检索结果-内蒙古大学图书馆

2014 American Control Conference, ACC 2014

作者： Mahjoubi, Hosein Byl, Katie Robotics Laboratory Department of Electrical and Computer Engineering University of California at Santa Barbara Santa Barbara CA 93106 United States

ISBN: (纸本)9781479932726

research on bio-inspired flapping-wing micro-aerial vehicles (MAVs) has experienced a steady growth over the past two decades. In particular, experiments on insect flight dynamics may provide new solutions for various challenges ranging from morphological design to force control mechanisms. A significant amount of research in this area is focused on modeling and simulation of such dynamics;however, mass of the wings and corresponding inertia effects are often ignored for simplification purposes. In this paper, the MAV is considered to be a structure with three rigid bodies, i.e., a main body and two wings. Wing strokes are limited within the body's transverse plane, though each wing can also passively pitch around its lateral axis. Using the Lagrangian, a dynamic multibody model of this system is developed to «1» analyze the significance of wing mass in flight dynamics and «2» simulate flight control experiments. The employed control approach is based on investigated relationships between mechanical impedance properties of the wing pitch joints and average values of aerodynamic forces. The results suggest that the wings' mass and mechanical impedance properties of the joints can be optimized together to enhance lift/thrust production. In addition, simulations of various flight maneuvers with the optimized model and proposed control approach always demonstrate an agile and stable behavior. © 2014 American Automatic Control Council.

关键词： Maneuverability

来源：评论

学校读者我要写书评

暂无评论

An intrafascicular electrode with integrated amplifiers for peripheral nerve recording

An intrafascicular electrode with integrated amplifiers for ...

引用

International IEEE/EMBS Conference on Neural engineering, CNE

作者： Kian Ann Ng Annarita Cutrone Silvia Bossi Sudip Nag Ignacio Delgado-Martínez Swathi Sheshadri Claire A. Poulard Yong Ping Xu Shih-Cheng Yen Nitish V. Thakor SiNAPSE Singapore Biorobotics Institute Scuola Superiore Sant' Anna Pontedera PI Italy Robotics Laboratory Casaccia Research Centre Roma Italy Ecole Supérieur de Physique et de Chimie Industrielles de la ville de Paris (ESPCI) France Department of Electrical and Computer Engineering National University of Singapore

Thin-film longitudinal intrafascicular electrodes (tf-LIFE) are widely used for peripheral nerve recordings. tf-LIFEs are also promising electrodes for neural signal acquisition in future peripheral nerve prostheses. However, common mode signal interference, and electrical artifacts originating from long wire leads and wire movement are known problems encountered when using such electrodes, which lead to degradation in the recording quality. Here, we report an active tf-LIFE electrode implemented by integrating a neural amplifier chip die in close proximity to a tf-LIFE electrode. Consuming only 1mW and measuring 37 mm×7.2 mm×2.4 mm, this active tf-LIFE electrode creates a reliable connection and considerably shortens the distance between the electrode site and neural amplifier. This active electrode has demonstrated repeatable in-vivo recordings of compound action potentials from the rat sciatic nerve. Our results show that this electrode is suitable for repeated in-vivo recordings of compound action potentials from nerves in applications such as peripheral and visceral nerve interfaces that require low-noise stable nerve recordings.

关键词： Electrodes Wires Integrated circuits Electric potential Interference Encapsulation Current measurement

来源：评论

学校读者我要写书评

暂无评论

Control Strategies for a Humanoid Robot to Drive and then Egress a Utility Vehicle for Remote Approach

Control Strategies for a Humanoid Robot to Drive and then Eg...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Hyobin Jeong Jaesung Oh Mingeuk Kim Kyungdon Joo In So Kweon Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory School of Mechanical Aerospace & Systems Engineering Department of Electrical Engineering Korea Advanced Institute of Science and Technology Department of Electrical Engineering KAIST

ISBN: (纸本)9781479968862

This paper proposes strategies for the driving and egress of a vehicle with a humanoid robot. To drive the vehicle, the RANSAC method was used to detect obstacles, and the Wagon model was used to control the steering and velocity of the vehicle with only a limited number of sensors which were installed on the humanoid robot. Additionally, a manual teleoperating method was used with the lane projection technique. For the egress motion, gain override and the Cartesian position/force control technique were used to interact with the vehicle structure. To overcome the disadvantages of a highly geared manipulator, a special technique was used that included modelled friction compensation and a non-complementary switching mode. DRC-HUBO+ used the proposed method to perform a vehicle driving and egress task in the DRC finals 2015.

