检索结果-内蒙古大学图书馆

arXiv 2017年

作者： Zhang, Lixian Yin, Xunyuan Shen, Junnan Yu, Haitao Research Institute of Intelligent Control and System Harbin Institute of Technology Harbin150080 China Department of Chemical and Materials Engineering University of Alberta EdmontonT6G 2V2 Canada State Key Laboratory of Robotics and Systems Harbin Institute of Technology 150001 China

In this work, we investigate a state estimation problem for a full-car semi-active suspension system. To account for the complex calculation and optimization problems, a vehicle-to-cloud-to-vehicle (V2C2V) scheme is utilized. Moving horizon estimation is introduced for the state estimation system design. All the optimization problems are solved in a remotely-embedded agent with high computational ability. Measurements and state estimates are transmitted between the vehicle and the remote agent via networked communication channels. The effectiveness of the proposed method is illustrated via a set of simulations. Copyright © 2017, The Authors. All rights reserved.

关键词： State estimation

来源：评论

学校读者我要写书评

暂无评论

Interpretation of uncertain information in mobile service robots by analyzing surrounding spatial arrangement based on occupied density variation

Interpretation of uncertain information in mobile service ro...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： M. A. Viraj J. Muthugala A. G. Buddhika P. Jayasekara Robotics and Control Laboratory Department of Electrical Engineering University of Moratuwa 10400 Sri Lanka

ISBN: (纸本)9781509037636

Service robots are being developed as a supportive aid for elderly people. Those robots are operated by non-expert users in heterogeneous domestic environments. Hence, the ability of a robot to be operated in a more natural human friendly manner enhances the overall satisfaction of the user. Humans prefer to use voice in order to convey instructions. Those voice instructions often include uncertain terms such as "little" and "far". Therefore, the robotic assistants should possess the competency to appropriately interpret the quantitative meanings of such terms. The quantitative meaning of uncertain terms related to the spatial information depends on the spatial arrangement of the environment. This paper proposes a method in order to evaluate the uncertain information in user commands by replicating the natural tendencies of humans about the spatial arrangement of the environment. A module called Occupied Density analyzer has been deployed to analyze the occupied density distribution. A function has been defined to estimate the perceptive distance based on the occupied density distribution. The perception of the uncertain terms is adjusted according to the perceptive distance of that particular scenario. Particulars on rationale behind the proposed method are explained with due attention to the natural human tendencies. Experiments have been carried out in order to evaluate the performance and the behaviors of the proposed system.

关键词： service robotics understanding uncertain information human-robot interaction human friendly robotics

来源：评论

学校读者我要写书评

暂无评论

Development of a dual-cable hand exoskeleton system for virtual reality

Development of a dual-cable hand exoskeleton system for virt...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Yeongyu Park Inseong Jo Joonbum Bae Bio-Robotics and Control (BiRC) Laboratory Department of Mechanical Engineering UNIST Ulsan Korea

ISBN: (纸本)9781509037636

In this paper, a hand exoskeleton system for virtual reality is proposed. As a virtual reality interface for the hand, a wearable system should be able to measure finger joint angles and apply force feedback to the fingers with a simple and light design. In the proposed system, the finger joint angles are measured by a tendon-inspired cable mechanism. Also, another cable is used for force feedback to the finger. Using the measured finger joint angles and motor currents, the cable-driven actuation system applies desired force to the fingers. That is, when the desired force is zero, the motor position is controlled to track the changed cable length;when the desired force needs to be applied, the motor current is controlled to generate the desired force. For a smooth transition between two control strategies, linearly changing proportions of each control strategy is applied in the transition range. A prototype of the proposed system was manufactured, and the proposed control algorithms were verified by experiments.

关键词： Force Force feedback Exoskeletons Motion measurement Virtual reality Joints Potentiometers

来源：评论

学校读者我要写书评

暂无评论

Force-mode control of rotary series elastic actuators in a lower extremity exoskeleton using model-inverse time delay control (MiTDC)

Force-mode control of rotary series elastic actuators in a l...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Suin Kim Joonbum Bae Bio-Robotics and Control (BiRC) Laboratory Department of Mechanical Engineering UNIST Ulsan Korea

ISBN: (纸本)9781509037636

For physical human-robot interaction (pHRI), it has been an important issue to control the output force of actuators. The aim of this study was to apply a new control strategy, named model-inverse time delay control (MiTDC), to series elastic actuators (SEA) in a lower extremity exoskeleton, even in the presence of uncertainties from pHRI. The law for time delay control (TDC) is derived and implementation issues are discussed, including the design of the state observer and the selection of the nominal value of the control distribution coefficient. Additionally, a new concept, a new reference position using the inverse of model dynamics, is introduced to realize satisfactory tracking performance without delay. Experimental results showed that the suggested controller achieved satisfactory performance without accurate information on system parameters, requiring only a nominal value of the control distribution coefficient.

