检索结果-内蒙古大学图书馆

A target-reaching controller for mobile robots using spiking neural networks 1

19th International Conference on Neural Information Processing, ICONIP 2012

作者： Wang, Xiuqing Hou, Zeng-Guang Lv, Feng Tan, Min Wang, Yongji Vocational and Technical Institute Hebei Normal University Shijiazhuang Hebei 050031 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100090 China State Key Laboratory of Computer Science Institute of Software Chinese Academy of Sciences Beijing 100190 China

ISBN: (数字)9783642344787

ISBN: (纸本)9783642344770

Autonomous navigation plays important role in mobile robots. In this paper, a navigation controller based on spiking neural networks (SNNs) for mobile robots is presented. The proposed target-reaching navigation controller, in which the reactive architecture is used, is composed of three sub-controllers: the obstacle-avoidance controller and the wall-following controller using spiking neural networks (SNNs), and the goal-reaching controller. The experimental results show that the navigation controller can control the mobile robot to reach the target successfully while avoiding the obstacle and following the wall to get rid of the deadlock caused by local minimum. The proposed navigation controller does not require accurate mathematical models of the environment, and is suitable to unknown and unstructured environment. © 2012 Springer-Verlag.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Design of multiple anti-windup loops for multiple activations

引用

science China(Information sciences) 2012年第9期55卷 1925-1934页

作者： WU XiongJun 1,2 & LIN Zongli 3,1 1 Department of automation,Shanghai Jiao Tong University,and Key Laboratory of System control and Information Processing,Ministry of Education of China,Shanghai 200240,China 2 No.802 institute of Shanghai Academy of Space Flight Technology,the Eighth Academy of China Aerospace science and Technology Corporation,Shanghai 200090,China 3 Charles L.Brown Department of Electrical and computer Engineering,University of Virginia,P.O.Box 400743,Charlottesville,VA 22904-4743,USA Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China No. 802 Institute of Shanghai Academy of Space Flight Technology the Eighth Academy of China Aerospace Science and Technology Corporation Shanghai China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia Charlottesville USA

This paper considers anti-windup design for linear systems subject to actuator *** anti-windup gains are designed for activations immediately at the occurrence actuator saturation,after the saturation has reached a certain level and in anticipation of the occurrence of saturation,*** design is based on the minimization of L 2 gain from the disturbance to the controlled output of the resulting closed-loop *** anti-windup scheme involves a single anti-windup loop for immediate activation.A recent innovation is to design a single anti-windup loop for delayed or anticipatory activation,as well as to design two anti-windup gains,one for immediate activation and one for delayed *** design of three anti-windup gains for three different activations is shown through simulation to lead to significant further performance improvement over the previous activation schemes.

关键词： actuator saturation anti-windup anticipatory activation delayed activation L 2 gain nonlinear control

来源：评论

学校读者我要写书评

暂无评论

An embedded co-AdaBoost and its application in classification of software document relation

An embedded co-AdaBoost and its application in classificatio...

引用

2012 8th International Conference on Semantics, Knowledge and Grids, SKG 2012

作者： Liu, Jin Li, Juan Xie, Yuan Lei, Jeff Hu, Qiping State Key Lab. of Software Engineering Computer School Wuhan University China State Key Lab. of Intelligent Control and Management of Complex Systems Institute of Automation CAS China Department of Computer Science and Engineering University of Texas Arlington TX United States International School of Software Wuhan University China

ISBN: (纸本)9780769547947

To enhance classification performance by making use of easily available unlabelled data to overcome the scarcity of labelled data, this paper proposes an Embedded Co-Adaboost algorithm that integrates multi-view learning into the Adaboost learning framework and at the same time leverages the advantages of Co-training algorithm for performance enhancement. Experimental results demonstrate the effectiveness of the proposed algorithm in terms of the convergence rate, the accuracy, and the steady performance as compared to the original AdaBoost algorithm, without relying on redundant and sufficient feature sets. As a algorithm application in software engineering, the Embedded Co-AdaBoost has been applied to the classification of software document relations to improve the quality of the architecture design documents and the reusability of design knowledge. © 2012 IEEE.

关键词： Reusability

来源：评论

学校读者我要写书评

暂无评论

Adaptive experiment design for ARMAX systems

Adaptive experiment design for ARMAX systems

引用

IEEE Annual Conference on Decision and control

作者： Lirong Huang Hakan Hjalmarsson Laszlo Gerencser ACCESS Linnaeus Center and Automatic Control Lab School of Electrical Engineering KTH Royal Institute of Technology Computer and Automation Institute of the Hungarian Academy of Science

ISBN: (纸本)9781467320658

A key problem in optimal input design is that the optimal input depends on some unknown system parameters that are to be identified. Adaptive design is one of the fundamental routes to handle this problem. This paper proposes an adaptive input design method for ARMAX systems based on the general stochastic framework outlined in the reference [10].

