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6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Noh, Kyung-Wook Kang, Sun-Kyun Lee, Dong-Hyuk Lee, Jangmyung Department of Interdisciplinary Program in Robotics Pusan National University Korea Republic of Department of Electrical Engineering Pusan National University Korea Republic of

ISBN: (纸本)9783642408519

In this paper, the obstacle recognition research is conducted by using vibration pattern. Remotely, the user can perceive the surroundings sensed by the obstacle recognition unit. The vibration motor was installed at the bottom of the joystick in order to let the user perceive the distance value of the obstacle which can be recognized by ultrasonic sensors. And in the various situations, the operation can be precisely implemented by using the Fuzzy controller. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Ultrasonic sensors

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GPU based real-time trinocular stereovision

GPU based real-time trinocular stereovision

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Intelligent Robots and Computer Vision XXX: Algorithms and Techniques

作者： Yao, Yuanbin Linton, R.J. Padir, Taskin Robotics Engineering Program Electrical and Computer Engineering Department Worcester Polytechnic Institute 100 Institute Road Worcester MA 01609 United States

ISBN: (纸本)9780819494351

Most stereovision applications are binocular which uses information from a 2-camera array to perform stereo matching and compute the depth image. Trinocular stereovision with a 3-camera array has been proved to provide higher accuracy in stereo matching which could benefit applications like distance finding, object recognition, and detection. This paper presents a real-time stereovision algorithm implemented on a GPGPU (General-purpose graphics processing unit) using a trinocular stereovision camera array. Algorithm employs a winner-take-all method applied to perform fusion of disparities in different directions following various image processing techniques to obtain the depth information. The goal of the algorithm is to achieve real-time processing speed with the help of a GPGPU involving the use of Open Source Computer Vision Library (OpenCV) in C++ and NVidia CUDA GPGPU Solution. The results are compared in accuracy and speed to verify the improvement. © 2013 SPIE-IS&T.

关键词： Graphics processing unit

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Distributed accelerated primal-dual neurodynamic approaches for resource allocation problem

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Science China(Technological Sciences) 2023年第12期66卷 3639-3650页

作者： ZHAO You HE Xing YU JunZhi HUANG TingWen College of Electronic and Information Engineering Southwest UniversityChongqing 400715China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China Science Program Texas A&M University at QatarDoha 2387Qatar

This paper investigates two distributed accelerated primal-dual neurodynamic approaches over undirected connected graphs for resource allocation problems(RAP)where the objective functions are generally *** the help of projection operators,a primal-dual framework,and Nesterov's accelerated method,we first design a distributed accelerated primal-dual projection neurodynamic approach(DAPDP),and its convergence rate of the primal-dual gap is O(1/(t^(2)))by selecting appropriate parameters and initial ***,when the local closed convex sets are convex inequalities which have no closed-form solutions of their projection operators,we further propose a distributed accelerated penalty primal-dual neurodynamic approach(DAPPD)on the strength of the penalty method,primal-dual framework,and Nesterov's accelerated *** on the above analysis,we prove that DAPPD also has a convergence rate O(1/(t^(2)))of the primal-dual *** with the distributed dynamical approaches based on the classical primal-dual framework,our proposed distributed accelerated neurodynamic approaches have faster convergence *** simulations demonstrate that our proposed neurodynamic approaches are feasible and effective.

关键词： accelerated primal-dual neurodynamic approaches RAP projection operators penalty method convergence rate O(1/(t^(2)))

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Designing an undergraduate robotics engineering curriculum: Unified robotics I and II

Designing an undergraduate robotics engineering curriculum: ...

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2009 ASEE Annual Conference and Exposition

作者： Ciaraldi, Michael Cobb, Eben Looft, Fred Norton, Robert Padir, Taskin Robotics Engineering Program Worcester Polytechnic Institute United States Department of Electrical and Computer Engineering Lake Superior State University United States

