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2011 2nd International Conference on control, Instrumentation and Automation, ICCIA 2011

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

ISBN: (纸本)9781467316903

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. © 2011 IEEE.

关键词： Potential energy

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Eclectic Genetic Algorithm for holistic face recognition in L∞ space

Eclectic Genetic Algorithm for holistic face recognition in ...

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World Congress on engineering 2011, WCE 2011

作者： Villegas, C. Climent, J. Murillo, C.R. Otero, A. Villegas, C.R. Universidad Iberoamericana Systems Engineering Department México D.F. Mexico Universitat Politecnica de Catalunya Automatic Control Departament Barcelona Spain Biomedical Engineering Department Universidad Iberoamericana Spain

ISBN: (纸本)9789881925145

Several works regarding facial recognition have dealt with methods which identify isolated characteristics of the face or with templates which encompass several regions of it. In this paper a new technique which approaches the problem holistically dispensing with the need to identify geometrical characteristics or regions of the face is introduced. The characterization of a face is achieved by randomly sampling selected attributes of the pixels of its image. From this information we construct a set of data, which correspond to the values of low frequencies, gradient, entropy and another several characteristics of pixel of the image. Generating a set of "p" variables. The multivariate data set with different polynomials minimizing the data fitness error in the minimax sense (L∞ - Norm) is approximated. With the use of a Genetic Algorithm (GA) it is able to circumvent the problem of dimensionality inherent to higher degree polynomial approximations. The GA yields the degree and values of a set of coefficients of the polynomials approximating of the image of a face. By finding a family of characteristic polynomials from several variables (pixel characteristics) for each face (say Fi ) in the data base through a resampling process the system in use, is trained. A face (say F ) is recognized by finding its characteristic polynomials and using an Classifier from F 's polynomials to each of the Fi 's polynomials. The winner is the polynomial family closer to F 's corresponding to target face in data base.

关键词： Genetic algorithms

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Tracking control with hysteresis compensation for manipulator segments driven by pneumatic artificial muscles

Tracking control with hysteresis compensation for manipulato...

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2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

作者： Schreiber, Frank Sklyarenko, Yevgen Schlüter, Kathrin Schmitt, Jan Rost, Sven Raatz, Annika Schumacher, Walter Institute of Control Engineering Technische Universität Braunschweig 38106 Braunschweig Germany Institute of Machine Tools and Production Technology Technische Universität Braunschweig 38106 Braunschweig Germany National Technical University Donetsk Department of Control Systems and Mechatronics 83000 Donetsk Ukraine

ISBN: (纸本)9781457721373

In this paper a feedforward control structure is introduced for a manipulator joint driven by a symmetrical arrangement of two antagonistic muscles. The setup allows the specification of the desired joint angle, as well as the single muscle forces. Based upon the manipulator kinematic and the inverse static relation in a single muscle, the pressure signal for the muscles' supplying valves is calculated. Applying this control structure allows to compensate the nonlinear characteristic mean relation in a single muscle actuator, while the muscles' hysteretic behavior introduces a hysteresis in the relation between the desired and the actual joint angles. It is shown, that if the muscles are subject to comparable forces the resulting hysteretic behavior can be described by a Preisach model. The inverse of this model can then be applied as a feedforward term to compensate the static hysteretic behavior. Experiments confirm the improvement in tracking control as compared to the system solely controlled by a feedback regulator. © 2011 IEEE.

关键词： Muscle

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Advanced service robotics for human assistance and support

Advanced service robotics for human assistance and support

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2011 International Conference on Advanced Computer Science and Information systems, ICACSIS 2011

作者： Fukuda, Toshio Di, Pei Chen, Fei Sekiyama, Kousuke Huang, Jian Nakajima, Masahiro Kojima, Masaru Department of Micro-Nano Systems Engineering Nagoya University Furo-cho Chikusa-ku Nagoya 464-8603 Japan Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan Hubei 430074 China Center for Micro-nano Mechatronics Nagoya University Furo-cho Chikusa-ku Nagoya 464-8603 Japan