关键词： ARMAX Input design Experimental Design system parameter Self tuning

来源：评论

学校读者我要写书评

暂无评论

Image mosaicing algorithm for dynamic scenes using multi-scaled PHOG feature and optimal seam

引用

Moshi Shibie yu Rengong Zhineng/Pattern Recognition and Artificial Intelligence 2012年第4期25卷 624-631页

作者： Zou, Li-Hui Chen, Jie Zhang, Juan Lu, Jing-Hua Key Laboratory of Complex System Intelligent Control and Decision of Ministry of Education School of Automation Beijing Institute of Technology Beijing 100081 China School of Computer and Communication Engineering University of Science and Technology Beijing Beijing 100083 China

Aiming at the problems of registration error and synthetic movement ghost which are caused by moving objects in image mosaicing, a mosaicing algorithm for dynamic scene using multi-scale pyramid histogram of oriented gradients (PHOG) and optimal seam is proposed. Firstly, a new feature, multi-scaled PHOG, is generated by introducing PHOG to multi-scale space corner detections. The feature is used to align images for avoiding the local impact caused by moving objects in image registration. Then, an optimal seam, guaranteeing the minimum difference in geometry and gray value, is searched by graph cut algorithm through constructing an energy function to remove the movement ghost. The experimental results show that the proposed algorithm is efficient in dealing with the problems of image mosaicing with moving objects, and the mosaicing results are satisfactory with high precision.

关键词： Graphic methods

来源：评论

学校读者我要写书评

暂无评论

Task-based Grasp Adaptation on a Humanoid Robot

引用

IFAC Proceedings Volumes 2012年第22期45卷 779-786页

作者： Jeannette Bohg Kai Welke Beatriz León Martin Do Dan Song Walter Wohlkinger Marianna Madry Aitor Aldóma Markus Przybylski Tamim Asfour Higinio Martí Danica Kragic Antonio Morales Markus Vincze Humanoids and Intelligence Systems Lab Institute for Anthropomatics KIT DE Autonomous Motion Lab MPI for Intelligent Systems DE Robotic Intelligence Laboratory Department of Computer Science and Engineering UJI ES Computer Vision and Active Perception lab KTH SE Automation and Control Institute TUW AT

In this paper, we present an approach towards autonomous grasping of objects according to their category and a given task. Recent advances in the field of object segmentation and categorization as well as task-based grasp inference have been leveraged by integrating them into one pipeline. This allows us to transfer task-specific grasp experience between objects of the same category. The effectiveness of the approach is demonstrated on the humanoid robot ARMAR-IIIa.

关键词： Robotic Grasping and Manipulation Task-based Grasp Synthesis Visual Servoing Attention Segmentation Object categorization System Integration

来源：评论

学校读者我要写书评

暂无评论

Adaptive control for a cable driven robot arm

Adaptive control for a cable driven robot arm

引用

2012 9th IEEE International Conference on Mechatronics and automation, ICMA 2012

作者： Ma, Jianjun Li, Yanan Ge, Shuzhi Sam Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Singapore Department of Automatic Control College of Mechatronics and Automation National University of Defense Technology Changsha 410073 China NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781467312776

The cable-driven mechanism is usually used in robotic systems for the efficient transmission of forces or torques from actuators to the end-effector. However, the control design is challenging for these systems due to the cable compliance and transmission elasticity. In this paper, adaptive control in a cascaded structure is designed for the trajectory tracking of a cable driven robot arm. The desired control input is obtained by developing an adaptation scheme, which does not require the computation of the regressor matrix. Proportional-derivative (PD) control is designed to specify the actual control input such that the trajectory tracking is achieved. Simulation results are provided to show the effectiveness of the proposed method. © 2012 IEEE.