robotics engineering (RBE) is a new undergraduate degree program at the Worcester Polytechnic Institute (WPI). As of the fall semester of 2008, the program is the fourth largest discipline at the institution in terms of freshman enrollment. At the core of the curriculum are four signature courses called Unified robotics I-IV. The goal of these courses is to introduce students to the multidisciplinary theory and practice of robotics engineering, integrating the fields of computer science, electrical and computer engineering and mechanical engineering. The sophomore level courses, RBE 2001 and RBE 2002, introduce students to the foundational concepts of robotics such as kinematics, pneumatics, circuits, electric motors, sensors, signal processing and embedded system programming. The junior level courses, RBE 3001 and RBE 3002, build on this foundation to ensure that students understand the analysis of selected components and learn system-level design and development of a robotic system including embedded design. This paper discusses the development of a two-course sequence in undergraduate robotics education, Unified robotics I and II, in detail. Learning outcomes and sample schedules illustrating our approach to designing a new robotics engineering program at the undergraduate level are presented. The paper exemplifies the robotics systems designed by the students within the scope of laboratory experiences and course projects. Finally, we discuss lessons learned, future directions, and student feedback. The initial observations and results are in favor of promoting robotics engineering as a new undergraduate engineering program. © American Society for engineering Education, 2009.

关键词： Students

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A Novel Adaptive Actor-Critic Reinforcement Learning Controller for Constrained Robots 25

A Novel Adaptive Actor-Critic Reinforcement Learning Control...

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2022 IEEE International Conference on Automation/25th Congress of the Chilean Association of Automatic Control, ICA-ACCA 2022

作者： Pantoja-Garcia, Luis Garcia-Rodriguez, Rodolfo Parra-Vega, Vicente Robotics and Advanced Manufacturing Department Coah Saltillo25900 Mexico Universidad Politecnica Metropolitana de Hidalgo Aeronautical Engineering Program and Postgraduate Program in Aerospacial Engineering Tolcayuca43860 Mexico

ISBN: (纸本)9781665494083

Force-position control for robot manipulators has become a basic control regime for advanced applications such as interaction or cooperative tasks that imply contact to environment or external object. Thus, for many applications environmental information is evaluated continuously to generate adequate control actions to complete the task. There has been proposed techniques such as adaptive or intelligent control to cover some of these requirements, however it seems insufficient given the uncertainty involved when dealing with the environment. The emergence of deep learning has recently renewed interest in these tasks from the perspective of reinforcement learning algorithms. In this paper, an actor-critic scheme is proposed for simultaneous control of contact force and joint positions while moving along an environmental rigid surface. The critic stage evaluates information of the environment through an extended error manifold, trying to minimize the cumulative future rewards by a neural network. The actor stage, which receives environment information from the critic stage, is used to approximate inverse robot dynamics. Together with two continuous orthogonal sliding PID controllers gives rise to simultaneous tracking of position and force, with stability analysis. Numerical simulations show the performance of the proposed approach under several conditions. © 2022 IEEE.

关键词： Reinforcement learning

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Intelligent Small Scale Autonomous Vehicle Development Based on Convolutional Neural Network (CNN) for Steering Angle Prediction 1

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International Conference on Innovative Technologies in Intelligent Systems and Industrial Applications, CITISIA 2022

作者： Asy’ari, Muhammad Zacky Phang, Maxson Suganda, Nicholas Mariana, Yosica Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia Architecture Department Faculty of Engineering Binus University Jakarta Indonesia

ISBN: (数字)9783031290787

ISBN: (纸本)9783031290770

Human error is the most significant factor in traffic accidents. 61% of accidents in Indonesia are caused by driver negligence. Autonomous vehicles are unmanned vehicles that are believed to be able to reduce the number of accidents caused by human error. This study aims to create a prototype of a small-scale unmanned vehicle using computer vision that can move around the track. The prototype captures an image using a USB webcam and is processed by a Raspberry Pi 4 to predict the correct steering angle based on input from the camera. A convolutional neural network (CNN) algorithm is used to recognize the path. The material used to make the prototype is PLA (polylactic acid). The prototype steering system uses a servo motor, and the drive system uses a brushless DC motor controlled by the PCA9685 module. More than 1600 image data were used and taken based on a simplified track. The results of this study indicate that the prototype can move along the given track with a steering angle range of 20°–130° for right turns and 60°–170° for left turns. The throttle value capable of moving the prototype at a steady speed is 0.075. The Keras Tensorflow model, dataset, and autonomous car design can achieve the desired level of autonomy with an RMSE accuracy of 0.1145. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Forecasting

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Emotion Recognition based on Heart Rate Detection using Logistic Regression for Automation Food Healing Application 8

Emotion Recognition based on Heart Rate Detection using Logi...

