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Study on a snake-like robot adapting to the ground

Study on a snake-like robot adapting to the ground

引用

WCICA 2004 - Fifth World Congress on Intelligent Control and automation, Conference Proceedings

作者： Li, Bin Tan, Dalong Wang, Yuechao Chen, Li Ma, Shugen Robotics Laboratory Shenyang Institute of Automation CAS 114 Nanta Street Shenyang 110016 China Department of Systems Engineering Ibaraki University 4-12-1 Nakanarusawa-Cho Hitachi 316-8511 Japan

Biological snakes' diverse locomotion modes and physiology make them supremely adapted for the ground. This paper discusses the Biological snakes' locomotion mode on the diverse ground, and describes the development of a snake-like robot with the adaptability for the ground. The method to realize some locomotion modes is given. The method for detecting the characteristic of ground is proposed and identified in test.

关键词： Mobile robots

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Ground condition sensing of a snake-like robot

Ground condition sensing of a snake-like robot

引用

IEEE International Conference on robotics, Intelligent systems and Signal Processing

作者： Lu, Y Ma, SG Li, B Chen, L Robotics Laboratory Shenyang Institute of Automation CAS China Department of Systems Engineering Ibaraki University Japan

ISBN: (纸本)078037925X

Snake-like robot has its unique locomotion mode and can change its locomotion form while the ground condition changed, to achieve the best velocity and efficiency. We first analyze the snake-like robot locomotion on different terrains simply, then point out the significance to sense the ground status that is the base of choosing different locomotion form on different ground. Last we use force sensors to distinguish the different ground status.

关键词： Robots

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Analysis of creeping locomotion of a snake robot on a slope

Analysis of creeping locomotion of a snake robot on a slope

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Shugen Ma N. Tadokoro Bin Li K. Inoue Robotics Laboratory Shenyang Institute of Automation Shenyang China Department of Systems Engineering Ibaraki University Hitachi Japan Robotics Laboratory Shenyang Institute of Automation China

Biological snakes' diverse locomotion modes and physiology make them supremely adapted for environment. To realize these snakes' noticeable features, we have developed a snake-like robot that has no any forward direction driving force. To enlarge the environment-adaptable ability of our robot, in this study we discuss the creeping locomotion of our snake-like robot on a slope. A computer simulator is presented for analysis of the creeping locomotion of our snake-like robot on a slope, and the environment-adaptable body shape for the creeping locomotion of the snake-like robot on slope is also derived through this simulator.

关键词： Mobile robots robotics and automation Analytical models Shape Motion analysis Creep Computational modeling Computer simulation systems engineering and theory Laboratories

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