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15th International Symposium on Artificial Life and Robotics, AROB '10

作者： Liu, Jian-Qin Shimohara, Katsunori Kobe Advanced ICT Research Center National Institute of Information and Communications Technology 588-2 Iwaoka Nishi-ku Kobe Hyogo 651-2492 Japan Department of Information Systems Design Faculty of Science and Engineering Doshisha University 1-3 Tatara Miyakodani Kyotanabe City 610-0394 Japan

ISBN: (纸本)9784990288044

As a promising research field after the turn of the new century, Default Mode Network (abbreviated as DMN) of the brain shows the strong potential of a new breakthrough to neuroscience, which emphasizes the baseline of the brain's activities when the brain is awake but without any external input signal to it. This study is highlighted recently and expected to provide keys to understanding the mental disorders. This paper consists of following two sections: (1) A brief tutorial on the DMN is presented with necessary fundamental knowledge of neuroscience on the brain. (2) A framework of network informatics for DMN is proposed based on network dynamics;models of information networks are discussed by bridging the gap between the level of regions and the level of neurons of the brain;and major issues on analyzing the DMN by brain imaging technologies are discussed as well. In a word, one of the inspirations from DMN is how spontaneous collective behavior is emerged within an autonomous system, which is crucial to systematically understand the brain's function and exploring new design principles of autonomous robotics to demonstrate complex life-like behaviors in engineering. © 2010 ISAROB.

关键词： Brain

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Computer vision based wheel sinkage detection for robotic lunar exploration tasks

Computer vision based wheel sinkage detection for robotic lu...

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International Conference on Mechatronics and Automation

作者： Hegde, GuruPrasad Robinson, Christopher J. Ye, Cang Stroupe, Ashley Tunstel, Edward Department of Applied Science University of Arkansas at Little Rock Little Rock AR 72204 United States Department of Systems Engineering University of Arkansas at Little Rock Little Rock AR 72204 United States Advanced Robotic Control Group Mobility and Robotic Systems Section Jet Propulsion Laboratory Pasadena CA 91109 United States Johns Hopkins University Applied Physics Laboratory Laurel MD 20723 United States

ISBN: (纸本)9781424451418

This paper presents a wheel sinkage detection method that may be used in robotic lunar exploration tasks. The method extracts the boundary line between a robot wheel and lunar soil by segmenting the wheel-soil images captured from a video camera that monitors wheel-soil interaction. The detected boundary is projected onto the soil-free image of the robot wheel to determine the depth of wheel sinkage. The segmentation method is based on graph theory. It first clusters a wheel-soil image into homogeneous regions called superpixels and constructs a graph on the superpixels. It then partitions the graph into segments by using normalized cuts. Compared with the existing methods, the proposed algorithm is more robust to illumination condition, shadows and dust (covering the wheel). The method's efficacy has been validated by experiments under various conditions. © 2010 IEEE.

关键词： Graph theory

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A block-based adaptive super-exponential deflation algorithm for blind deconvolution of MIMO systems using the matrix pseudo-inversion lemma

A block-based adaptive super-exponential deflation algorithm...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Kiyotaka Kohno Mitsuru Kawamoto Yujiro Inouye Department of Electronic Control Engineering Yonago National College of Technology Yonago Tottori Japan Information Technology Research Institute National Institute for Advanced Industrial Science and Technology Koto Tokyo Japan Department of Electronic Control Systems Engineering Shimane University Matsue Shimane Japan

The matrix inversion lemma gives an explicit formula of the inverse of a positive-definite matrix A added to a block of dyads (represented as BB H ). It is well-known in the literature that this formula is very useful to develop a block-based recursive least-squares algorithm for the block-based recursive identification of linear systems or the design of adaptive filters. We already extended this result to the case when the matrix A is singular, and presented the matrix pseudo-inversion lemma. Such a singular case may occur in a situation where a given problem is overdetermined in the sense that it has more equations than unknowns. In this paper, based on these results, we propose a block-based adaptive multichannel super-exponential deflation algorithm. We present simulation results for the performance of the block-based algorithm in order to show the usefulness of the matrix pseudo-inversion lemma.