ISBN: (纸本)9789791421119

There are growing demands on robotics and automation in the service sector for many years due to the age quake, silver society and man power shortage. Now that robotics is so advanced with sensor, actuator and computational intelligence along with the CPU development, it is expected to make much wider applications to service sector. Some are good for robot to be more intelligent and more effective. In this presentation, the robotics and automation is overviewed for the sake of human assistance and supports. Then there have been so many attempts to make robots more friendly and usable to human and some showed very successful results in bio-medicine field, material flow and daily life. Firstly, the "intelligent cane system" is presented as one of the examples of advanced service robotics systems. Secondary, a model for assembly strategy generation and selection for human and robot coordinated (HRC) cell assembly by a Dual Generalized Stochastic Petri Net (GSPN) model is discussed within the field of human and robot coordinated (HRC) cell assembly. From these applications, it turned out to be much more important for human service sector such that advanced robotics and automation system in this domain should have more cognitive functions as human intention estimation explicitly. © 2011 Universitas Indonesia.

关键词： Petri nets

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A Radial Basis Function Spike Model for Indirect Learning via Integrate-and-Fire Sampling and Reconstruction Techniques

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Advances in Artificial Neural systems 2012年第1期2012卷

作者： X. Zhang G. Foderaro C. Henriquez A. M. J. VanDongen S. Ferrari Laboratory for Intelligent Systems and Control (LISC) Department of Mechanical Engineering and Materials Science Duke University Durham NC 27708 USAduke.edu Department of Biomedical Engineering and Department of Computer Science Duke University Durham NC 27708 USAduke.edu Program in Neuroscience & Behavioral Disorders Duke-NUS Graduate Medical School Singapore Singapore

This paper presents a deterministic and adaptive spike model derived from radial basis functions and a leaky integrate-and-fire sampler developed for training spiking neural networks without direct weight manipulation. Several algorithms have been proposed for training spiking neural networks through biologically-plausible learning mechanisms, such as spike-timing-dependent synaptic plasticity and Hebbian plasticity. These algorithms typically rely on the ability to update the synaptic strengths, or weights, directly, through a weight update rule in which the weight increment can be decided and implemented based on the training equations. However, in several potential applications of adaptive spiking neural networks, including neuroprosthetic devices and CMOS/memristor nanoscale neuromorphic chips, the weights cannot be manipulated directly and, instead, tend to change over time by virtue of the pre- and postsynaptic neural activity. This paper presents an indirect learning method that induces changes in the synaptic weights by modulating spike-timing-dependent plasticity by means of controlled input spike trains. In place of the weights, the algorithm manipulates the input spike trains used to stimulate the input neurons by determining a sequence of spike timings that minimize a desired objective function and, indirectly, induce the desired synaptic plasticity in the network.

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Linear Quadratic Regulator (LQR) approach for lifting and stabilizing of two-wheeled wheelchair

Linear Quadratic Regulator (LQR) approach for lifting and st...

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International Conference on mechatronics (ICOM)

作者： Salmiah Ahmad M. O. Tokhi Department of Mechatronics Faculty of Engineering International Islamic University Malaysia Kuala Lumpur Malaysia Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

This paper discussed about the implementation of Linear Quadratic Regulator (LQR) on a two-wheeled wheelchair model. The state space model of the two-wheeled wheelchair that mimics double inverted pendulum has been obtained from the linearized mathematical equations of the model. The equations of motions, which are very complex, are derived from the wheels, Link1 and Link2. The goal is to have both links of the two-wheeled wheelchair to be at the upright position. To fulfill the goal, Link1 is to be lifted up from its initial position to zero degree upright position while maintaining Link2 at the upright position. This research is aimed to help disabled people who are using the wheelchair as the main transport for mobility but cannot stand on his own due to permanent injuries on the extremities. The scenario requires a suitable control strategy for the good system performance. Results show that LQR provides good response with the linearized differential equations.

