检索结果-内蒙古大学图书馆

Finding Objects with Segmentation Strategy based Multi Robot Exploration in Unknown Environment

Procedia - Social and Behavioral Sciences 2013年 97卷 580-586页

作者： Reza Arezoumand Syamsiah Mashohor Mohammad Hamiruce Marhaban Intelligent System and Robotics Laboratory Institute of Advanced Technology Universiti Putra Malaysia 43400 Serdang Selangor Malaysia Department of Computer & Communication Systems Faculty of Engineering Universiti Putra Malaysia 43400 Serdang Selangor Malaysia Department of Electrical and Electronic Engineering University Putra Malaysia 43400 Serdang Selangor Malaysia

In this paper we address exploration algorithm in flat experimental environment with colored objects for multi robots system. The aim of exploration in unknown environment is finding target points like mine detection in outdoor environment without any positioning device. Two algorithms were investigated in this paper one is frontier based random search algorithm and the second is efficient algorithm based on segmentation strategy. To improve efficiency, each robot had to go to different regions to avoid cumulating robots in one region. Constructed maps for all four regions could be shared and navigation could be done more effectively. For constructing map robot can use on built range finder sensor or using vision based systems. Also the algorithm using segmentation strategy is using frontier base algorithm for exploring divided area. Both algorithm implemented and analyzed in Player/Stage simulation. The result was compared and showed the efficiency of the designed algorithm based segmentation strategy. In simulation this algorithm is tested with different number of robots to achieve better view of efficiency for proposed algorithm in different type of environment like harsh environment as possibility of losing some robots.

关键词： Multi-robot exploration Flocking Exploration ratio Trajectory prediction

来源：评论

学校读者我要写书评

暂无评论

A positive tensions PID controller for a planar cable robot: An experimental study

A positive tensions PID controller for a planar cable robot:...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mohammad A. Khosravi Hamid D. Taghirad Reza Oftadeh Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran Intelligent Hydraulics and Automation Department (lHA) Tampere University of Technology Finland

In this paper design and control of planar cable-driven parallel robots are studied in an experimental prospective. Since in this class of manipulators, cable tensionability conditions must be met, feedback control of such robots becomes more challenging than for conventional robots. To meet these conditions, internal force control structure is introduced and used in addition to a PID control scheme to ensure that all cables remain in tension. A robust PID controller is proposed for partial knowledge of the robot, to keep the tracking errors bounded. Finally, the effectiveness of the proposed control algorithm is examined through experiments on K.N. Toosi planar cable-driven robot and it is shown that the proposed control structure is able to provide suitable performance in practice.

关键词： PD control Assembly Logic gates Servomotors Force

来源：评论

学校读者我要写书评

暂无评论

Emergency Evacuation Simulation in Staircases Considering Evacuees' Physical and Psychological Status

Emergency Evacuation Simulation in Staircases Considering Ev...

引用

IEEE International Conference on Automation Science and engineering

作者： Ning Ding Peter B. Luh Hui Zhang Tao Chen Center for Intelligent and Networked Systems (CFINS) Department of Automation Tsinghua University Beijing China Department of Electrical and Computer Engineering University of Connecticut Storrs CT 06269-2157 USA IPSR Tsinghua University Beijing China

ISBN: (纸本)9781479915132

Building evacuation in case of emergency events such as fire and smoke has long been recognized as a crucial issue. Stair is the main egress, whether the staircases meet the criterion of building safety is thus important. But it is difficult or even impossible to test staircases in actual emergency events. In view of this, simulation is a proper method, and how to improve evacuation simulation in staircases is important. This problem, however, is difficult because several important evacuees' physical factors, which are ignored by many studies, should be considered in simulation model, and evacuees' psychology and moving uncertainties need to be considered, and evacuation experiments are needed to validate the simulation model. In this paper, a new cellular automata model is established. Several crucial physical factors and how evacuee's psychology influences their behaviors are introduced into this model. To simulate evacuees' moving uncertainties, a split-and-recombine grid map and a group of novel transition rules are introduced. To validate this simulation, a fire drill held in a high-rise building was video recorded. It is found that the simulation results are similar to the fire drill results according to statistical method. Several interesting phenomena, which happen in actual emergency evacuation events, are captured in the simulation process such as overtaking, merging, and going along the inner side of a staircase. The structure of this model is simple, and it is easy to be further developed and utilized in different buildings with various kinds of occupants such as children, adult and the old.

关键词： Staircases Considering Evacuees' Physical Psychological Status simulation model

来源：评论

学校读者我要写书评

暂无评论

Local topological signatures for network-based prediction of biological function

Local topological signatures for network-based prediction of...

