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2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012

作者： Spaner, Marijan Rojko, Andreja Jezernik, Karel Institute of Robotics University of Maribor Faculty of Electrical Engineering and Computer Science Maribor Slovenia

ISBN: (纸本)9781457710711

Hybrid electric vehicles are one of the most effective solutions to improve our environment, one of few such products that are available at the mass-market and also accepted by the customers. With the improved energy storage systems and control algorithms, hybrid vehicles can further gain on the applicability and consequently on the popularity. In this paper, a design and control of the elements of the hybrid vehicle propulsion system, with an emphasis on supercapacitor as the peak energy storage unit, is presented. The propulsion system is dimensioned for light delivery vehicle. In order to simplify design and testing, a laboratory test rig was built rather than using the complete vehicle. Trough simulations and experiments a significant improvement of the properties of energy storage system is confirmed after adding the supercapacitor to the battery. The experiments also confirm the advantages of energy flow management based on the stabilization of the common DC bus voltage. © 2012 IEEE.

关键词： Hybrid vehicles

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Model-Driven Robot-Software Design using integrated Models and Co-Simulation

Model-Driven Robot-Software Design using integrated Models a...

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International Conference on Embedded computer Systems - Architectures, Modeling and Simulation (IC-SAMOS)

作者： Broenink, Jan F. Ni, Yunyun Robotics and Mechatronics group CTIT institute faculty of Electrical Engineering Mathematics and Computer Science University of Twente The Netherlands

ISBN: (纸本)9781467322973

The work presented here is on a methodology for design of hard real-time embedded control software for robots, i.e. mechatronic products. The behavior of the total robot system (machine, control, software and I/O) is relevant, because the dynamics of the machine influences the robot software. Therefore, we use two appropriate Models of Computation, which represent continuous-time equations for the machine / robot part, and discrete event / discrete time equations for the control software part. To compute (simulate) such combined models, co-simulation of these models is used. The design work can be done as a stepwise refinement process, whereby each step is verified via co-simulation. This in general yields a shorter design time, and a better quality product. The tools pass model-specific information between each other via parametrized tokens in the generated, high-level code to get a better separation of design steps. This allows for better quality of the models and more reuse, thus enhancing the efficiency of model-driven design for the (industrial) end user. The method is illustrated with a case study using the tools, some of which are at the prototype level. Especially the structuring of the models and regularly doing simulations (of which some can be 'repeated' as real experiments), is beneficial, shortening the development time and producing better models. Future work is to test the method on more complex cases, and to extend the method by detailing out the electronics and mechanics sub design flows.

关键词： Robot hard real-time machine IO Robot software computer software Software design computer programs MACHINE TOOL CONTROL Robot System Microelectromechanical devices Equation discrete-time

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Proportional-integrative controller design of Pneumatic system using particle swarm optimization

Proportional-integrative controller design of Pneumatic syst...

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Student Conference on Research and Development (SCOReD)

作者： Khairuddin Osman Ahmad Athif Mohd Faudzi M. F. Rahmat Nu'man Din Mustafa Amar Faiz Zainal Abidin Koichi Suzumori Faculty of Electronic and Computer Engineering Universiti Teknikal Malaysia Melaka Durian Tunggal Melaka Malaysia Centre for Artificial Intelligent and Robotics Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor MY Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Bahru Malaysia Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor MY Graduate School of Natural Science and Technology Okayama University Okayama Japan

Pneumatic systems are well known for their advantages, simplicity and can be applied in various industrial applications. This paper presents a comparative study of tuning methods on Proportional-Integral (PI) controller for position control performance both in simulation and in real system. A PI controller designed by optimization with the Particle Swarm Optimization (PSO) algorithm is proposed and its output is compared with the Ziegler-Nichols (Z-N) formula and manual (trial and error) results. Performance assessment of the tuned controllers was performed in MATLAB Simulink. It was observed that the controller designed using PSO gives better results and performance compared to the Z-N formula and manual tuning in simulation and real-time.

