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Biomimetic control algorithm for the balance and locomotion of walking systems

Biomimetic control algorithm for the balance and locomotion ...

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作者： BîzdoacǍ, Nicu George Petrişor, Anca Hamdan, Hani Al Mutib, Khalid University of Craiova Faculty of Automation Computers and Electronics Caiova Romania SUPELEC Department of Signal Processing and Electronic Systems Gif-sur-Yvette France King Saud University College of Computer and Information Sciences Riyadh Saudi Arabia

ISBN: (纸本)9789898425010

Implementation of active control has much potential to contribute to the creation and construction of innovative structures. This paper summarizes recent research of the authors that is the study of biomimetic control solutions regarding balance and locomotion of robotic systems. A first goal of the work consists in identifying solutions necessary to balance the individual systems. Research has been focused both on systems with a single foot, but also on biped, tripods, quadrupeds, hexapods and octopods. Static balance is achieved by a proper mechanical design (Bizdoaca and Petrisor, 2009), but also by a corresponding load / tensioning actuators systems that can compensate for inertial elements that can lead to system stability limit. Theoretical studies have been focused on developing an efficient stepping algorithm in environment with strong uncertainties, known as SSTA algorithm. The article present a series of experiments made with servo actuated and smart actuated (based on shape memory alloy, especially) walking biomimetic structures.

关键词： Robotics

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CFUI: Collaborative filtering with unlabeled items

CFUI: Collaborative filtering with unlabeled items

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20th Annual Workshop on information Technologies and systems, WITS 2010

作者： Peng, Jing Zeng, Daniel Liu, Bing Zhao, Huimin Institute of Automation Chinese Academy of Sciences China Department of Management Information Systems University of Arizona United States Department of Computer Science University of Illinois Chicago United States Sheldon B. Lubar School of Business University of Wisconsin-Milwaukee United States

As opposed to Web search, social tagging can be considered an alternative technique tapping into the wisdom of the crowd for organizing and discovering information on the Web. Effective tag-based recommendation of information items is critical to the success of this social information discovery mechanism. Over the past few years, there have been a growing number of studies aiming at improving the item recommendation quality of collaborative filtering (CF) methods by leveraging tagging information. However, a critical problem that often severely undermines the performance of tag-based CF methods, i.e., sparsity of user-item and user-tag interactions, is still yet to be adequately addressed. In this paper, we propose a novel learning framework, which deals with this data sparsity problem by making effective use of unlabeled items and propagating users' preference information between the item space and the tag space. Empirical evaluation using real-world tagging data demonstrates the utility of the proposed framework.

关键词： Collaborative filtering

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Output synchronization of multiple mobile agents

Output synchronization of multiple mobile agents

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2010 International Conference on Networking, Sensing and Control, ICNSC 2010

作者： Tan, Fuxiao Liu, Derong Guan, Xinping School of Computer and Information Sciences Fuyang Teachers College Fuyang Anhui 236041 China Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100190 China College of Electrical Engineering Yanshan University Qinhuangdao Hebei 066004 China

ISBN: (纸本)9781424464531

In real-life, many practical applications involve agents that are nonlinear and nonholonomic. This paper investigates output synchronization of multiple mobile agents in a plane. The output synchronization of mobile agent's aims are two aspects: making the speed of each agent synchronized and tracking desired trajectories in a group. First, each agent dynamics is described by an affine control system and the communication topology among the agents is represented by a digraph. Using adjacent information and incidence matrix, a decentralized control law is acquired, which is composed of alignment control and cohesion control. Second, the stability of the group is proved by the decentralized control law and the synchronization control objective is realized. Finally, ten mobile agents are simulated to show the effectiveness of the present control law. ©2010 IEEE.

关键词： Mobile agents

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Enriched Cyberspace through Adaptive Multimedia Utilization for Dependable Remote Collaboration

Enriched Cyberspace through Adaptive Multimedia Utilization ...