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8th International Conference on Education and Technology, ICET 2022

作者： Antonio, Nicholas Jason Nobel, Yosse Ricardo Ho, Hwi-Chie Astuti, Winda Bina Nusantara University Binus Aso School of Engineering Automotive and Robotics Program Computer Engineering Department Jakarta Indonesia Bina Nusantara University Industrial Engineering Department Jakarta Indonesia

ISBN: (数字)9781665492140

ISBN: (纸本)9781665492140

Daily pressure activity especially in work place or any society condition may causing stress or pressure for the people deal with that condition. This stress may causing of decreasing of work performance and achievement in the daily activity. Furthermore in worse condition, people may went to psychiatrist consulting regarding the condition in order to heal the stress or pressure feeling. In this work, food recommendation healing in order to improve the mood based on mood recognition using heartbeat rate detection system is developed. Mood detection results will be used to recommend foods that can improve the mood. the mood detection system work based on automatic intelligent heartbeat rate identification. This system installed on an Android cellphone, so its make the system more flexible and portable. the system has also connected to the web, in order used by doctors to monitor the patient's condition if the patient is being monitoring due to health mental diseases treatment. This system has worked properly with mood detection based on heartbeat rate with 96% and 97%, training and testing accuracy, respectively. Furthermore, this system is connected to the website for monitoring purposes for the psychiatrist to monitor their patient intern of mood changing fluctuation © 2022 IEEE.

关键词： Data handling

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Scalar field reconstruction based on the Gaussian process and adaptive sampling 14

Scalar field reconstruction based on the Gaussian process an...

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14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017

作者： Jonsson, Porsteinn B. Wang, Jeonghyeon Kim, Jinwhan Laboratory Department of Mechanical Engineering KAIST Daejeon34141 Korea Republic of Robotics Program KAIST Daejeon34141 Korea Republic of

ISBN: (纸本)9781509030552

This paper proposes a method of reconstructing a scalar field by adaptively choosing sampling locations and using the measurements obtained from those locations to reconstruct an estimate of the underlying field using Gaussian process regression. Spreading sampling points evenly over the field may not always be effective if the field is not uniformly distributed and the maximum number of measurements is limited. Taking more measurements in regions of large changes in the field than in regions of small changes can give a better estimate than spreading the same number of measurements evenly over the space. The proposed algorithm was tested on a synthetic scalar field and compared to two popular methods of determining sensor placement based on entropy and mutual information from information theory. © 2017 IEEE.

关键词： Gaussian noise (electronic)

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Object following robot using vision camera, single curvature trajectory and Kalman filters

Object following robot using vision camera, single curvature...

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6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Heo, Shin-Nyeong Lim, Hyun-Seop Hwang, Seungik Lee, Jangmyung Interdisciplinary Program in Robotics Pusan National University Korea Republic of Department of Electrical Engineering Pusan National University Korea Republic of

ISBN: (纸本)9783642408519

Path planning of mobile robot has a purpose to design an optimal path from an initial position to a target point. Minimum driving time, minimum driving distance and minimum driving error might be considered in choosing the optimal path and they are correlated to each other. In this paper, an efficient driving trajectory is planned in a real situation where a mobile robot follows a moving object. Position and distance of the moving object are obtained using a web camera;the rotation angular and linear velocities are estimated using Kalman filters to predict the trajectory of the moving object. Finally the mobile robot follows the moving object using a single curvature trajectory by estimating trajectory of the moving object. Using the estimation by Kalman filters and the single curvature in the trajectory planning, the total tracking distance and error rate have been saved about 7 %. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Kalman filters

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Outdoor precision position estimation system using multi-GPS receivers

Outdoor precision position estimation system using multi-GPS...

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6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Choi, Seunghwan Kim, Kijung Kim, Yunki Lee, Jangmyung Interdisciplinary Program in Robotics Pusan National University Korea Republic of Department of Electrical Engineering Pusan National University Korea Republic of

ISBN: (纸本)9783642408519

In this paper, tightly coupled system is designed using multi-GPS receivers based on the Extended Kalman Filter(EKF). Typically, GPS has the instantaneous error and INS has the disadvantage that the cumulative error occurs over time. To fill the gap, receiving is stabilized and accuracy is higher position information get using multi-GPS receivers. INS's data is precisely updated through the multi-GPS's position data in the data fusion process of the EKF. Through experiment, it can verify the results compared single GPS and multi-GPS position error, and then calibrated mobile robot position estimation results can be found. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Global positioning system

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