关键词： Humanoid robots EGRESS vehicle Vehicle driving Automobile driving UTILITY VEHICLES control strategy friction compensation DRIVES Steering

来源：评论

学校读者我要写书评

暂无评论

Control of a Quadruped Robot with Bionic Springy Legs in Trotting Gait

引用

Journal of Bionic engineering 2014年第2期11卷 188-198页

作者： Mantian Li Zhenyu Jiang Pengfei Wang Lining Sun Shuzhi Sam Ge State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China Institute of Intelligent Systems and Information Technology University of Electronic Seience and Technology of China Chengdu 610000 P.R. China Department of Electrical and Computer Engineering the National University of Singapore Singapore 117576 Singapore

Legged robots have better performance on discontinuous terrain than that of wheeled robots. However, the dynamic trotting and balance control of a quadruped robot is still a challenging problem, especially when the robot has multi-joint legs. This paper presents a three-dimensional model of a quadruped robot which has 6 Degrees of Freedom （DOF） on torso and 5 DOF on each leg. On the basis of the Spring-Loaded Inverted Pendulum （SLIP） model, body control algorithm is discussed in the first place to figure out how legs work in 3D trotting. Then, motivated by the principle of joint function separation and introducing certain biological characteristics, two joint coordination approaches are developed to produce the trot and provide balance. The robot reaches the highest speed of 2.0 m.s-1, and keeps balance under 250 Kg.m.s-1 lateral disturbance in the simulations. The effectiveness of these approaches is also verified on a prototype robot which runs to 0.83 m.s-1 on the treadmill, The simulations and experiments show that legged robots have good biological properties, such as the ground reaction force, and spring-like leg behavior.

关键词： legged robots locomotion control quadruped robot trotting gait

来源：评论

学校读者我要写书评

暂无评论

Dynamics of Insect-Inspired Flapping-Wing MAVs: Multibody Modeling and Flight Control Simulations

Dynamics of Insect-Inspired Flapping-Wing MAVs: Multibody Mo...

引用

American Control Conference

作者： Hosein Mahjoubi Katie Byl Robotics Laboratory Department of Electrical and Computer Engineering University of California at Santa Barbara Santa Barbara CA 93106 USA

ISBN: (纸本)9781479932757

research on bio-inspired flapping-wing micro-aerial vehicles (MAVs) has experienced a steady growth over the past two decades. In particular, experiments on insect flight dynamics may provide new solutions for various challenges ranging from morphological design to force control mechanisms. A significant amount of research in this area is focused on modeling and simulation of such dynamics;however, mass of the wings and corresponding inertia effects are often ignored for simplification purposes. In this paper, the MAV is considered to be a structure with three rigid bodies, i.e., a main body and two wings. Wing strokes are limited within the body's transverse plane, though each wing can also passively pitch around its lateral axis. Using the Lagrangian, a dynamic multibody model of this system is developed to ?1? analyze the significance of wing mass in flight dynamics and ?2? simulate flight control experiments. The employed control approach is based on investigated relationships between mechanical impedance properties of the wing pitch joints and average values of aerodynamic forces. The results suggest that the wings' mass and mechanical impedance properties of the joints can be optimized together to enhance lift/thrust production. In addition, simulations of various flight maneuvers with the optimized model and proposed control approach always demonstrate an agile and stable behavior.

关键词： Insect Flight Multibody Systems Micro-Aerial Vehicles Simulations Flapping-Wing Tunable Impedance Passive Dynamics Maneuverability Flapping wings maneuverability bar linkage Wings simulating flying insect Flight maneuvers MECHANICAL CONTROL SYSTEMS lateral axis dynamics Aircraft control Characteristic impedance

来源：评论

学校读者我要写书评

暂无评论

A holistic cloud-enabled robotics system for real-time video tracking application

A holistic cloud-enabled robotics system for real-time video...

引用

8th FTRA International Conference on Future Information Technology, FutureTech 2013

作者： Liu, Bingwei Chen, Yu Blasch, Erik Pham, Khanh Shen, Dan Chen, Genshe Department of Electrical and Computer Engineering Binghamton University SUNY Binghamton NY United States Air Force Research Laboratory Rome NY United States Air Force Research Laboratory Kirtland AFB Albuquerque NM United States Intelligent Fusion Technology Inc. Germantown MD United States

ISBN: (纸本)9783642408601

Future distributed sensor fusion applications will require efficient methods of information management such as Cloud computing. Using a server-based cloud-enabled software architecture would increase performance over hardware constraints (e.g., power, memory, and processors). In this paper, we propose a comprehensive framework for information fusion demonstrated for Cloud robotics, which possesses user favorable features such as good scalability and elasticity. Robots are connected together to form a networked robotic system that is able to accomplish more computationally intensive tasks. Supported by the emerging Cloud computing technology, cloud-enabled robotic systems (CERS) provide even more powerful capabilities to users, yet keeping the simplicity of a set of distributed robots. Through an experimental study, we evaluate the memory, speed, and processors needed for a video tracking application. © 2014 Springer-Verlag.

关键词： Cloud computing

来源：评论

学校读者我要写书评

暂无评论

Emotion analysis of children's stories with context information

Emotion analysis of children's stories with context informat...

