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A CONVERSATIONAL MAN-ROBOT INTERFACE USED IN ROBOTICS

IFAC Proceedings Volumes 2005年第1期38卷 109-114页

作者： Catalin Buiu Ioan Dumitrache Alexandra Dumitrascu Department of Automatic Control and Systems Engineering “POLITEHNICA” University of Bucharest Faculty of Automatic Control and Computer Science Spl. Independentei 313 77206 Bucharest Romania

This paper presents a conversational interface that uses the speech recognition and synthesis and animation abilities of two Microsoft software agents in order to assure a more natural and efficient interface with an autonomous robot. The interface is used in the robotics educational process. The basic commands to be given by voice (back, right, etc.) and the control of the agents are implemented in Visual Basic. More complex control programs can be implemented and tested in Matlab and after that executed with a simple voice command. This program is used as a part of an integrated educational strategy in autonomous robotics and was evaluated by a group of students. First experimental results related to the use of this conversational interface compared to traditional robot simulation environments and control of real robots are presented in this paper with related discussions.

关键词： control education autonomous robots speech recognition conversational interface software agent

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Workspace analysis of parallel mechanism with adjustable link parameters

Workspace analysis of parallel mechanism with adjustable lin...

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12th International Conference on advanced Robotics, 2005. ICAR '05

作者： Tanaka, Wataru Arai, Tatsuo Inoue, Kenji Takubo, Tomohito Mae, Yasushi Koseki, Yoshihiko Department of Systems Innovation Graduate School of Engineering Science Osaka University 1-3 Machikaneyama Toyonaka Osaka 560-8531 Japan Department of Human and Artificial Intelligence Systems Faculty of Engineering University of Fukui 9-1 Bunkyo 3-Chome Fukui Fukui 910-8507 Japan National Institute of Advanced Industrial Science and Technology 1-2-1 Namiki Tsukuba Ibaraki 305-8564 Japan

ISBN: (纸本)0780391772

Parallel mechanism has some good advantages, but small workspace is a big drawback[1]. We have proposed a parallel mechanism with adjustable link parameters in the previous paper[2][3][4]. In this mechanism, there is a need to adjust the suitable link parameters for the required workspace for certain task. In this paper we discuss the workspace and voids of linearly actuated parallel mechanism with adjustable link parameters. We divide the mechanism into normal and transfigured type and compare these parameters with each other in order to analyze the properties of mechanism at different positions. © 2005 IEEE.

关键词： Parallel processing systems

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FORCEFREE control WITH INDEPENDENT COMPENSATION FOR INDUSTRIAL ARTICULATED ROBOT ARM

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IFAC Proceedings Volumes 2005年第1期38卷 103-108页

作者： Satoru Goto Yuji Ishida Nobuhiro Kyura Masatoshi Nakamura Department of Advanced Systems Control Engineering Saga University Honjomachi Saga 840-8502 JAPAN Department of Electrical and Communication Engineering School of Humanity-Oriented Science and Engineering Kinki University 11-6 Kayanomori Iizuka 820-8555 JAPAN

In this paper, the concept of forcefree control is extended to realize flexible motion of industrial articulated robot arms under the virtual operational circumstances such as free of inertia, friction and gravity through independent compensation of inertia, friction and gravity. The forcefree control with independent compensation was verified with an experimental study of an actual industrial robot arm.

关键词： industrial robots force control inertia friction gravity compensation

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Automating micro cellular detection process using all-transparent microfluidic platform and surface plasmon resonance technique

Automating micro cellular detection process using all-transp...

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2005 IEEE International Conference on Robotics and Biomimetics, ROBIO

作者： Lei, Kin Fong Law, Wing Cheung Wong, Chi Lok Li, Wen J. Ho, Pui Kong, Siu-Kai Lin, Chinlon Centre for Micro and Nano Systems Faculty of Engineering Chinese University of Hong Kong Hong Kong Hong Kong Center for Advanced Research in Photonics Faculty of Engineering Chinese University of Hong Kong Hong Kong Hong Kong Department of Biochemistry Faculty of Science Chinese University of Hong Kong Hong Kong Hong Kong Chinese University of Hong Kong Chinese Academy of Sciences

ISBN: (纸本)0780393155

This paper reports an automated polymer based microfluidic analysis system integrated with the surface plasmon resonance (SPR) biosensor for qualitatively monitoring of cell adhesion on the sensor surface. Micropumps, microchannels, and SPR biosensor were integrated into a single polymer (PMMA) based microfluidic system. The integrated system has been studied in its potential application in drugs discovery. An experiment, which is monitoring the activities of living cells in the presence or absence of trypsin in RPMI-1640 medium, was conducted to show the ability of its biomedical application. Because SPR based bio-detection requires optically transparent substrates, PMMA is a potential replacement for glass and silicon-glass in microfluidic systems, if biocompatibility and low-cost are desired. Hence, our work has shown the feasibility of commercializing SPR based biomedical/chemical analyses system in the near future. Furthermore, an advanced 2-dimensional multi-chamber microfluidic system with the SPR imaging detection system for detecting the specific binding of biomolecules was also conduced. It shows the possibility of the parallel detection process. © 2005 IEEE.