关键词： Deconvolution MIMO

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Implementation of a 4-DOF parallel mechanism as a needle insertion device

Implementation of a 4-DOF parallel mechanism as a needle ins...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jaeheon Chung Hyo-Jeong Cha Byung-Ju Yi Whee Kuk Kim Department of Advanced Medical Initiatives Faculty of Medical Sciences Kyushu University Fukuoka Japan School of Electrical Engineering and Computer Science Hanyang University Ansan South Korea Department of Control and Instrumentation Engineering Korea University South Korea

ISBN: (纸本)9781424450381;9781424450404

Recently, quite a few practical parallel mechanisms having spatial 3-DOF and 6-DOF have been introduced and implemented. However, not many useful practical applications using low-mobility parallel mechanisms having 4-DOF and 5-DOF have been developed. In this paper, we propose a 4-DOF parallel mechanism for needle insertion application in which proper orientation and needle insertion process are required. The mechanism has four outer chains and one passive middle chain through which a needle insertion motion occurs. The kinematic modeling and kinematic analysis are performed to understand the characteristics of this mechanism. Through the singularity analysis, a singularity-free design for the desired workspace is proposed. Finally, the effectiveness of this device as a needle insertion device is shown through experimental work.

关键词： Needles Kinematics Medical robotics Industrial training Computer science Testing Surgery Robotics and automation USA Councils Parallel robots

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Monte-Carlo tree search for a reentrant scheduling problem

Monte-Carlo tree search for a reentrant scheduling problem

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40th International Conference on Computers and Industrial engineering, CIE40 2010

作者： Matsumoto, Shimpei Hirosue, Noriaki Itonaga, Kyohei Ueno, Nobuyuki Ishii, Hiroaki Faculty of Applied Information Science Hiroshima Institute of Technology 2-1-1 Miyake Saeki-ku Hiroshima 731-5193 Japan Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Kawazu 680-4 Iizuka 820-8502 Japan Division of Electrical Electronic and Information Engineering Advanced Courses of Oita National College of Technology 1666 Oaza-Maki Oita 870-0152 Japan Department of Management and Information Systems Prefectural University of Hiroshima 1-1-71 Ujina-higashi Minami-ku Hiroshima 734-8558 Japan Department of Mathematical Sciences School of Science and Technology Kwansei Gakuin University 2-1 Gakuen Sanda 669-1337 Japan

ISBN: (纸本)9781424472956

This paper reports application results of Monte-Carlo Tree Search (MCTS) for a practical problem. In this paper, a reentrant scheduling problem is considered as a practical problem which has been addressed by our previous works. MCTS introduced by Coulom is a best-first search where the pseudorandom simulations guide the solution of problem. Recent improvements on MCTS have produced strong computer Go program, which has a large search space, and the success is a hot topic for selecting the best move. So far, most of reports about MCTS have been on two-player game, and MCTS has been applied rarely in one-player perfect-information games. MCTS does not need an admissible heuristic, so the application of MCTS for one-player games might be an interesting alternative. Additionally, one-player games like puzzles are determinately operated only by one player's decision, so sequences of changes in state are describable as a network diagram of interdependence of operations. Therefore if MCTS for one-player games is considered as a meta-heuristic algorithm, we can use this algorithm for not only many practical problems, but also combinatorial optimization problems. Especially as MCTS does not fully depend on evaluation function, so the solutions based on MCTS remain effective if objective function of problem is modified. This paper firstly investigated on the application of Single Player MCTS (SP-MCTS) introduced by Schadd et al. Next this paper showed the effectiveness of new simulation strategies on SP-MCTS by numerical experiments. Based on the results, this paper discussed the application potentiality of SP-MCTS for a practical reentrant scheduling problem.