关键词： Cables

来源：评论

学校读者我要写书评

暂无评论

Editorial-neural networks and learning systems come together

引用

IEEE Transactions on Neural Networks and Learning Systems 2012年第1期23卷 1-6页

作者： Baesens, Bart Bouboulis, Pantelis Cruces, Sergio Domeniconi, Carlotta Ikeda, Shiro Li, Xuelong Melin, Patricia Rao, V. Sree Hari Schuller, Björn W. Shen, Yi Tang, Huajin Wang, Cong Yang, Jian Zhao, Dongbin Liu, Derong Catholic University of Leuven Belgium University of Athens Greece University of Seville Spain George Mason University United States Institute of Statistical Mathematics Japan University of London United Kingdom Tijuana Institute of Technology Mexico Jawaharlal Nehru Technological University India Technische Universität München Germany Huazhong University of Science and Technology China Institute for Infocomm Research Singapore Singapore South China University of Technology China Nanjing University of Science and Technology China Chinese Academy of Sciences China State Key Laboratory of Management Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Department of Electrical Computer Engineering University of Illinois Chicago IL 60607 United States

This issue marks the beginning of the IEEE Transactions on Neural Networks and Learning Systems (TNNLS). By adding «Learning Systems» to the title, we now state explicitly the scope of the TRANSACTIONS to include neural networks as well as related learning systems. This issue marks a new era in the history of our TRANSACTIONS. The TRANSACTIONS is now ready to face the challenges of the next 10-20 years. With the evolution of the fields of neural networks in particular and computational intelligence in general, the IEEE Transactions on Neural Networks and Learning Systems will continue to grow and to succeed in this ever-changing world. Also included are a few comments about the review process of TNN manuscripts and the introduction of 14 new TNNLS Associate Editors. © 2012 IEEE.

关键词： Learning systems

来源：评论

学校读者我要写书评

暂无评论

Development of Prosthesis Grasp control Systems on a Robotic Testbed

Development of Prosthesis Grasp Control Systems on a Robotic...

引用

IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics

作者： Bart Peerdeman Ugo Fabrizi Gianluca Palli Claudio Melchiorri Stefano Stramigioli Sarthak Misra MIRA - Institute for Biomedical Technology and Technical Medicine (Control Engineering Group) University of Twente LAR DEIS - Laboratory of Automation and Robotics Department of Electronics Computer Science and Systems University of Bologna

ISBN: (纸本)9781457711992

Modern myoelectric hand prostheses continue to increase in functionality, while their control is constrained by the limits of myoelectric input. This paper covers the development and testing of grasp control systems for multifunctional myoelectric prosthetic hands. The functionality of modern hand prostheses is often focused on the task of grasping, which can be divided into high-level grasp planning and low-level finger control. Initially, models can used to test these control systems, but for proper evaluation actual implementation on a physical system is required. The University of Bologna (UB) Hand IV prototype is an anthropomorphic, tendon-driven robotic hand, which makes it well-suited to represent the structure of modern prostheses. One of the main control systems tested in this paper is based on the intrinsically passive controller (IPC), the structure of which offers guaranteed passivity and stability. After several grasping tests, the systems are evaluated on compliant behavior, grasping ability, and dynamic appearance. IPC proves to be a powerful approach to interaction control, without the associated sensor requirements which could be difficult to meet in modern hand prostheses.

关键词： Grasp control systems Prosthetic hand Prosthesis robotic hand

来源：评论

学校读者我要写书评

暂无评论

Information-theoretic Measures for Objective Evaluation of Classifications

引用

自动化学报 2012年第7期38卷 1169-1182页

作者： HU Bao-Gang HE Ran YUAN Xiao-Tong Chinese-French Joint Laboratory for Computer Science Control and Applied Mathematics National Laboratory of Pattern Rocogniton Institute of Automation Chinese Academy of Sciences Beijing 100190 P.R. China Graduate University of Chinese Academy of Sciences Beijing 100190 P. 1%. China Department of Statistics Rutgers University New Jersey 08816 USA

Abstract This work presents a systematic study of objective evaluations of abstaining classifications using information-theoretic measures (ITMs). First, we define objective measures as the ones which do not depend on any free parameter. According to this definition, technical simplicity for examining “ objectivity ” or “ subjectivity ” is directly provided for classification evaluations. Second, we propose 24 normalized ITMs for investigation, which are derived from either mutual information, divergence, or cross-entropy. Contrary to conventional performance measures that apply empirical formulas based on users' intuitions or preferences, the ITMs are theoretically more general for realizing objective evaluations of classifications. They are able to distinguish “error types” and “reject types” in binary classifications without the need to inputting data of cost terms. Third, to better understand and select the ITMs, we suggest three desirable features for classification assessment measures, which appear more crucial and appealing from the viewpoint of classification applications. Using these features as “ meta-measures ”, we can reveal the advantages and limitations of ITMs from a higher level of evaluation knowledge. Numerical examples are given to demonstrate our claims and compare the differences among the proposed measures. The best measure is selected in terms of the meta-measures, and its specific properties regarding error types and reject types are analytically derived.

关键词：评价技术信息论分类 ITMS 错误类型性能指标离子阱质谱信息理论

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：