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International Conference on Advanced information Networking and Applications Workshops (AINAW)

作者： Yoshitaka Sakurai Kinshuk Kouhei Takada Rainer Knauf Setsuo Tsuruta School of Information Environment Tokyo Denki University Japan School of Computing and Information Systems Athabasca University Canada Faculty of Computer Science and Automation University of Ilmenau Ilmenau Germany

Due to the geographical distribution, different cognitive capacity, and different domain competency of workers or learners, many misunderstandings can occur during distributed remote collaboration, leading to inefficient discussions and undesired results. To make remote collaboration more efficient and dependable, enriching cyberspace through adaptively utilizing is proposed and evaluated. This assesses situations of remote users through information fusion of multiple biological sensors and the related contexts such as user profiles. Transmitting and using such information, the system adaptively supports the distributed remote collaboration by stressing, warning, and presenting keywords/summaries in multimedia. Effects of presenting keywords/summaries adaptively depending on situations and cognitive profiles of remote members are evaluated as to the decrease of not-/misunderstanding possibilities during the explanation on the Cyberspace. The evaluation demonstrates the feasibility and usefulness of the proposed method.

关键词： Collaborative work Collaborative tools Multimedia systems International collaboration Guidelines Humans Application software Conferences Multimedia computing computer networks

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Evaluation of Enriched Cyberspace for Adaptive Support of Remote Collaboration

Evaluation of Enriched Cyberspace for Adaptive Support of Re...

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International IEEE Conference on Signal-Image Technologies and Internet-Based System

作者： Yoshitaka Sakurai Kinshuk Kouhei Takada Takashi Kawabe Rainer Knauf Setsuo Tsuruta School of Information Environment Tokyo Denki University Japan School of Computing and Information Systems Athabasca University Canada Faculty of Computer Science and Automation University of Ilmenau Ilmenau Germany

Due to the geographical distribution, different cognitive capacity, and different domain competency of workers or learners, many misunderstandings can occur during distributed remote collaboration, leading to inefficient discussions and undesired results. To make remote collaboration more efficient and dependable, enriching cyberspace through adaptively utilizing is proposed and evaluated. This assesses situations of remote users through information fusion of multiple biological sensors and the related contexts such as user profiles. Transmitting and using such information, the system adaptively supports the distributed remote collaboration by stressing, warning, and presenting keywords/summaries in multimedia. Effects of presenting keywords/summaries adaptively depending on situations are evaluated as to the decrease of not-/misunderstanding possibilities during the explanation on the Cyberspace. Moreover, the adaptive selection effects of keywords or summaries presentation depending on cognitive profiles of remote members are also evaluated. These evaluations demonstrate the feasibility and usefulness of the proposed method.

关键词： Collaboration Cyberspace Biosensors Microphones Temperature sensors Skin Avatars

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Reducing stick-slip motion in one-dimensional nano manipulation by real-time feedback control

Reducing stick-slip motion in one-dimensional nano manipulat...

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2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Zhang, Jing Miao, Lei Wu, Re-Bing Xi, Ning Li, Chun-Wen Wang, Yue-Chao Tarn, Tzyh-Jong Department of Automation Tsinghua University Beijing 100084 China Center for Quantum Information Science and Technology Tsinghua National Laboratory for Information Science and Technology Beijing 100084 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Beijing 110016 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States Department of Electrical and Systems Engineering Washington University St. Louis MO 63130 United States

ISBN: (纸本)9781424470334

When a micro cantilever with a nanoscale tip is manipulated on a substrate with atomic roughness, e.g., pushing an atomic-scale sample or etching the surface of the substrate to draw desired patterns, the periodical lateral frictional forces with stochastic fluctuations will induce stick-slip motion of the cantilever tip, which may greatly influence the precision of the nano manipulation. To reduce such a stick-slip motion, we propose a feedback control strategy based on the position estimation of the cantilever tip to compensate the periodical frictional force. Numerical simulations show that the motion of the cantilever tip under feedback control can track the desired trajectory asymptotically. Our proposal can aL be extended to the case when the cantilever tip moves over a Gaussian-shape defection on the substrate and when the stochastic fluctuations in the lateral force are with non-zero correlation time. ©2010 IEEE.

关键词： Feedback control

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THD reduction with grid synchronized inverter’s power injection of renewable sources

THD reduction with grid synchronized inverter’s power injec...