引用

8th IAPR International Conference on Pattern Recognition in Bioinformatics, PRIB 2013

作者： Winterbach, Wynand Van Mieghem, Piet Reinders, Marcel J. T. Wang, Huijuan De Ridder, Dick Network Architectures and Services Group Delft University of Technology P.O. Box 5031 2600 GA Delft Netherlands Department of Intelligent Systems Faculty of Electrical Engineering Mathematics and Computer Science Delft University of Technology P.O. Box 5031 2600 GA Delft Netherlands Netherlands Bioinformatics Center 6500 HB Nijmegen Netherlands Kluyver Centre for Genomics of Industrial Fermentation 2600 GA Delft Netherlands

ISBN: (纸本)9783642391583

In biology, similarity in structure or sequence between molecules is often used as evidence of functional similarity. In protein interaction networks, structural similarity of nodes (i.e., proteins) is often captured by comparing node signatures (vectors of topological properties of neighborhoods surrounding the nodes). In this paper, we ask how well such topological signatures predict protein function, using protein interaction networks of the organism Saccharomyces cerevisiae. To this end, we compare two node signatures from the literature - the graphlet degree vector and a signature based on the graph spectrum - and our own simple node signature based on basic topological properties. We find the connection between topology and protein function to be weak but statistically significant. Surprisingly, our node signature, despite its simplicity, performs on par with the other more sophisticated node signatures. In fact, we show that just two metrics, the link count and transitivity, are enough to classify protein function at a level on par with the other signatures suggesting that detailed topological characteristics are unlikely to aid in protein function prediction based on protein interaction networks. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Yeast

来源：评论

学校读者我要写书评

暂无评论

An intelligent load shedding mechanism for maintaining frequency stability

An intelligent load shedding mechanism for maintaining frequ...

引用

IEEE Grenoble PowerTech Conference

作者： Yiannis Tofis Lenos Hadjidemetriou Elias Kyriakides Department of Electrical and Computer Engineering KIOS Research Center for Intelligent Systems and Networks University of Cyprus Nicosia Cyprus

ISBN: (纸本)9781467356688

This paper describes an intelligent Load Shedding (LS) mechanism that aspires to maintain the power system frequency within the regulated limits. First, the system’s parameters and time constants are identified through an online learning scheme using the actual measurement of the frequency. Then, the system is adaptively controlled based on these identified parameters, providing the amount of load that should be shed in a distributed and selective manner, in order to maintain the frequency stability of the system.

关键词： Frequency rate of change frequency response load-frequency behavior online identification.

来源：评论

学校读者我要写书评

暂无评论

Robot ontologies for sensor- and Image-guided surgery

Robot ontologies for sensor- and Image-guided surgery

引用

International Workshop on Robot Sensing (ROSE)

作者： Tamás Haidegger Marcos Barreto Paulo J. S. Goncalves Maki K. Habib S. Veera Ragavan Howard Li Alberto Vaccarella Roberta Perrone Edson Prestes Austrian Center for Medical Innov. and Techn. (ACMIT) Wiener Neustadt Austria UFBA Distributed Systems Laboratory (LaSiD) Brazil IDMEC Center of Intelligent Systems Portugal The American University in Cairo Cairo Egypt Monash University Selangor Malaysia Dept. of Electrical and Computer Engineering University of New Brunswick Canada Dept. of Electronics Information and Bioengineering (DEIB) NearLab Medical Robotics Milan Italy UFRGS Instituto de Informática Brazil

Robots and robotics are becoming more complex and flexible, due to technological advancement, improved sensing capabilities and machine intelligence. Service robots target a wide range of applications, relying on advanced Human-Robot Interaction. Medical robotics is becoming a leading application area within, and the number of surgical, rehabilitation and hospital assistance robots is rising rapidly. However, the complexity of the medical environment has been a major barrier, preventing a wider use of robotic technology, thus mostly teleoperated, human-in-the-loop control solutions emerged so far. Providing smarter and better medical robots requires a systematic approach in describing and translating human processes for the robots. It is believed that ontologies can bridge human cognitive understanding and robotic reasoning (machine intelligence). Besides, ontologies serve as a tool and method to assess the added value robotic technology brings into the medical environment. The purpose of this paper is to identify relevant ontology research in medical robotic, and to review the state-of-the-art. It focuses on the surgical domain, fundamental terminology and interactions are described for two example applications in neurosurgery and orthopaedics.

关键词： Robot sensing systems Surgery Lead Ontologies Biomedical optical imaging

来源：评论

学校读者我要写书评

暂无评论

Distributed sensor fault detection and isolation for nonlinear uncertain systems

Distributed sensor fault detection and isolation for nonline...