关键词： Actuators Exoskeletons Delay effects Extremities Torque Solid modeling

来源：评论

学校读者我要写书评

暂无评论

Design of a robot with biologically-inspired swimming hairs for fast and efficient mobility in aquatic environment

Design of a robot with biologically-inspired swimming hairs ...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Bokeon Kwak Joonbum Bae Bio-Robotics and Control (BiRC) Laboratory Department of Mechanical Engineering UNIST Ulsan Korea

ISBN: (纸本)9781509037636

A water beetle is skillful at drag-powered swimming by using its oar-like legs. Inspired by this mechanism, a miniature robot, whose mobility is obtained by a pair of legs attached with swimming appendages, was studied in this work. The robot in this paper has optimally designed linkage structures to maximize the sweep angle, which is actuated by a single DC motor with series of gears and a spring. A simplified swimming appendage model was proposed to calculate deflection by drag force applied. Also, each of swimming appendage was optimized individually by considering the attached locations on the legs using the two fitness functions, and three different configurations were selected. In the experiments, the performance of the proposed robots was verified using a high-speed camera, and motion capture cameras. The robot with the proposed configuration showed the fastest movement comparing with other robots.

关键词： Robot Leg Swimming Sweep angles DC motors aquatic environment Appendages Water beetle Fasting motion capture Cameras-High speed Drag forces Gears Hair

来源：评论

学校读者我要写书评

暂无评论

Enhancing Human-Robot Interaction by Interpreting Uncertain Information in Navigational Commands Based on Experience and Environment

Enhancing Human-Robot Interaction by Interpreting Uncertain ...

引用

IEEE International Conference on robotics and Automation

作者： M. A. Viraj J. Muthugala A. G. Buddhika P. Jayasekara the Robotics and Control Laboratory Department of Electrical Engineering University of Moratuwa Moratuwa 10400 Sri Lanka

ISBN: (纸本)9781467380270

Assistive robots can support activities of elderly people to uplift the living standard. The assistive robots should possess the ability to interact with the human peers in a human friendly manner because those systems are intended to be used by non-experts. Humans prefer to use voice instructions that include uncertain information and lexical symbols. Hence, the ability to understand uncertain information is mandatory for developing natural interaction capabilities in robots. This paper proposes a method to understand uncertain information such as "close", "near" and "far" in navigational user commands based on the current environment and the experience of the robot. A robot experience model (REM) has been introduced to understand the lexical representations in user commands and to adapt the perception of the robot on uncertain information in heterogeneous domestic environments. The user commands are not bounded by a strict grammar model and this enables the users to operate the robot in a more natural way. The proposed method has been implemented on the assistive robot platform. The experiments have been carried out in an artificially created domestic environment and the results have been analyzed to identify the behaviors of the proposed concept.

关键词： understanding uncertain information human-robot interactions human friendly robot assistive robots experience of robots

来源：评论

学校读者我要写书评

暂无评论

Multi-criteria optimisation design of shapers with piece-wise equally distributed time-delay

引用

IFAC-PapersOnLine 2016年第10期49卷 112-117页

作者： Pilbauer, Dan Michiels, Wim Vyhlidal, Tomas CIIRC - Czech Institute of Informatics Robotics and Cybernetics and Dept. of Instrumentation and Control Eng. Faculty of Mechanical Engineering Czech Technical University in Prague Technická 4 166 07 Praha 6 Czech Republic Department of Computer Science Katholieke Universiteit Leuven Celestijnenlaan 200A HeverleeB-3001 Belgium

The paper presents an optimisation based method to parametrize input shapers with time delays of piece-wise-equal distribution. The design respects the two key requirements on the shaper performance that are the prompt response time and the robustness represented by residual vibration functions, which are however conflicting criteria as a rule. Thus, the optimisation task is solved as a constrained multi-objective problem where the constraints respect the additional requirements on the shaper performance such as a non-decreasing step response or zero residual function at some frequency points. The result is a Pareto front that shows a trade-off between the two main requirements. Next to the presentation of the results in an example, a user friendly shaper-design tool is presented. © 2016

