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The development on obstacle avoidance design for a humanoid robot based on four ultrasonic sensors for the learning behavior and performance

The development on obstacle avoidance design for a humanoid ...

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IEEE International Conference on Industrial Engineering and Engineering Management

作者： Ya-Ju Li Wei-Chung Chou Chen-Yuan Chen Bih-Yaw Shih Lien-Tung Chen Pei-Yin Chung Department of Computer Science National Ping Tung University of Education Ping Tung Taiwan Doctoral Program in Management National Kaohsiung First University of Science and Technology Kaohsiung Taiwan Department of Management Information System Yung Ta College of Technology and Commerce Ping Tung Taiwan Department of Information Management Meiho University Ping Tung Taiwan

A behavioral strategy designed for a humanoid robot for the purpose of obstacle avoidance based on four ultrasonic sensors for the learning behavior and performance is proposed and implemented with an autonomous humanoid robot. A mechanical structure with 4 degrees of freedom is designed so that a small-size humanoid robot named ARSR is able to accomplish three types of walking motion. One experiment is presented to illustrate ow the the proposed bipedal structure lets the ARSR move forward, turn left and turn right. Four ultrasonic sensors are mounted on the ARSR to obtain environmental information and detect obstacles. Based on the information obtained from these sensors, a decision tree method is proposed to decide upon one behavior from three possible types of movement: walk forward, turn left and turn right. An experiment is carried out to show how the robot can autonomously avoid obstacles to effectively arrive at its destination. Based on the mechanic design and development, we will get a good agreement for the learning behavior and performance.

关键词： Robot sensing systems Acoustics Legged locomotion Humanoid robots

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Height Estimation via Stereo Vision System for Unmanned Helicopter Autonomous Landing

Height Estimation via Stereo Vision System for Unmanned Heli...

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2010 International Symposium on computer,Communication, Control and Automation

作者： Kuo-Hsien Hsia Shao-Fan Lien Juhng-Perng Su Department of Management Information System Far East University Graduate School of Engr.Sci.&Tech.(Doctoral Program) National Yunlin University of Science&Technology Department of Electrical Engineering National Yunlin University of Science&Technology Department of Information Technology Overseas Chinese University

ISBN: (纸本)9781424455652;9781424455669

Auto landing is a very important function of control in the development of autonomous unmanned *** this paper,the stereo vision system is proposed to provide the height information on landing control instead of global positioning system(GPS).GPS provided 3-axis information,but the height error of GPS is usually in meters,which is not accurate enough for *** stereo vision system provided a more accurate height information to correct the error of *** this paper,the stereo vision system is composed of two webcams and the variable baseline method is selected to increase the measurement *** results show that variable baseline method did increase the accuracy of the stereo vision system with the webcams,and that not only provided an authentic piece of height information but also provided another option of sensor for autonomous unmanned helicopter's auto landing control.

关键词： stereo vision system height estimation helicopter landing

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Sonar-based obstacle avoidance using a path correction method for autonomous control of a biped robot for the Learning Stratification and Performance

Sonar-based obstacle avoidance using a path correction metho...

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IEEE International Conference on Industrial Engineering and Engineering Management, IEEM2010

作者： Tsai, Cheng-Hsuan Huang, Po-Hsuan Chou, Wei-Chung Shih, Chia-Hung Chen, Chen-Yuan Shih, Bih-Yaw Chang, Chin-Jui Chen, Cheng-Wu Chen, Tsung-Hao Lee, Wan-I. Chung, Pei-Yin Department of Computer Science National Pingtung University of Education No. 4-18 Ming Shen Rd. Pingtung 90003 Taiwan Doctoral Program in Management National Kaohsiung First University of Science and Technology Kaohsiung Taiwan Department of Information Management Transworld University No. 1221 Jen-Nang Road Chia-Tong Li Douliou Yunlin 64063 Taiwan Institute of Maritime Information and Technology National Kaohsiung Marine University No.142 Haijhuan Rd. Nanzih District Kaohsiung City 81143 Taiwan Departments of Business Administration Shu-Te University Yen Chau Kaohsiung 82445 Taiwan Marketing and Distribution Management National Kaohsiung First University of Science and Technology 2 Jhuoyue Rd. Nanzih Kaohsiung 811 Taiwan Department of Information Management Meiho University 23 Pingguang Rd. Neipu Pingtung Taiwan