关键词： Wheelchairs Mathematical model Wheels Equations Regulators Differential equations Aerospace electronics

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A stochastic analysis of the inflammatory response

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Journal of Critical Care 2012年第3期27卷 e6-e7页

作者： Scheff, Jeremy D. Doyle, John Vodovotz, Yoram Androulakis, Ioannis P. Department of Biomedical Engineering Rutgers University Newark NJ Department of Control and Dynamical Systems California Institute of Technology Pasadena CA Department of Surgery University of Pittsburgh Pittsburgh PA Center for Inflammation and Regenerative Modeling McGowan Institute of Regenerative Medicine University of Pittsburgh Pittsburgh PA Department of Surgery UMDNJ-Robert Wood Johnson Medical School New Brunswick NJ Department of Chemical and Biochemical Engineering Rutgers University Newark NJ

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A review of models and structures for wheeled mobile robots: Four case studies

A review of models and structures for wheeled mobile robots:...

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International Conference on Advanced Robotics (ICAR)

作者： Ramiro Velázquez Aimé Lay-Ekuakille Mechatronics and Control Systems Laboratory (MCS) Universidad Panamericana Aguascalientes Mexico Department of Innovation Engineering Università del Salento Lecce Italy

This paper reviews the mathematical models of four commonly encountered designs for wheeled mobile robots (WMR). These designs belong to two generic classes of wheeled robot structures: differential-drive and omnimobile. First, the two wheel differential-drive model is presented to show how zero turning radius is achieved with only bidirectional movement. Three particular designs are addressed: the popular two-active-fixed wheels and one-passive-caster wheel, a simple belt-drive, and sprocket-chain system. Next, the model for omnimoble robots with Swedish wheels is presented to illustrate holonomic omnidirectional motion. All four models are based on physical parameters easily measured and are useful to understand the internal dynamics of these WMR and to accurately visualize their motion in 2D environments. They can be therefore used as a practical reference to predict the accessibility of physical prototypes to selected places and to test different algorithms for control, path planning, guidance, and obstacle avoidance.

关键词： Wheels Mobile robots Robot kinematics DC motors Prototypes Pulleys

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Modeling review of structures and locomotion systems for mobile robots: Four case studies

Modeling review of structures and locomotion systems for mob...

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IEEE Instrumentation and Measurement Technology Conference

关键词： Wheels Mobile robots Robot kinematics DC motors Prototypes Pulleys

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The influence of the spatial separation of control elements on the workload for mobile information systems 11

The influence of the spatial separation of control elements ...

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13th International Conference on Human-Computer Interaction with Mobile Devices and Services, Mobile HCI 2011

作者： Ziegler, Jens Graube, Markus Suhrbier, Alexander Wessel, Niels Malberg, Hagen Urbas, Leon Department of Distributed Control Systems Engineering Institute of Automation Dresden University of Technology 01062 Dresden Germany Institute for Applied Computer Science KIT Karlsruhe Institute of Technology 76344 Eggenstein-Leopoldshafen Germany Department of Physics Humboldt-Universität Zu Berlin 10115 Berlin Germany Institute for Biomedical Engineering Dresden University of Technology 01062 Dresden Germany

ISBN: (纸本)9781450305419

Mobile information systems (MIS) are finding their way into private and business every-day activities. There are also increased attempts to establish MIS for on-site activities in industrial facilities. Industrial environments, however, place significantly higher demands on mobile user interfaces than office or home environments. Common interaction styles are often unsuitable for this domain. MIS comprising specialized configurations like wearable systems might overcome current limitations. Wearable systems make it possible to arrange system components in the immediate environment of the user's body in order to create an ergonomic and intuitive user interface. However, the use of distributed, body-worn user interfaces, and in particular separation of input and output devices, might increase the workload for the user. This study examines the extent to which the separation of input and output devices affects the workload for wearable MIS. Three interaction styles in two different configurations are investigated with four different measures to determine the workload covering both objective and subjective indicators. This investigation shows that there is no significant increase of workload in general. However, the measurement of the heart rate variability revealed subtle but significant differences between the two configurations, particularly for one interaction style. These findings indicate that physiological measures can provide more detailed and subtle information about additional workload and its source than other measures. © 2011 ACM.

关键词： Human computer interaction

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