关键词： Multiobjective optimization Computer control systems Constrained optimization Economic and social effects Time delay Timing circuits Distributed time delays Multi criteria optimisation Multi objective problem Pareto frontiers Residual functions Residual vibrations Signal shaper Vibration suppression

来源：评论

学校读者我要写书评

暂无评论

Identification of modal parametrs of transmission towers

引用

Diagnostyka 2016年第4期17卷 33-38页

作者： Lech, Lukasz Iwaniec, Marek Iwaniec, Joanna AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Mickiewicz Alley 30 Krakow30-059 Poland AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Robotics and Mechatronics Mickiewicz Alley 30 Krakow30-059 Poland

The paper presents theoretical basis for identification of nonlinear systems using the method based on Hilbert transform. Discussed method was verified by analyzing the synthesized signals of known parameters. Developed and verified mathematical tools were used for analysis of dynamic responses of the real object: a laboratory (physical) model of the transmission tower. For the considered laboratory model it was possible to simulate damages of individual truss elements and observe changes in system dynamic characteristics. Results of the carried out research proved that the first natural frequency and damping factor change in the observable extent as a result of damage presence. © 2016, Polish Society of Technical Diagnostics. All rights reserved.

关键词： Modal analysis

来源：评论

学校读者我要写书评

暂无评论

Hybrid single node genetic programming for symbolic regression 7

Hybrid single node genetic programming for symbolic regressi...

引用

7th International Joint Conference on Computational Intelligence, IJCCI 2015

作者： Kubalìk, Jiřì Alibekov, Eduard Žegklitz, Jan Babuška, Robert Czech Institute of Informatics Robotics and Cybernetics CTU in Prague Prague Czech Republic Department of Cybernetics Faculty of Electrical Engineering CTU in Prague Prague Czech Republic Delft Center for Systems and Control Delft University of Technology Delft Netherlands

ISBN: (纸本)9783662535240

This paper presents a first step of our research on designing an effective and efficient GP-based method for symbolic regression. First, we propose three extensions of the standard Single Node GP, namely (1) a selection strategy for choosing nodes to be mutated based on depth and performance of the nodes, (2) operators for placing a compact version of the best-performing graph to the beginning and to the end of the population, respectively, and (3) a local search strategy with multiple mutations applied in each iteration. All the proposed modifications have been experimentally evaluated on five symbolic regression benchmarks and compared with standard GP and SNGP. The achieved results are promising showing the potential of the proposed modifications to improve the performance of the SNGP algorithm. We then propose two variants of hybrid SNGP utilizing a linear regression technique, LASSO, to improve its performance. The proposed algorithms have been compared to the state-of-the-art symbolic regression methods that also make use of the linear regression techniques on four real-world benchmarks. The results show the hybrid SNGP algorithms are at least competitive with or better than the compared methods. © Springer-Verlag Berlin Heidelberg 2016.

关键词： Genetic programming

来源：评论

学校读者我要写书评

暂无评论

Boosting-Based One-Class SVM for Recognizing True-Fake Chinese Liquors Using Electronic Noses

Boosting-Based One-Class SVM for Recognizing True-Fake Chine...

引用

World Congress on Intelligent control and Automation

作者： Zhi-Hua Li Qing-Hao Meng Pei-Feng Qi Yu Zhou Shu-Gen Ma Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems Tianjin University Department of Robotics College of Science and Engineering Ritsumeikan University

ISBN: (纸本)9781467384155

The true-fake detection of Chinese liquors can be considered as a one-class classification problem. Using only positive sample in training process brings about difficulties in determining the optimal parameters of one-class SVM and its kernel. And one-class SVM optimized with conventional grid search method has a low recognition rate of positive test samples. Hence, we proposed a new idea for recognition, namely boosting-based one-class SVM. Six different kinds of liquors were sampled by a self-designed electronic nose system. After the preprocessing and feature extraction of sample data, 18 groups of optimum parameters of one-class SVM were chosen from specified parameter range, each group was used to train a classifier with training algorithm. Then the true-fake decisions were made for test samples with boosting integration rules. Finally the recognition rates of Hongjinjiu and Lanjinjiu positive sample reached 95.24% and 100%, and the recognition rates of both positive and negative sample reached 97.04% and 94.83%, respectively.

关键词： Support Vector Network optimal parameter Electronic Nose Recognition (Psychology) Search methods Chinese Chinese Chinese philosophy Chinese art Feature extraction test sample

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：