关键词： Microfluidics

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HAND MOVEMENT IMPROVEMENT ON VISUAL TARGET TRACKING BY MODEL-BASED COMPENSATOR

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IFAC Proceedings Volumes 2005年第1期38卷 166-171页

作者： Takenao Sugi Junko Ide Masatoshi Nakamura Hiroshi Shibasaki Department of Electrical and Electronic Engineering Faculty of Science and Engineering Saga University Honjomachi Saga 840-8502 Japan Department of Literature Division of Social Welfare Seinan Gakuin University Fukuoka 814-8511 Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga 840-8502 Japan National Institute of Neurological Disorders and Stroke NIH Bethesda USA

Brain dysfunction in the cerebral cortex, cerebellum and/or basal ganglia causes serious movement disorders such as cerebellar ataxia, Parkinson disease and so on. Compensation of hand movement by adding an external force will recover the motor function and will be helpful for improving the quality of patients' daily life. This paper proposes a method for compensating human hand movement on visual target tracking by adding an assistant force. Mathematical model was obtained from the measurement data of visual target tracking for each subject, and the compensator was constructed based on the model. Effectiveness of the compensation method was investigated through the experiment.

关键词： Hand Movement Compensation Visual Target Tracking Modeling Assistant Force Model-Based Compensator Movement disorders

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Bio-molecular and cellular detection using SPR sensor and all-transparent microfluidic platform

Bio-molecular and cellular detection using SPR sensor and al...

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2005 5th IEEE Conference on Nanotechnology

作者： Lei, Kin Fong Law, Wing Cheung Suen, Yick-Keung Li, Wen J. Ho, Ho Pui Lin, Chinlon Kong, Siu-Kai Faculty of Engineering Centre for Micro and Nano Systems Chinese University of Hong Kong Hong Kong Hong Kong Faculty of Engineering Center for Advanced Research in Photonics Chinese University of Hong Kong Hong Kong Hong Kong Department of Biochemistry Faculty of Science Chinese University of Hong Kong Hong Kong Hong Kong Chinese University of Hong Kong Hong Kong Chinese Academy of Sciences China

ISBN: (纸本)0780391993

This paper reports an automated polymer based microfluidic analysis system integrated with a surface plasmon resonance (SPR) biosensor for detecting the specific binding of biomolecules and qualitatively monitoring of cell adhesion on the sensor surface. Micropumps, microchannels, and a SPR biosensor were integrated into a single polymer (PMMA) based microfluidic system. Because SPR based biodetection requires optically transparent substrates, PMMA is a potential replacement for glass and silicon-glass microfluidic systems, if bio-compatibility and low-cost are desired. The integrated system has been studied for its potential applications in bio-molecules detection and drug-discovery. Two experiments, 1) monitoring the reaction between BSA-BSA antibody, and 2) monitoring the activities of living cells in the presence or absence of trypsin in RPMI-1640 medium, were conducted to show its biomedical applications. The experimental setup and results of these tests are presented in this paper. ©2005 IEEE.

关键词： Biosensors

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Distributed health monitoring for aero-engines on the GRID: DAME

Distributed health monitoring for aero-engines on the GRID: ...

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IEEE Conference on Aerospace

作者： T. Jackson J. Austin M. Fletcher M. Jessop Bojian Liang A. Pasley M. Ong X. Ren G. Allan V. Kadirkamanathan H.A. Thompson P.J. Fleming Advanced Computer Architectures Group (ACAG) Department of Computer Science University of York York UK Rolls-Royce Supported University Technology Centre in Control and Systems Engineering Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

We provide an overview of the DAME project, and a discussion of the progress made to date on the development of a distributed aeroengine diagnosis environment as a proof of concept demonstration for grid computing. We discuss the development of a demonstration diagnosis workbench system for this complex, data intensive, diagnosis application that must be operated as a distributed 'virtual organisation'. We describe the core diagnosis applications that have been implemented as grid services, and explain how these services are being deployed within the overall diagnosis process

关键词： Engines Fault diagnosis Grid computing Project management Collaborative work Data analysis Computerized monitoring control systems systems engineering and theory Data systems

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Model-free intelligent control using reinforcement learning and temporal abstraction-applied to pH control

Model-free intelligent control using reinforcement learning ...

