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检索条件"机构=Geometry Robotics and the School of Computer Science and Technology"

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Result representation of Rao-Blackwellized particle filtering for SLAM

Result representation of Rao-Blackwellized particle filterin...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Nosan Kwak Beom-Hee Lee Kazuhito Yokoi Joint Japanese-French Robotics Laboratory Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Japan School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea

Recently, particle filters have been applying to many robotic problems including the simultaneous localization and mapping (SLAM). Specifically, SLAM approaches employing Rao-Blackwellized particle filter (RBPF) have shown good results. However, no research is conducted to analyze representation of the results of particle filtering. After finishing the particle filtering, the results such as a map and a path are stored in the separate particles. In most cases, the result of the particle that has the highest importance weight is represented as the result. However, this approach does not give the best result all the time. Thus, We provide the analysis of final representation of particle filtering. In this paper, we compares several methods to derive the final representation of the result after finishing RBPF-SLAM. According to the result, combining data of each particle provides the better result with high probability than using just data of a particle such as the highest weighted particle representation.

关键词： Filtering Simultaneous localization and mapping Particle filters Intelligent robots robotics and automation Service robots Electronic mail Finishing Diversity reception Automatic control

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Implementation of analog controller based on biological nervous system for biomimetics walking robot

Implementation of analog controller based on biological nerv...

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39th International Symposium on robotics, ISR 2008

作者： Kim, Sung Hoon Kang, Tae Hun Won, Min Kyu Cho, Jin-Ho Park, Sangdeok Pohang Institute of Intelligent Robotics San 31 Hyoja-Dong Nam-Gu Pohang Gyeongbuk 790-784 Korea Republic of San 31 Hyoja-Dong Nam-Gu Pohang Gyeongbuk 790-784 Korea Republic of School of Electrical Engineering and Computer Science Kyungpook National University 1370 Sankynk-dong Buk-gu Daegu702-701 Korea Republic of Korea Institute of Industrial Technology 1271-18 Sa 1-Dong Sangrok-Ku Ansan Korea Republic of

In this paper, we proposed an analog neural controller (ANC) that is similar to physical modelling of the nervous system. ANC is composed of sensory neurons, motor neurons, synapses and dendrites. The functions of sensory neurons generate CPG signals and motor neurons change the sensory neuron signal for driving actuators. Synapses connect between neurons and the weigh to be given. Dendrites can accept external signal from the sensor. Because of parallel structure which is one of main characteristic of ANC, it is possible to walk by generating new pattern even though one of the neuron is out of working.

关键词： Neurons

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Neural networks for disturbance and friction compensation in hard disk drives

Neural networks for disturbance and friction compensation in...

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IEEE Conference on Decision and Control

作者： Chow Yin Lai Frank L. Lewis V. Venkataramanan Xuemei Ren Shuzhi Sam Ge Thomas Liew Centre for Life Sciences (CeLS) Graduate School for Integrative Sciences and Engineering (NGS) National University of Singapore Singapore Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Data Storage Institute Engineering Agency for Science Technology and Research Singapore Department of Automatic Control Beijing Institute of Technology Beijing China Department of Electrical and Computer Engineering National University of Singapore Singapore

ISBN: (纸本)9781424431236

In this paper, we show that the tracking performance of a hard disk drive actuator can be improved by using two adaptive neural networks, each of which is tailored for a specific task. The first neural network utilizes accelerometer signal to detect external vibrations, and compensates for its effect on hard disk drive position via feedforward action. In particular, no information on the plant, sensor and disturbance dynamics is needed in the design of this neural network disturbance compensator. The second neural network, designed to compensate for the pivot friction, uses a signum activation function to introduce nonlinearities inherent to pivot friction, thus reducing the neural network¿s burden of expectation. The stability of the proposed scheme is analyzed by the Lyapunov criterion. Simulation results show that the tracking performance of the hard disk drives can be improved significantly with the use of both neural networks compared to the case without compensation, or when only one of the networks is activated.

关键词： Neural networks Friction Hard disks Actuators Adaptive systems Feedforward neural networks Accelerometers Signal detection Stability analysis Stability criteria

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Culture and environment as determinants of women's participation in computing: Revealing the "women-CS fit"

Culture and environment as determinants of women's participa...