引用

Asia-Pacific Signal and Information Processing Association Annual Summit and Conference (APSIPA)

作者： Zhengchen Zhang Minghui Dong Shuzhi Sam Ge Human Language Technology Department Institute for Infocomm Research (I2R) A *STAR Singapore Robotics Institute University of Electronic Science and Technology of China Chengdu China Department of Electrical and Computer Engineering and Social Robotics Laboratory National University of Singapore Singapore

ISBN: (纸本)9781479942503

In this paper, we analyse the emotion of children's stories in sentence level by considering the context information. We demonstrate that the emotion of a sentence is not only dependent on its content, but also affected by its neighbours in a story. A Hidden Markov Model (HMM) based method is proposed to model the emotion sequence and to detect whether a sentence is neutral or not. We show the important features for emotion detection by studying a children's story corpus. An empirical evaluation is conducted to investigate the efficiency of the model. The results demonstrate that the proposed method can achieve competitive performance with the state-of-the-art methods, and it is affected more slightly by the training set than traditional classification methods. Classifier fusion is applied to combine different methods to achieve better results.

关键词： Hidden Markov models Training Accuracy Support vector machines Testing Feature extraction Context

来源：评论

学校读者我要写书评

暂无评论

Call for papers Special issue on Learning and control in cooperative multi-agent systems

引用

Control Theory and Technology 2014年第2期12卷 215-216页

作者： Frank L. Lewis Zhong-Ping Jiang Tengfei Liu UTA Research Institute The University of Texas at Arlington Texas U.S.A. Department of Electrical and Computer Engineering Polytechnic Institute of NYU BrooklynNY U.S.A. State Key Laboratory of Synthetical Process Automation Northeast University Shenyang China

Cooperative control of multi-agent systems linked by communication networks is a well-developed and still growing field. The interplay of the individual agent dynamics and the communication graph topology results in intriguing and often surprising behaviors that are not manifested in the study of control systems for single-agent dynamics. This field brings systems theory, feedback control, graph theory, communication systems, complex systems theory to provide rigorous analysis and design for multiple dynamical systems interconnected by a graph information flow structure. Applications have been made to vehicle formation control, coordinated multi-satellite control, electric power system control, robotics, autonomous airborne systems, manufacturing production lines, and the synchronization of dynamical processes in chemistry, physics, biology, and chaotic systems.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Modeling and Verification of Humanoid Robot Task Coordination

Modeling and Verification of Humanoid Robot Task Coordinatio...

引用

IEEE International Symposim on High Assurance Systems engineering

作者： Yujian Fu Steven Drager Department of Electrical Engineering & Computer Science Alabama A&M University Huntsville Alabama Information Directorate RITA Air Force Research Laboratory Rome NY

This paper presents a component-based framework of humanoid robot task coordination using Predicate Transition Nets (PrT Nets). Humanoid robots have a large number of degrees of freedom (DOF) and they are expected to generate human-like stable behaviors to finish missions. Their motions have to satisfy a set of constraints (balance, coordinated motions, collision free movements), which increases the complexity of the system - each movement may consist of several types of movements and tasks simultaneously. Task is defined as a sequence of movements and/or actions towards to completing a given mission. It is key to represent the task coordination precisely and correctly to program on humanoid robots' motions. To solve the challenge issue of multiple task coordination for a humanoid robot, we presented a framework that integrates Component Based Software Development (CBSD) with Predicate Transition Nets to analyze the correctness of task co ordinations. Each component's behavior can be represented by a Predicate Transition Net, and the constraints of the behaviors are described by a set of temporal logic formulae. To ensure the task co ordinations are met, a rewriting logic-based model checker is applied to verify the system against the constraints. This formal framework is general and can be used for other type humanoid robots. It allows the representation of motion plans and provides the flexibility of semantic analysis on the humanoid robotics systems.

关键词： Humanoid robots Robot kinematics Legged locomotion Planning Ports (computers) Semantics

来源：评论

学校读者我要写书评

暂无评论

A geometric approach for the sustainable economic growth of a country: The equilateral triangular model

A geometric approach for the sustainable economic growth of ...

引用

15th IFAC Workshop on International Stability, Technology and Culture, SWIIS 2013

作者： Groumpos, Peter P. Department of Electrical and Computer Engineering Laboratory for Automation and Robotics University of Patras Patras Greece

ISBN: (纸本)9783902823342

Strategic perspectives of sustainable development are considered and discussed. The concept of environmental sustainability is addressed and its relation to sustainable development is discussed. By undertaking mathematical calculations and geometrical axioms, this study shows a different approach in regional development based on various settings between three fundamental concepts: Education + research- Innovation + Entrepreneurship. The Triangle of Knowledge (ToK) is defined using the above three fundamental concepts. The Triangle of Knowledge refers to the interaction between education, research-innovation and entrepreneurship, which are key drivers for the Knowledge-Based-Society (KBS). This concept relates to the need to pay attention on an equal basis to the three factors on a systemic and continuous way. Particular contribution to the Triangle of Knowledge is attempted, through the introduction of Excellence within the proposed Equilateral Triangular Model Approach (ETMA). A new performance index is defined, the Excellence Performance Indicator (EPI) and used on this new proposed methodology of ETMA. A number of simulation runs using ETMA and the Triangle of Knowledge(ToK) is performed and a number of interesting results are obtained and discussed. Copyright © 2013 IFAC.

关键词： Sustainable development

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：