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International Conference on Control and Automation (ICCA)

作者： Grzegorz Bocewicz Zbigniew A. Banaszak Wojciech Muszynski Department of Computer Science and Management Technical University Koszalin Koszalin Poland Department of Business Informatics Warsaw University of Technology Warsaw Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Poland

This paper deals with resource allocation in multi-project manufacturing system design, where more than one shared renewable resource type may be required by the manufacturing operation and the availability of each type is time limited. The aim of the paper is to present a knowledge-based and constraint programming-driven approach to resource allocation where that data can be imprecise. The presented design scheme is used as a framework for developing a task oriented decision support tool for project portfolio prototyping (DST4P 3 ). The tool provides a prompt and interactive service to a set of routine queries defined in terms of both direct and inverse resource allocation tasks.

关键词： Resource management Production Fuzzy set theory Decision making Portfolios Decision support systems Electronic mail Logic programming Job shop scheduling Automatic control

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Mining discriminative adjectives and prepositions for natural scene recognition

Mining discriminative adjectives and prepositions for natura...

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IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Bangpeng Yao Juan Carlos Niebles Li Fei-Fei Department of Computer Science Princeton University NJ USA Robotics and Intelligent Systems Group Universidad del Norte Colombia Department of Electrical Engineering Princeton University NJ USA

This paper presents a method that considers not only patch appearances, but also patch relationships in the form of adjectives and prepositions for natural scene recognition. Most of the existing scene categorization approaches only use patch appearances or co-occurrence of patch appearances to determine the scene categories, but the relationships among patches remain ignored. Those relationships are, however, critical for recognition and understanding. For example, a `beach' scene can be characterized by a `sky' region above `sand', and a `water' region between `sky' and `sand'. We believe that exploiting such relations between image regions can improve scene recognition. In our approach, each image is represented as a spatial pyramid, from which we obtain a collection of patch appearances with spatial layout information. We apply a feature mining approach to get discriminative patch combinations. The mined patch combinations can be interpreted as adjectives or prepositions, which are used for scene understanding and recognition. Experimental results on a fifteen class scene dataset show that our approach achieves competitive state-of-the-art recognition accuracy, while providing a rich description of the scene classes in terms of the mined adjectives and prepositions.

关键词： Layout Road transportation Image representation Intelligent robots Image recognition Data mining computer science Intelligent systems Histograms

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Analysis of Gait Control of Wall-Climbing Caterpillar Robot

Analysis of Gait Control of Wall-Climbing Caterpillar Robot

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： G. H. Zong W. Wang K. Wang D. Z. Li X. Y. Ma H. X. Zhang Robotics Institute School of Mechanical Engineering and AutomationBeihang University100191Beijing Institute of Technical Aspects of Multimodal Systems Department of Computer ScienceUniversity of Ha

ISBN: (纸本)9781424447749

In order to verify the benefit of four links kinematical method, the mathematical model of four links kinematics is established. The kinematical parameters of passive joints can be calculated according to the rotation of active joint. Then the wall-climbing robot can climb the vertical wall through the coordinated rotation of active joint and passive joints. To testify the feasibility of the four links kinematical method, a wall-climbing caterpillar robot based on vibrating suction method is developed. An experiment of wall-climbing confirms the kinematical method mentioned above. The result shows that the four links kinematical method is simple and reliable although some errors exist. At last, the conclusions and future works are present.

关键词： CLIMBING WALL Gait control Caterpillar Joints Joints Robot Analysis kinematics

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Depth of field extension using variable annular pupil

Depth of field extension using variable annular pupil

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International Symposium on Optomechatronic Technologies, ISOT

作者： Deokhwa Hong Hyungsuck Cho Min Young Kim Jeon Il Moon Department Mechanical Engineering KAIST Daejeon South Korea School of Electrical Engineering and Computer Science Kyungpook National University Daegu South Korea Department of Robotics Hoseo University Asan ChungNam South Korea

The DOF (depth of field) of an imaging system is closely related to the pupil function that describes the characteristics of the pupil such as size and shape. Shallow DOF is especially problematic in microscopic optical imaging systems because they have relatively large aperture size for high optical resolution. In this paper, a new DOF extension method is proposed. This is to acquire an image by integrating the incoming light while changing the size of annular pupil. By divining the pupil into annular form, the effect of the defocus aberration is reduced. Theoretical background and preliminary experimental results are shown. The results show that the DOF can effectively be extended by this method.