关键词： Scheduling

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Mosaic aided navigation: Tools, methods and results

Mosaic aided navigation: Tools, methods and results

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IEEE Symposium on Position Location and Navigation (PLANS)

作者： Vadim Indelman Pini Gurfil Ehud Rivlin Hector Rotstein Faculty of AeroSpace Engineering Technion-Israel Institute of Technology Haifa Israel Department of Computer Science Technion-Israel Institute of Technology Haifa Israel RAFAEL Advanced Defense Systems Limited Israel

The on-line construction of an image mosaic or panorama can be exploited to aid the navigation system of an airborne platform. The purpose of the paper is threefold. First, the paper presents some of the tools required for computing a mosaic and using the information collected as a side product within a navigation filter. These tools include a special variation of the Kalman filter and a new formulation of the tri-focal tensor from multi-frame vision. Second, the paper summarizes a general method for fusing the motion information obtained during the mosaicking process and also shows how “loop-closure” can be used to preserve navigation errors at their initial levels. Third, the paper discusses a number of illustrative examples to show how mosaic aiding can indeed result in a substantial improvement of the navigation solution.

关键词： Navigation Global Positioning System Cameras Unmanned aerial vehicles State estimation Layout Earth Image registration Image sensors Information filtering

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Reports on the AAAI 2009 fall symposia

Reports on the AAAI 2009 fall symposia

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作者： Azevedo, Roger Bench-Capon, Trevor Biswas, Gautam Carmichael, Ted Green, Nancy Hadzikadic, Mirsad Koyejo, Oluwasanmi Kurup, Unmesh Parsons, Simon Pirrone, Roberto Prakken, Henry Samsonovich, Alexei Scott, Donia Souvenir, Richard Department of Psychology Institute for Intelligent Systems University of Memphis United States Department of Computer Science University of Liverpool United Kingdom Center for Intelligent Systems Vanderbilt University United States Department of Computer Science University of North Carolina Charlotte United States Department of Computer Science University of North Carolina Greensboro United States Department of Software and Information Systems University of North Carolina Charlotte United States Complex Systems Institute United States Department of Electrical and Computer Engineering University of Texas Austin United States Department of Cognitive Science Rensselaer Polytechnic Institute Troy NY United States Department of Computer and Information Science Brooklyn College City University New York United States University of Palermo Italy Computer Science Department Utrecht University Netherlands Department of Law and IT Law Faculty University of Groningen Netherlands Krasnow Institute for Advanced Study George Mason University United States Computational Linguistics Department Informatics at the University of Sussex United Kingdom

The Association for the Advancement of Artificial Intelligence was pleased to present the 2009 Fall Symposium Series, held Thursday through Saturday, November 5-7, at the Westin Arlington Gateway in Arlington, Virginia. The Symposium Series was preceded on Wednesday, November 4, by a one-day AI funding seminar. The titles of the seven symposia were as follows: (1) Biologically Inspired Cognitive Architectures, (2) Cognitive andMetacognitive Educational systems, (3) Complex Adaptive systems and the Threshold Effect: Views from the Natural and Social sciences, (4) Manifold Learning and Its Applications, (5) Multirepresentational Architectures for Human-Level Intelligence, (6) The Uses of Computational Argumentation, and (7) Virtual Healthcare Interaction. Copyright © 2010, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Cognitive systems

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Modeling and stabilization of mimo networked control systems with network constraints

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International Journal of Innovative Computing, Information and control 2010年第10期6卷 4409-4419页

作者： Liu, Xiaopeng Xia, Yuanqing Mahmoud, Magdi S. Deng, Zhihong Department of Automatic Control Beijing Institute of Technology Beijing 100081 China Faculty of Advanced Technology University of Glamorgan Pontypridd CF37 1DL United Kingdom Department of Systems Engineering King Fahad University of Petroleum and Minerals PO Box 985 Dhahran 31261 Saudi Arabia

This paper is concerned with the stability analysis and controller design for a class of MIMO networked control systems (NCSs) with network constraints. In view of MIMO NCSs where network is of limited access channels, a discrete-time switched delay model is formulated. By constructing a novel piecewise Lyapunov-Krasovskii functional, a new stability criterion is developed in terms of linear matrix inequalities. On the basis of the obtained stability condition, a static output feedback controller is designed by applying an iterative algorithm. A numerical example is given to show the effectiveness of the proposed method. © 2010 ICIC International.