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作者： Syafiie, S. Tadeo, F. Martinez, E. Department of Systems Engineering and Automatic Control Science Faculty University of Valladolid Prado de La Magdalena s/n 47011 Valladolid Spain Consejo Nacional de Investigaciones Científicas y Técnicas Avellaneda 3657 3000 Santa Fe Argentina

ISBN: (纸本)008045108X

This article presents a solution to pH control based on model-free intelligent control (MFIC) using reinforcement learning. This control technique is proposed because the algorithm gives a general solution for acid-base system, yet simple enough for its implementation in existing control hardware. in standard reinforcement learning, the interaction between an agent and the environment is based on a fixed time scale: during learning, the agent can select several primitive actions depending on the system state. A novel solution is presented, using multistep actions (MSA): actions on multiple time scales consist of several identical primitive actions. This solves the problem of determining a suitable fixed time scale to select control actions so as to trade off accuracy in control against learning complexity. The application of multi-step actions on a simulated pH process shows that the proposed MFIC learns to control adequately the neutralization process. Copyright © 2005 IFAC.

关键词： Process control

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Estimation of nitrogen ion energy in sterilization technology by plasma based ion implantation

Shinku/Journal of the Vacuum Society of Japan

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Shinku/Journal of the Vacuum Society of Japan 2005年第5期48卷 339-342页

作者： Kondou, Youhei Nakashima, Takeru Tanaka, Takeshi Takagi, Toshinori Watanabe, Satoshi Ohkura, Kensaku Shibahara, Kentaro Yokoyama, Shin Electronics and Photonic Systems Engineering Faculty of Engineering Hiroshima Institute of Technology 2-1-1 Miyake Saeki-ku Hiroshima 731-5193 Japan Soken Industries Co. Ltd. 1-103-55 Yoshinodai Kawagoe 350-0833 Japan Department of Semiconductor Electronics and Integration Science Graduate School of Advanced Sciences of Matter Hiroshima University 1-3-1 Kagamiyama Higashi-Hiroshima 739-8530 Japan Research Center for Nanodevices and Systems Hiroshima Univesity 1-4-2 Kagamiyama Higashi-Hiroshima 739-8527 Japan

Plasma based ion implantation (PBII) with negative voltage pulses to the test specimen has been applied to the sterilization process as a technique suitable for three-dimensional work pieces. Pulsed high negative voltage (5 μs pulse width, 300 pulses/s, - 800 V to -15 kV) was applied to the electrode in this process at a gas pressure of 2.4 Pa of N2. We found that the PBII process, in which N2 gas self-ignitted plasma generated by only pulsed voltages is used, reduces the number of active Bacillus pumilus cell. The number of bacteria survivors was reduced by 10-5 x with 5 min exposure. Since the ion energy is the most important processing parameter, a simple method to estimate the nitrogen ion energy from distribution of nitrogen atoms in Si implanted by PBII was developed. The implanted ion energy is discussed from the SIMS in depth profiles.

关键词： Ion implantation

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Robust super-exponential methods for blind equalization of an SISO-IIR system with additive gaussian noise

Robust super-exponential methods for blind equalization of a...

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8th International Symposium on Signal Processing and its Applications, ISSPA 2005

作者： Kawamoto, Mitsuru Kohno, Kiyotaka Inouye, Yujiro Nandi, Asoke K. Information Technology Research Institute National Institute of Advanced Industrial Science and Technology Central 2 1-1-1 Umezono Tsukuba Ibaraki 305-8568 Japan Department of Electronic and Control Systems Engineering Shimane University 1060 Nishikawatsu Matsue Shimane 690-8504 Japan Department of Electrical Engineering and Electronics University of Liverpool Brownlow Hill Liverpool L69 3GJ United Kingdom

ISBN: (纸本)0780392434

The present paper deals with the blind equalization problem of a single-input single-output infinite impulse response (SISO-IIR) system with additive Gaussian noise. To solve the problem, we propose a "super- exponential method" (SEM). The novel point of the proposed SEM is that even when Gaussian noise is added to the output of the system, the blind equalization can be achieved with as little influence of Gaussian noise as possible;hence the proposed SEM is referred to as a "robust super-exponential method" (RSEM). Simulation results show the validity of the proposed RSEM. © 2005 IEEE.

关键词： IIR filters

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