ISBN: (纸本)9781424485031

In this paper, a simple path correction and obstacle avoidance method with a bipedal robot for the learning stratification and performance, using an ultrasonic sensor and electronic compass sensor, is proposed. This bipedal robot was comprised using the Lego NXT Intelligent Bricks. The proposed method is implemented on an autonomous humanoid robot (the ARSR). One ultrasonic sensor and one electronic compass sensor are installed on the ARSR to detect environmental information including obstacles, the distance to the obstacle, and the directional angle of the robot. Based on the obtained information, an obstacle avoidance and path correct method is proposed to decide the ARSR's behavior so that it can avoid obstacles and move effectively to the destination area. Obstacle avoidance experiments are carried out to confirm the effectiveness of the proposed method and confirm the learning stratification and performance. ©2010 IEEE.

关键词： Ultrasonic sensors

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An agent-based architecture for knowledge management in context-aware business processes

An agent-based architecture for knowledge management in cont...

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International Conference on computer Supported Cooperative Work in Design

作者： De C. Gatti, Leonardo A. Santoro, Flávia Maria Nunes, Vanessa T. NP2TEC - Research and Practice Group in Information Technology Department of Applied Informatics Federal University of the State of Rio de Janeiro UNIRIO Rio de Janeiro Brazil COPPE - Systems Engineering and Computer Science Program Federal University of Rio de Janeiro UFRJ Rio de Janeiro Brazil

ISBN: (纸本)9781424467631

The main knowledge management challenges are to capture, store and reuse contextual knowledge generated during interactions that occur daily in an organization. In this paper, we propose an activity context-aware architecture to support knowledge management in working processes. The required features for this architecture are processing, reasoning and sharing contextual knowledge involving information about activities performed. We also present results from evaluation of our proposal - A-CoBrA - for a specific domain. © 2010 IEEE.

关键词： Knowledge management

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A preliminary study on design and development of template-based for license plate recognition system applying artificial coordinates auxiliary techniques

A preliminary study on design and development of template-ba...

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IEEE International Conference on Industrial Engineering and Engineering Management

作者： Bih-Yaw Shih Chen-Yuan Chen Jin-Wei Kuo Po-Wei Chen Tsung-Hao Chen Cheng-Wu Chen Pei-Yin Chung Wan-I Lee Department of Computer Science National Ping Tung University of Education Ping Tung Taiwan Doctoral Program in Management National Kaohsiung First University of Science and Technology Kaohsiung Taiwan Departments of Business Administration Shu Te University Kaohsiung Taiwan Institute of Maritime Information and Technology National Kaohsiung Marine University Taiwan Department of Information Management Meiho University Ping Tung Taiwan Marketing and Distribution Management National Kaohsiung First University of Science and Technology Kaohsiung Taiwan

With the rapid improvement of technology and economy, the percentage of transportation, like automobile, gradually increases. However, the number of cars increases, the methods of management stretches lots of problems, such as parking, traffic and thievery. Hence, Intelligent Transportation System (ITS) have been emphasized step by step and set up one after another around the world. In addition, ITS also established in Taiwan on July 20, 1998.

关键词： Licenses Image color analysis Image recognition Color Vehicles computer science

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Sensing as a Service: An Exploration into Practical Implementations of DSA

Sensing as a Service: An Exploration into Practical Implemen...

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IEEE International Symposium on New Frontiers in Dynamic Spectrum Access Networks, DySPAN

作者： Martin B. H. Weiss Simon Delaere William H. Lehr Telecommunications Program School of Information Sciences University of Pittsburgh Pittsburgh PA USA Vrije Universiteit Brussel Belgium Laboratory for Computer Science Massachusetts Institute of Technology USA

The cognitive radio literature generally assumes that the functions required for non-cooperative secondary DSA are integrated into a single radio system. It need not be so. In this paper, we model cognitive radio functions as a value chain and explore the implications of different forms of organization of this value chain. We initially explore the consequences of separating the sensing function from other cognitive radio functions.

关键词： Chromium Cognitive radio Commercialization Communications Society Power generation economics Economic forecasting Costs TV Time division multiple access Frequency synchronization

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An efficient ICA approach based on neural network framework for biomedical applications

An efficient ICA approach based on neural network framework ...