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37th SIGCSE Technical Symposium on computer science Education

作者： Frieze, Carol Hazzan, Orit Blum, Lenore Dias, M. Bernardine School of Computer Science Carnegie Mellon University Department of Education in Technology and Science Technion - Israel Institute of Technology Israel Robotics Institute Carnegie Mellon University

ISBN: (纸本)9781595932594

There are some arguments that suggest women need academic handholding, such as a "female friendly" curriculum, in order for them to participate and be successful in computer science and related fields. Then there are other arguments that suggest we need to change the field to suit women or help women adjust to the field. In this paper we present a different perspective that shows none of these may be necessary. The "Women-CS Fit" is already there! Specifically, under certain cultural and environmental conditions we can see that women fit very well into computing fields and what we have been attributing to gender is actually the result of cultural and environmental conditions. The reasons for women participating in - or not participating in - the field of computer science have little to do with gender and a lot to do with culture. In other words, we need to recognize that this is a cultural issue, and an issue that concerns us all. Appropriate local interventions in the micro-culture can have large effect. This argument is illustrated in this paper by three case studies. Copyright 2006 ACM.

关键词： computer science

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Gas turbine engine fault isolation based fuzzy inference logic with ECM trend plot report

Gas turbine engine fault isolation based fuzzy inference log...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Eun-Jong Mo Min-Seok Jie Chin-Su Kim Kang-Woong Lee School of Electronics Telecommunication and Computer Engineering Korea Aerospace University Koyang Gyeonggi South Korea Center for Cognitive Robotics Research Korea Institute of Science and Technology Seoul South Korea

A fuzzy inference logic system is proposed for gas turbine engine fault isolation. The gas path measurements used for fault isolation are exhaust gas temperature, low and high rotor speed, and fuel flow. The fuzzy inference logic uses rules developed from a model of performance influence coefficients to isolate engine faults while accounting for uncertainty in gas path measurements. Inputs to the fuzzy inference logic system are measurement deviations of gas path parameters which are transferred directly from the ECM (Engine Control Monitoring) program and outputs are engine module faults. The proposed fuzzy inference logic system is tested using simulated data developed from the ECM trend plot reports and the results show that the proposed fuzzy inference logic system isolates module faults with high accuracy rate in the environment of high level of uncertainty.

关键词： Fuzzy logic Turbines Engines Electrochemical machining Fuzzy systems Logic testing Fluid flow measurement Velocity measurement Temperature Fuels

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F&A compensating variable bang-bang control algorithm for pneumatic driving glass-wall cleaning robot

F&A compensating variable bang-bang control algorithm for pn...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： W. Wang H. X. Zhang W. P. Yu G. H. Zong J. W. Zhang Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany Cognitive Technology Laboratory Shenzhen Institute of Advanced Technology Shenzhen China

To overcome the overshoot and oscillation in the normal Bang-Bang controller applied in the pneumatic driving glass-wall cleaning robot, this paper presents a F&A compensating variable Bang-Bang control algorithm for the pneumatic position servo. Besides a new cylinder driving plan is designed, the control algorithm is also improved by adding a fiction force compensating item in the chamber force evaluation equation. To adjust the controlling parameters dynamically, certain increasing functions, such as step function, linear function and arc-tangent function, are used to define the piston's expectative acceleration along with the reduction of the piston's position error. To testify the feasibility of the control algorithms with the above three expectative acceleration setting functions respectively, a pneumatic glass-wall cleaning robot "Sky Cleaner 4" is used as a testing platform to implement a series of on-load position servo experiments. And the different results of them are compared.

关键词： Bang-bang control Cleaning Robots Servomechanisms Testing Algorithm design and analysis Force control Equations Acceleration Error correction

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A Sparse Component Analysis Algorithm Based on Finite-Mixture-Model Learning

A Sparse Component Analysis Algorithm Based on Finite-Mixtur...

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IEEE International Conference on Integration technology (ICIT)

作者： Jianzhao Qin Zhi Wang Hanqing Hu Jun Cheng Xinyu Wu Yangsheng Xu Shenzhen Institute of Advanced Integration Technology Chinese Academy of Sciences Chinese University of Hong Kong Hong Kong China School of Optoelectronic Information University of Electronic Science and Technology China School of Computer and Communication Hunan University China Advanced Robotics Laboratory Chinese University of Hong Kong Hong Kong China

In this paper, a finite-mixture-model learning bused sparse component analysis (SCA) algorithm is proposed. In this algorithm, a finite-mixture-model learning method is applied for estimating the mixing matrix for SCA. The main advantage of this method is the ability of selecting the number of sources and measuring reliability of the columns of the estimated mixing matrix. That is, it can give us a probability measurement of the recovered sources, which help us to determine which recovered sources are more reliable and significant. The simulation results show the effectiveness of this algorithm.