关键词： Networked control systems

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A new aqueous mineral carbonation process utilizing bipolar membrane electrodialysis

A new aqueous mineral carbonation process utilizing bipolar ...

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作者： Abe, Yoshinobu Nagasawa, Hiroki Iizuka, Atsushi Yamasaki, Akihiro Yanagisawa, Yukio Department of Environment Systems Graduate School of Frontier Sciences University of Tokyo 5-1-5 Kashiwanoha Kashiwa-shi Chiba 277-8563 Japan Research Center for Sustainable Science and Engineering Institute of Multidisciplinary Research for Advanced Materials Tohoku University 2-1-1 Katahira Sendai Miyagi 980-8577 Japan Department of Materials and Life Science Faculty of Science and Technology Seikei University 3-3-1 Kichijoji-kitamach Musashino-shi Tokyo 180-8633 Japan

ISBN: (纸本)9780816910656

A new aqueous mineral carbonation process which utilizes bipolar membrane electrodialysis was proposed. The proposed process consists of four unit operations, (a) acid leaching of alkaline metals (Ca2+ /Mg 2+) from mineral compounds by HNO3, (b) Na 2CO3 generation via absorption of CO2 into NaOH, (c) Ca and Mg carbonate precipitation by addition of Na2CO 3, and (d) HNO3/NaOH regeneration from NaNO3 solution with bipolar membrane electrodialysis. Regenerated HNO3 solution is then recycled to the acid leaching step. In the Na 2CO3 generation step, regenerated NaOH solution is contacted with the gaseous CO2 to form Na2CO3 solution. Exhaust gas from power plant can be directly used without compression. Experimental studies were conducted to confirm the technical feasibility of this process. Results demonstrate that HNO3 and NaOH were successfully regenerated from NaNO3 solution by using bipolar membrane electrodialysis. This result suggests that we can utilize alkaline metals in mineral compounds by using acid and HNO3 and NaOH solution can be used cyclically in this process.

关键词： Carbon dioxide

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Dynamic stability and control design of modern electric energy systems with large penetration of distributed generators

Dynamic stability and control design of modern electric ener...

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iREP Symposium on Bulk Power System Dynamics and control

作者： M. Honarvar Nazari M. Ilić J. Peças Lopes Electrical Engineering K.N. Toosi University of Technology Iran Energy Systems Engineering Sharif University of Technology Iran Carnegie Mellon University Pittsburgh PA USA Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA USA University of Illinois Urbana-Champaign USA Control of Future Electricity Network Operations in the Faculty of Technology Delft University of Technnology Delft Netherlands Cornell University Ithaca NY USA Department of Electrical Engineering of the Faculty of Engineering of University of Porto Portugal

This paper investigates dynamic stability and control design of modern electric energy systems as many MW-scale distributed generators (DG) of various types are deployed in the distribution side of electric systems. The paper is mainly concerned about small-signal frequency stability of distribution systems with decentralized or centralized control systems. The Gerschgorin Circle Theory and Hicks Stability Theory are used for verifying sufficient conditions for small-signal stability. The paper also discusses about designing advanced enhancing robustness methods to ensure both safety and stability of modern distribution systems. Finally, the paper closes with a discussion of policies needed to support large penetration of DG units in distribution systems to ensure safety and robustness of the system.

关键词： Stability criteria Centralized control Power system stability Distributed control Frequency control Mathematical model

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