关键词： Tuning Pneumatic systems Particle swarm optimization System identification Mathematical model Mechatronics Real-time systems

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Internal simulations for behaviour selection and recognition

Internal simulations for behaviour selection and recognition

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3rd International Workshop on Human Behavior Understanding, HBU 2012

作者： Schillaci, Guido Lara, Bruno Hafner, Verena V. Cognitive Robotics Group Department of Computer Science Humboldt-Universität Zu Berlin Germany Cognitive Robotics Group Faculty of Science Universidad Autonoma del Estado de Morelos Cuernavaca Mexico

ISBN: (纸本)9783642340130

In this paper, we present internal simulations as a methodology for human behaviour recognition and understanding. The internal simulations consist of pairs of inverse forward models representing sensorimotor actions. The main advantage of this method is that it both serves for action selection and prediction as well as recognition. We present several human-robot interaction experiments where the robot can recognize the behaviour of the human reaching for objects. © 2012 Springer-Verlag.

关键词： Human robot interaction

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ESICM LIVES 2016: part one Milan, Italy. 1-5 October 2016 Abstracts

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INTENSIVE CARE MEDICINE EXPERIMENTAL 2016年第SUPPL 1期4卷 1-1页

作者： [Anonymous] Academic Medical Center University of Amsterdam Amsterdam Netherlands UMCU Utrecht Netherlands Autonomous University of Barcelona Barcelona Spain Hospital São Francisco Xavier Lisbon Portugal CHU Henri Mondor Medical ICU Créteil France Université de Paris Est-Créteil Groupe de Recherche Clinique CARMAS Créteil France Hôpital Tenon APHP Medical and Surgical ICU Paris France Université Paris Diderot Sorbonne Paris Cité UMR 1153 Paris France Interdepartmental Division of Critical Care University of Toronto Toronto Canada University Health Network University of Toronto Critical Care Medicine Toronto Canada University of Milan - Bicocca Health Sciences School of Medicine and Surgery Monza Italy St Michael’s Hospital University of Toronto Anesthesia Toronto Canada CHU d’Angers Medical ICU Angers France Interdepartmental Division of Critical Care University of Toronto Saint Michael’s Hospital and Keenan Research Centre Toronto Canada University of Birmingham Institute for Inflammation and Ageing Birmingham UK University of Sheffield Mathematics and Statistics Help Centre Sheffield UK Heart of England NHS Foundation Trust Intensive Care Medicine Birmingham UK Department of Surgery University Hospitals Birmingham NHS Trust Birmingham UK University Hospitals Birmingham NHS Trust Anaesthesia and Critical Care Medicine Birmingham UK Queen’s University of Belfast Wellcome-Wolfson Institute for Experimental Medicine Belfast UK Royal Victoria Hospital Intensive Care Medicine Belfast UK University of Warwick Warwick Clinical Trials Unit Coventry UK University of Bari ‘Aldo Moro’ Bari Italy Hospital Israelita Albert Einstein São Paulo Brazil Mayo Clinic Jacksonville USA Mahidol University Faculty of Tropical Medicine Bangkok Thailand University Medical Center Utrecht Intensive Care Utrecht Netherlands University Medical Center Utrecht Julius Center for Health Sciences and Primary Care Utrecht Netherlands Academic Medical Center University of Amste

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Resistivity characteristics of single miniature tactile sensing element based on pressure sensitive conductive rubber sheet

Resistivity characteristics of single miniature tactile sens...

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2012 IEEE 8th International Colloquium on Signal Processing and Its Applications, CSPA 2012

作者： Aqilah, Ahsana Jaffar, A. Bahari, S. Low, C.Y. Koch, T. Center of Excellence for Humanoid Robotics and Bio-Sensing Universiti Teknologi MARA Shah Alam Malaysia Faculty of Engineering and Computer Science Osnabruck University of Applied Science Germany

ISBN: (纸本)9781467309615

This paper presents the development of a tactile sensor using single miniature sensing element based on pressure sensitive conductive rubber and outlines the resistance measurements performance. This sensor is specially designed for a robotic hand developed at UiTM faculty of Mechanical Engineering. Nevertheless, the low cost, low density and flexible material is suitable for most robotics hand designs. It exhibits piezoresistive like behavior whose resistance change with force/pressure enables its applications as tactile sensor. The operating principle and hardware architecture of the sensor is explained. It consists of an array of 16 sensing elements in rows and columns for data acquisition. The test results indicate significant drop of resistance with the increase of applied load. © 2012 IEEE.

关键词： Tactile sensors

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Multi-robot exploration with communication requirement to a moving base station

Multi-robot exploration with communication requirement to a ...