关键词： Algorithm design and analysis Matrix decomposition Sparse matrices Independent component analysis Wavelet analysis Wavelet packets Learning systems Eigenvalues and eigenfunctions Clustering algorithms Information analysis

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A novel modular climbing caterpillar using low-frequency vibrating passive suckers

A novel modular climbing caterpillar using low-frequency vib...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： H. X. Zhang J. Gonzalez-Gomez S.Y. Chen W. Wang R. Liu D. Li J. W. Zhang Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany School of Engineering Universidad Autonoma de Madrid Spain Department of Informatics University of Hamburg Germany College of Information Engineering Zhejiang University of Technology Hangzhou China Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China

This paper presents a novel modular climbing caterpillar named ZC-I. After a related survey on the topic, a systematical summarizing on basic functions provided by this system is given. ZC-I features fast-building mechanical structure and low-frequency vibrating passive attachment principle. Active joints actuated by RC servos endow the connecting modules with the ability of changing shapes in two dimensions. After that the discussion focuses on the various locomotion capabilities. Linear movement, turning movement, lateral movement, rotating and rolling movement are achieved based on an inspired control model to produce rhythmic motion. In the end a conclusion and future work are given.

关键词： Climbing robots Prototypes Kinematics Servomechanisms Joining processes Shape Adhesives Electromagnetic forces Electromagnets Mobile robots

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Proposal of a kit-style robot as the new standard platform for the four-legged league

Proposal of a kit-style robot as the new standard platform f...

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2006 Australasian Conference on robotics and Automation, ACRA 2006

作者： Chalup, S.K. Dickinson, M. Fisher, R. Middleton, R.H. Quinlan, M.J. Turner, P. Newcastle Robotics Laboratory School of Electrical Engineering and Computer Science Australia Newcastle Robotics Laboratory School of Design Communication and Information Technology University of Newcastle Callaghan 2308 Australia

ISBN: (纸本)9780958758383

In 2006 the Sony Corporation announced that production of the Aibo robot, which is the standard robot platform of the four-legged league of RoboCup, would be discontinued. This paper describes a prototype robot kit which could lead to a new standard platform for the four-legged league. The aims for development of the new platform can be summarized as follows: 1.) Continue and improve the concepts behind the Sony Aibo robot. 2.) Allow research into sophisticated quadruped soccer skills. 3.) Build an open systems robot to advance low level features and to support high level strategy planning and learning. 4.) Achieve faster and more exciting soccer games. 5.) Contribute to progress of the four-legged league, which to date has been a very successful league. 6.) Determine kit style hardware for year to year upgrades of selected modules. The robot kit allows for substantial new flexibility in hardware design in associated scientific challenges and research projects. The present paper addresses two possible versions of the proposed kit: terrier and bear.

关键词： Sports

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A comparative analysis and experimental study on wireless aerial and underwater acoustic communications

A comparative analysis and experimental study on wireless ae...

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International Conference on Digital Telecommunications 2006, ICDT'06

作者： Jurdak, Raja Lopes, Cristina Videira Aguiar, Pedro M. Q. Baldi, Pierre School of Information and Computer Science University of California California Institute for Telecommunications and Information Technology Calit2 Irvine CA 92697 Institute for Systems and Robotics / IST Lisboa Portugal

ISBN: (纸本)0769526500

Widely available speakers and microphones in electronic devices motivate the use of generic audio hardware to establish acoustic communication links. Acoustic communication with generic hardware requires software modems for data modulation and demodulation. The resulting acoustic communications system paves the way for cheap and easily deployable underwater acoustic sensor networks through the use of audio hardware built in to the sensor modules. In this paper, we explore the potential of the acoustic communication system for both aerial and underwater environments. Our experiments profile both media with generic microphones and speakers. An initial test of the channel's underwater data communication capability has revealed that the channel can transfer data at 12bps and 24bps, with respective error rates of 10% and 20%, up to a distance of 10m. © IEEE.

关键词： Wireless telecommunication systems

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