关键词： Apertures Optical imaging Optical sensors Optical microscopy Optical noise Integrated optics Image sensors Mechanical engineering computer science Moon

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Rut tracking and steering control for autonomous rut following

Rut tracking and steering control for autonomous rut followi...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Camilo Ordonez Oscar Y. Chuy Emmanuel G. Collins Xiuwen Liu Center for Intelligent Systems Control and Robotics Department of Mechanical Engineering Florida A&M University-Florida State University USA Center for Intelligent Systems Control and Robotics Department of Computer Science Florida State University Tallahassee FL USA

Ruts formed as a result of vehicle traversal on soft ground are used by expert off road drivers because they can improve vehicle safety on turns and slopes thanks to the extra lateral force they provide to the vehicle. In this paper we propose a rut detection and tracking algorithm for autonomous ground vehicles (AGVs) equipped with a laser range finder. The proposed algorithm utilizes an extended Kalman filter (EKF) to recursively estimate the parameters of the rut and the relative position and orientation of the vehicle with respect to the ruts. Simulation results show that the approach is promising for future implementation.

关键词： Land vehicles Road vehicles Vehicle safety Remotely operated vehicles Vehicle driving Force control Control systems Intelligent robots Mobile robots Vehicle detection

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Outer shape classification in rotation manipulation by Universal Robot Hand

Outer shape classification in rotation manipulation by Unive...

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IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RIISS

作者： Hiroyuki Nakamoto Wataru Fukui Futoshi Kobayashi Fumio Kojima Nobuaki Imamura Hidenori Shirasawa Department of Computer Science and Systems Engineering Kobe University Kobe Japan Department of Mechanics and Robotics Hiroshima International University Kure Japan Advanced Materials Processing Institute Amagasaki Japan

We propose a method for shape classification in continuous rotation manipulation by a multi-fingered robot hand. Our robot hand has five fingers equipped with tactile sensors. Each tactile sensor can measure a pressure distribution once every 10(ms) while the robot hand rotates the object continuously. Our proposed classification method consists of the following processes: A kurtosis is calculated from each pressure distribution, and it quantifies shape of the current contact surface. By rotating an object and measuring a time-series pressure distribution, the hand obtains a time-series kurtosis. Finally, a evaluated value is calculated between the time-series kurtosis and reference patterns through a continuous dynamic programming (CDP) matching scheme. The contact shape is classified if the evaluated value is lower than a threshold. We show the effectiveness of our method through experiments.

关键词： Shape Robot sensing systems Tactile sensors Humans Humanoid robots Fingers Service robots Rotation measurement Pressure measurement Pattern matching

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A hierarchical approach to unsupervised shape calibration of microphone array networks

A hierarchical approach to unsupervised shape calibration of...

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IEEE/SP Workshop on Statistical Signal Processing (SSP)

作者： Marius Hennecke Thomas Plotz Gernot A. Fink Jorg Schmalenstroer Reinhold Hab-Umbach Department of Computer Science Technical University Dortmund Dortmund Germany Robotics Research Institute Technical University Dortmund Dortmund Germany Department of Communications Engineering University of Paderborn Paderborn Germany

Microphone arrays represent the basis for many challenging acoustic sensing tasks. The accuracy of techniques like beamforming directly depends on a precise knowledge of the relative positions of the sensors used. Unfortunately, for certain use cases manually measuring the geometry of an array is not feasible due to practical constraints. In this paper we present an approach to unsupervised shape calibration of microphone array networks. We developed a hierarchical procedure that first performs local shape calibration based on coherence analysis and then employs SRP-PHAT in a network calibration method. Practical experiments demonstrate the effectiveness of our approach especially for highly reverberant acoustic environments.

关键词： Microphone arrays Calibration Sensor arrays Acoustic arrays Acoustic sensors Array signal processing Source separation Acoustic measurements Shape measurement Planar arrays

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Experiment of measurement and control using embedded system for undergraduate students

Experiment of measurement and control using embedded system ...