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International Symposium on Power Electronics, Electrical Drives, automation and Motion, SPEEDAM

作者： Péter Görbe Attila Magyar Katalin M. Hangos Department of Electrical Engineering and Information Systems University of Pannonia Veszprém Hungary Process Control Research Group Computer and Automation Research Institute Budapest Hungary

A control method for small domestic power plants using renewable energy is described in this paper. This method is not only capable of optimizing the working point of the plant but also implements active power factor correction and lowers the extant harmonic distortion in the line. The novel element in the proposed complex controller structure is the upper harmonic controller that minimizes the amplitudes of the 3rd, 5th 7th, 9th, and the 11th upper harmonic component in the output voltage. The proposed controller has been investigated by simulation in Matlab environment, and as a result, substantial improvement of the output voltage and current waveform could be achieved. Robustness of the method against nonlinear loads has also been tested.

关键词： Power factor correction Costs Power generation Voltage control Harmonic distortion Robustness Nonlinear distortion Solar power generation Power supplies Inverters

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Coordination of a Society of Agents for Automatic Distribution System Restoration: Toward a Smart Grid

Coordination of a Society of Agents for Automatic Distributi...

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International Conference on Technologies and Applications of Artificial Intelligence (TAAI)

作者： Von-Wun Soo Men-Shen Tsai Wan-Yu Yu Yen-Bo Peng Department of Computer Science Institute of Information Systems and Applications Nakional Tsinghua University Hsinchu Taiwan Graduate Institute of Automation Technology National Taipei University of Technology Taipei Taiwan Institute of Information Systems and Applications National Tsing Hua University Hsinchu Taiwan Department of Computer Science National Tsing Hua University Hsinchu Taiwan

Establishing a smart power grid utilizing advanced agent information technology has raised much attention recently. In this paper we propose a method that is based on coordination and negotiation among a set of distributed local power committees who could together reach a consensus of “global” optimal power restoration solution in cope with local power failures after a fault is detected in a power grid. The optimality criteria can be specified by a human power manager in terms of actual operation costs such as the minimum number of switch actions. We show how local distributed agent committees whose members are essentially switch agents and power generator agents are connected locally as neighbors and can find a global optimal solution to the power restoration problem by localizing their decisions in the local committee and by communicating and negotiating via neighbors of their committee members.

关键词： Power demand Lead Proposals Switches Power distribution Protocols

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Dynamic modeling and model analysis of a large industrial synchronous generator

Dynamic modeling and model analysis of a large industrial sy...

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International Conference on Applied Electronics, AE

作者： Attila Fodor Attila Magyar Katalin M. Hangos Department of Electrical Engineering and Information Systems University of Pannonia Veszprem Hungary Process Control Research Group Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

A simple dynamic model of an industrial size synchronous generator operating in a nuclear power plant is developed in this paper based on first engineering principles. The constructed state-space model consists of a nonlinear state equation and a bi-linear output equation. It has been shown that the model is locally asymptotically stable with parameters obtained from the literature for a similar generator. The effect of load disturbances on the partially controlled generator has been analyzed by simulation using a traditional PI controller. It has been found that the controlled system is stable and can follow the set-point changes in the effective power well. The disturbance rejection of the controller is also satisfactory.

关键词： Mathematical model Equations Synchronous generators Torque Windings Rotors

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A swarm intelligence based searching strategy for articulated 3D human body tracking

A swarm intelligence based searching strategy for articulate...

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IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Xiaoqin Zhang Weiming Hu Xiangyang Wang Yu Kong Nianhua Xie Hanzi Wang Haibin Ling Steve Maybank College of Mathematics & Information science Wenzhou University Zhejiang China Institute of Automation National Laboratory of Pattern Recognition Beijing China School of Communication and Information Engineering Shanghai University Shanghai China School of Computer Science Beijing Institute of Technology Beijing China School of Computer Science University of Adelaide Australia Department of Computer and Information Science Temple University Philadelphia USA School of Computer Science and Information Systems Birkbeck College London UK

This paper proposes an annealed particle swarm optimization based particle filter algorithm for articulated 3D human body tracking. In our algorithm, a sampling covariance and an annealing factor are incorporated into the velocity updating equation of particle swarm optimization (PSO). The sampling covariance and the annealing factor are initiated with appropriate values at the beginning of the PSO iteration, and `annealing' is carried out at reasonable steps. Experiments with multi-camera walking sequences from the Brown dataset show that: 1) the proposed tracker can effectively alleviate the problem of inconsistency between the image likelihood and the true model; 2) the tracker is also robust to noise and body self-occlusion.

关键词： Particle swarm optimization Humans Annealing Particle filters Particle tracking Sampling methods Equations Image sampling Legged locomotion Noise robustness

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