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2010 6th IEEE World Congress on Computational Intelligence, WCCI 2010 - 2010 International Joint Conference on Neural Networks, IJCNN 2010

作者： Lin, Yue-Der Hsu, Chih-Yu Chen, Hung-Yun Tseng, Kuo-Kun Department of Automatic Control Engineering Master Program of Biomedical Informatics and Biomedical Engineering Feng Chia University Taichung Taiwan Department of Information and Communication Engineering Chaoyang University of Technology Wufeng Taichung County Taiwan Department of Automatic Control Engineering Feng Chia University Taichung Taiwan Department of Computer Science and Engineering HungKuang University Taichung Taiwan

ISBN: (纸本)9781424469178

The paper developed a block-wise approach for ICA algorithms which can improve the computational efficiency of ICA without the degradation of performance for the separation of biomedical signals. Source signals including electrocardiogram (ECG), electromyogram (EMG) and 60-Hz sinusoid are linearly mixed for experimental tests. The mean-square errors (MSE) between the original sources and the separated signals are calculated for the evaluation of separation performance. These results demonstrated that the proposed block-wise approach can achieve the desired separation performance of signals in a more efficient way. © 2010 IEEE.

关键词： Independent component analysis

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Sonar-based obstacle avoidance using a path correction method for autonomous control of a biped robot for the learning stratification and performance

Sonar-based obstacle avoidance using a path correction metho...

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IEEE International Conference on Industrial Engineering and Engineering Management

作者： Cheng-Hsuan Tsai Po-Hsuan Huang Wei-Chung Chou Chia-Hung Shih Chen-Yuan Chen Bih-Yaw Shih Chin-Jui Chang Cheng-Wu Chen Tsung-Hao Chen Wan-I Lee Pei-Yin Chung Department of Computer Science National Ping Tung University of Education Ping Tung Taiwan Doctoral Program in Management National Kaohsiung First University of Science and Technology Kaohsiung Taiwan Department of Information Management Transworld University Yunlin Taiwan Institute of Maritime Information and Technology National Kaohsiung Marine University Kaohsiung Taiwan Departments of Business Administration Shu Te University Kaohsiung Taiwan Marketing and Distribution Management National Kaohsiung First University of Science and Technology Kaohsiung Taiwan Department of Information Management Meiho University Ping Tung Taiwan

关键词： Robot sensing systems Acoustics Mobile robots Servomotors Compass Service robots

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CALE: A Context-Aware Living Environment Based on Zigbee Sensor Network

CALE: A Context-Aware Living Environment Based on Zigbee Sen...

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International Conference on Mobile Ad-hoc and Sensor Networks, MSN

作者： Kun-Ming Yu Jian-Yuan Liou Bo-Han Yeh Chang Wu Yu Ching-Cheng Tien Chih-Hu Wang Ping-Yu Wang Department of Computer Science and Information Engineering Chung Hua University Taiwan Program of Technology Management Chung Hua University Taiwan Department of Electrical Engineering Chung Hua University Taiwan

The paper employed some independently developed sensors based on the Octopus X platform to build a Zigbee-based Sensor Networks. Also, we implemented a Location-aware living environment by deploying the developed Zigee-based sensor. Besides, through the created window console interface, the sensed data can be transmitted and transformed to the database for further utilized. Moreover, by the devised Web interface, the update request data can be observed efficiently and responded effectively to any situations.

关键词： Zigbee Wireless sensor networks Software Hardware Wireless communication Databases Temperature sensors

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Partial response maximum likelihood sequence detector for a nonlinear magnetic recording channel

Partial response maximum likelihood sequence detector for a ...

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International Conference on System science and Engineering (ICSSE)

作者： Tsai-Sheng Kao Chiu-Hsiung Chen Sheng-Chih Chen Sheng-Yun Hou Yuan-Chang Chang Xsing-Bang Chou Department of Electronic Engineering Hwa-Hsia College of Technology and Commerce Taipei Taiwan Department of Computer Science and Information Engineering China University of Technology Hsinchu Taiwan Graduate Program of Digital Content and Technologies Chengchi University Taiwan

The nonlinear effects of partial erasure and transition shift, however, often limit the performance attained by the partial response maximum likelihood (PRML) detector because of model mismatch. Conventionally, the nonlinear effects are either ignored or approximated by linearization technique. In the article, a PRML detector for the PR4 model including the nonlinear effects has been developed to improve the detector performance. The new representation is more accurate and the corresponding PRML detector has better performance without increasing the realization complexity. computer simulation results show that the new representation outperforms the conventional ones due to the enhanced modeling capability. The method is also expected to be applied in the high order partial response channel.

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