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作者： Matsunaga, Nobutomo Shiotsuki, Tetsuo Okajima, Hiroshi Ohmura, Nobuaki Teramura, Hironori Kumamoto University Department of Computer Science and Electrical Engineering Kurokami 2-39-1 Kumamoto 860-8555 Japan Tokyo Denki University Department of Robotics and Mechatronics Kanda Nishiki-cho 2-2 Chiyoda-Ku Tokyo 101-8457 Japan Kumamoto University Technical Division Faculty of Engineering Kurokami 2-39-1 Kumamoto 860-8555 Japan

ISBN: (纸本)9783902661562

In the department of computer science and electrical engineering (CSEE), Kumamoto university, a series of student experiments are prepared for 2nd and 3rd graders. In the technical educations, experiments about the computer science and electrical engineering are important to study the engineering comprehensively. In experiment I, 2nd graders study the fundamental treatment of measurement equipments, behaviors of major devices and technical writing of engineering reports. In experiment II, 3rd graders study technical issues about computer science and electrical engineering in more detail. This paper concerns the experimental program entitled "measurement and control using embedded system" in experiment II for 3rd graders. The purpose of this experiment is to design a simple PID controller on the micro control units (Lenesas M16C/26 MCU). To implement the PID controller, students program the software functions step by step, e.g. PWM signal generation using interrupted handling, encoder counter using the event timer. The detail of experimental program using embedded system is explained in this paper.

关键词： Three term control systems

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Probabilistic structure from sound

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Advanced robotics 2009年第12-13期23卷 1687-1702页

作者： Wang, Chieh-Chih Lin, Chi-Hao Hu, Jwu-Sheng Department of Computer Science and Information Engineering Graduate Institute of Networking and Multimedia National Taiwan University Taipei 10617 Taiwan Intelligent Robotics Program of Industrial Technology Research Institute Department of Electrical and Control Engineering National Chiao Tung University HsinChu 310 Taiwan

Auditory perception is one of the most important functions for robotics applications. Microphone arrays are widely used for auditory perception in which the spatial structure of microphones is usually known. In practice, microphone array calibration can be tedious and other devices or means are required. The structure from sound (SFS) approach addresses the problem of simultaneously localizing a set of microphones and a set of acoustic events that provides a great flexibility to calibrate different setups of microphone arrays. However, the existing method does not take measurement uncertainty into account and does not provide uncertainty estimates of the SFS results. In this paper, we propose a probabilistic structure from sound (PSFS) approach using the unscented transform in which the uncertainties of the PSFS results are also available. In addition, a probabilistic sound source localization approach using the PSFS results is provided to improve sound source localization accuracy. The ample results of simulation and experiments using low-cost, off-the-shelf microphones demonstrate the feasibility and performance of the proposed PSFS approach. © 2009 VSP.

关键词： Microphone array

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Noncontact manipulation of Ni nanowires using a rotating magnetic field

Noncontact manipulation of Ni nanowires using a rotating mag...

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IEEE Conference on Nanotechnology

作者： Li Zhang Yang Lu Lixin Dong R. Pei Jun Lou Bradley E. Kratochvil Bradley J. Nelson Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland Department of Mechanical Engineering & Materials Science Rice University Houston TX USA Department of Electrical & Computer Engineering Michigan State University East Lansing MI USA

ISBN: (纸本)9781424448326

Ni nanowires (NWs) are driven in water using a rotating magnetic field. The NWs show various locomotion performances under different boundary conditions. Pure rotation occurs when the two ends of the NWs are homogenously constrained. However, if the boundary conditions are different at the two ends of the NWs, tumbling motion, i.e., rotation plus translation, will be generated, which leads to the propulsion of NWs near a wall. These motions of NWs can be steered by the magnetic field. In addition, we present that the two NWs self-assemble to form a single NW with the magnetic field. The results imply that magnetic field is a promising approach for noncontact manipulation of Ni NWs or other 1-D ferromagnetic nanostructures at low Reynolds number aqueous environment in a controllable fashion.

关键词： Nanowires Magnetic fields Nanostructures Propulsion Boundary conditions Intelligent robots Biomedical optical imaging Optical sensors Magnetic liquids Electrodes

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