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2012 IEEE International Conference on Automation science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012

作者： Pandey, Romit Singh, Arun Kumar Krishna, K. Madhava Department of Robotics Research International Institute of Information Technology Hyderabad India Faculty of Computer Science International Institute of Information Technology Hyderabad India

ISBN: (纸本)9781467304283

Exploration is a core and important robotics area, whose applications include search and rescue robotics, planetary exploration etc. We know that this exploration task is best performed when using a multi-robot system. In this paper, we present an algorithm for multi-robot exploration of an unknown environment, taking into account the communication constraints between the robots. The aim of the robots is to explore the whole map as a pack, without losing communication throughout. The key task for us here is to allocate the target points for multiple robots so as to maximize the area explored and minimize the time and plan paths for the robots in such a way so as to avoid obstacles. A multi-robot exploration methodology is introduced similar to depth first strategy, that samples frontier points based on a metric function. This function aims to maximize the visibility gain or information gain while minimizing the distance to be travelled to the frontier points, such that the robots are within the limited communication distance of each other. The algorithm has been tested through simulation runs of various maps and results and evaluations have been presented based on it. The results effectively demonstrate that our algorithm allows robot pack to quickly accomplish the task of exploration and without the constraint ever breaking down. Here, we also present a comparative analysis of our algorithm with another exploration approach, which finds new areas based on population generation and utility calculation over the population. The results show tangible performance gain of this method over previous methods reported on exploration with limited communication constraints. © 2012 IEEE.

关键词： Industrial robots

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Syntactic algorithm of two-dimensional scene analysis for unmanned flying vehicles

Syntactic algorithm of two-dimensional scene analysis for un...

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International Conference on computer Vision and Graphics, ICCVG 2012

作者： Bielecki, Andrzej Buratowski, Tomasz Śmigielski, Piotr Institute of Computer Science Faculty of Mathematics and Computer Science Jagiellonian University Lojasiewicza 6 30-348 Kraków Poland Department of Robotics and Mechatronics Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Al. Mickiewicza 30 30-059 Kraków Poland Asseco Poland S.A. Podwale 3 31-118 Kraków Poland

ISBN: (纸本)9783642335631

In this paper the approach to on-line object recognition for autonomous flying agent is considered. The method is divided into two parts. First the algorithm for scene objects vectorization is introduced. As the second step of the overall method we present the rotation and scale invariant algorithm for vectorized object identification based on syntactic language. © 2012 Springer-Verlag Berlin Heidelberg.

关键词： Autonomous agents

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A further study on short term memory improvement by neurofeedback

A further study on short term memory improvement by neurofee...

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2012 International Conference on Biomedical Engineering and Biotechnology, iCBEB 2012

作者： Nan, Wenya Rodrigues, Joao Pedro Wan, Feng Mak, Peng Un Mak, Pui In Vai, Mang I. Rosa, Agostinho Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China LaSEEB-System and Robotics Institute Instituto Superior Tecnico Technical University of Lisbon Portugal

ISBN: (纸本)9780769547060

Our previous study successfully improved short term memory by individual alpha neurofeedback training. However, short term memory and its improvement in different languages are still not clear. Therefore, the purpose of this paper was to evaluate the memory performance in alphabetic and ideographic language groups. Besides, the relationship between initial memory and its improvement was investigated. The results indicated short term memory in ideographic language was higher than those in alphabetic language and forward digit span improvement was positive related to its initial performance. © 2012 IEEE.

关键词： Brain

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Dependence Tree Structure Estimation via Copula

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International Journal of Automation and computing 2012年第2期9卷 113-121页

作者： Jian Ma Zeng-Qi Sun Sheng Chen Hong-Hai Liu Department of Computer Science Tsinghua University Beijing 100084 PRC Electronics and Computer Science Faculty of Physical and Applied Sciences University of Southampton Southampton SO17 1B J UK Faculty of Engineering King Abdulaziz University Jeddah 21589 Saudi Arabia Intelligent Systems and Robotics Research Group School of Creative Technologies University of Portsmouth Portsmouth PO1 2D J UK

We propose an approach for dependence tree structure learning via copula. A nonparametric algorithm for copula estimation is presented. Then a Chow-Liu like method based on dependence measure via copula is proposed to estimate maximum spanning bivariate copula associated with bivariate dependence relations. The main advantage of the approach is that learning with empirical copula focuses on dependence relations among random variables, without the need to know the properties of individual variables as well as without the requirement to specify parametric family of entire underlying distribution for individual variables. Experiments on two real-application data sets show the effectiveness of the proposed method.

关键词： Copula empirical copula dependence tree structure learning probability distribution.

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