引用

8th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, SAFEPROCESS 2012

作者： Reppa, Vasso Polycarpou, Marios M. Panayiotou, Christos G. KIOS Research Center for Intelligent Systems and Networks Electrical and Computer Engineering Department University of Cyprus Nicosia 1678 Cyprus

ISBN: (纸本)9783902823090

This paper presents a design methodology and some analytical results for distributed sensor fault detection and isolation (SFDI) of a class of nonlinear uncertain systems. The proposed architecture is based on the design of local SFDI modules, which monitor the healthy operation of a set of sensors and aim to detect the faults in this set, using a dedicated nonlinear observer scheme. The multiple sensor fault isolation procedure is further enhanced by deriving a combinatorial decision logic that processes information from local SFDI modules. The performance of the proposed diagnostic scheme is analyzed in terms of its robustness with respect to the modeling uncertainties and conditions for ensuring fault detectability and isolability. © 2012 IFAC.

关键词： Fault detection

来源：评论

学校读者我要写书评

暂无评论

Contaminant event monitoring in intelligent buildings using a multi-zone formulation

Contaminant event monitoring in intelligent buildings using ...

引用

8th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, SAFEPROCESS 2012

作者： Michaelides, Michalis P. Reppa, Vasso Panayiotou, Christos Polycarpou, Marios Department of Electrical Engineering and Information Technologies Cyprus University of Technology Cyprus KIOS Research Center for Intelligent Systems and Networks Department of Electrical and Computer Engineering University of Cyprus Cyprus

ISBN: (纸本)9783902823090

The dispersion of contaminants from sources (events) inside a building can compromise the indoor air quality and influence the occupants' comfort, health, productivity and safety. These events could be the result of an accident, faulty equipment or a planned attack. Under these safety-critical conditions, immediate event detection should be guaranteed and the proper actions should be taken to ensure the safety of the people. In this paper, we consider an event as a fault in the process that disturbs the normal system operation. Furthermore, we demonstrate how the problem of monitoring the indoor air quality in intelligent buildings against the presence of contaminant sources fits the usual framework of fault detection, isolation, identification and accommodation. Specifically, we develop a multi-zone formulation using state space equations that enables the use of fault diagnosis and fault tolerant control techniques for monitoring contaminant events inside the building environment. We demonstrate our proposed formulation for the problem of isolating multiple contaminant sources using an estimation scheme in a nine zone building setting. © 2012 IFAC.

关键词： Impurities

来源：评论

学校读者我要写书评

暂无评论

Potential Function Based Multi-Agent Formation Control in 3D Space

引用

IFAC Proceedings Volumes 2012年第22期45卷 682-689页

作者： Marko Bunic Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering LARICS–Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia

This paper presents the extension of the previously proposed method for multi-agent formation control based on potential function. The method derived for 2D space is extended to 3D. It has been shown that the control algorithm keeps all the properties of the original scheme in case of multi-agent formation moving in 3D. An adaptation mechanism that assures avoidance of unwanted stable equilibria, used in 2D, is implemented in the same form for 3D formations. The obtained simulation results demonstrate stable behavior of the system for various sets of parameters - the desired 3D formation is reached in finite time and maintained during trajectory execution.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Recent advances on the energy management of a Hybrid Electric vehicle

Recent advances on the energy management of a Hybrid Electri...

引用

2012 20th Mediterranean Conference on Control and Automation, MED 2012

作者： Efstathiou, D.S. Petrou, A.K. Spanoudakis, P. Tsourveloudis, N.C. Valavanis, K.P. Intelligent Systems and Robotics Lab Technical University of Crete Chania Greece Machine Tools Laboratory Technical University of Crete Chania Greece Department of Electrical and Computer Engineering University of Denver Denver CO 80208 United States

ISBN: (纸本)9781467325318

This paper presents new innovative subsystems of the ER11 prototype urban vehicle which is powered by hydrogen fuel cells and ultra-capacitors. The subsystems described here are: 1) the energy management system, which is responsible for the optimization of the fuel efficiency and the increased mileage of the vehicle, 2) the driver's monitoring and control panel and 3) the power transmission system, which offers the possibility of continuous change of gear. The powertrain of the test-bed vehicle consists of an electric motor, a fuel (H2) cell system, an ultra-capacitor bank and a DC/DC converter. Testing verified that the proposed energy management system is benefitted by the variable transmission of power leading to less fuel consumption. © 2012 IEEE.

关键词： Hybrid vehicles

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：