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International Conference on Complex, intelligent and Software Intensive systems, CISIS

作者： Hiroaki Nishino Ryotaro Goto Tsuneo Kagawa Kouichi Utsumiya Junji Hirooka Toshihiko Osada Nobuhiro Nagatomo Eiji Aoki Department of Computer Science and Intelligent Systems Oita University Oita Japan Kyushu Telecom Promotion Center Fukuoka Japan AVOC Company Limited Miyazaki Japan Institute of Hypernetwork Society Oita Japan

Various haptic displays are becoming available for implementing a new kind of human computer interaction (HCI) method. Among many types and models, touch panel displays have been used in wide variety of applications and are proven to be a useful interface infrastructure. In spite of their popularity, there are some weak points. The most serious drawback is their hardness to operate especially for the weak users in information technology such as the elderly and blind users. The tactile feedback function has a potential ability for enabling the weak to make full use of the devices. We propose an approach for effectively designing user-friendly haptic applications especially targeted at supporting the weak users. We exemplify our approach through the design and development of an electronic voting system. The system uses a touch panel haptic display for helping the weak to operate with straightforward touch sensations. It allows them to easily confirm, select, and vote their supporting candidate without any assisters. We also conducted a preliminary evaluation to verify the effectiveness of the system.

关键词： Electronic voting systems Haptic interfaces Feedback Application software Graphical user interfaces Mobile handsets Competitive intelligence computer displays Human computer interaction Information technology

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Learning compliance control of robot manipulators in contact with the unknown environment

Learning compliance control of robot manipulators in contact...

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IEEE International Conference on Automation science and Engineering (CASE)

作者： Yanan Li Chenguang Yang Shuzhi Sam Ge Social Robotics Laboratory Interactive Digital Media Institute and NUS Graduate School of Integrative Sciences and Engineering National University of Singapore Singapore Department of Bioengineering Imperial College London London UK Institute of Intelligent Systems University of Electronic Science and Technology Chengdu China

ISBN: (纸本)9781424454471

In this paper, a control mechanism is presented to improve the compliance performance of the robot manipulator when it is in contact with the unknown environment. This mechanism guarantees that the dynamics of the whole system follows a target impedance model so that the desired compliance performance is obtained. In particular, under the assumption that the dynamics is periodic, a learning law is developed to estimate the unknown dynamics parameters. Besides, the proposed systematic learning control does not require the accurate force measurement. Its performance and robustness are discussed in details by the rigorous analysis. At last, the validity of the proposed method is verified by simulation.

关键词： Impedance Manipulator dynamics Force Control design Force measurement

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Investigation of the relation between acoustic features and articulation — An application to emotional speech analysis

Investigation of the relation between acoustic features and ...

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International Symposium on Chinese Spoken Language Processing

作者： Yongxin Wang Jianwu Dang Lianhong Cai School of Information Science Japan Advanced Institute of Science and Technology Ishikawa Japan State Key Laboratory on Intelligent Technology and Systems Tsinghua National Laboratory of Information Science and Technology(TNList) Department of Computer Science and Technology Tsinghua University Beijing China School of Computer Science and Technology Tianjin University TJU Tianjin China

In speech communication, humans are able to perceive not only the acoustic features but also the articulation state from speech sounds. Some specific articulation configurations can carry certain non-linguistic information such as emotion. However, the relation between articulation and acoustic features is still not clear. To clarify such a relation, we analyzed speech data from the emotions of cold anger and hot anger based on an emotional speech corpus and attempt to realize the observations using a physiological articulatory model. We measured the changes in acoustic features when altering articulation states for individual speech organs using the physiological articulatory model. It is found that the cold and hot angers both have emphasized components in high-frequency region, while the former controls articulation and the latter controls the sound source of the speech production system.

关键词： Speech Acoustics Bandwidth Analytical models Feature extraction Data models Resonant frequency

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Adaptive neural control for nonlinear distributed time-delay systems with delay-dependent control gains

Adaptive neural control for nonlinear distributed time-delay...

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Chinese Control Conference (CCC)

作者： Thanh-Trung Han Shuzhi Sam Ge Fuchun Sun Institute of Intelligent Systems and Information Technology (ISIT) University of Electronic Science and Technology of China Chengdu P. R. China Department of Computer Science and Technology Tsinghua University Beijing P. R. China

This paper addresses the problem of output tracking control for a class of nonlinear distributed time-delay systems whose control gains are delay-dependent and whose uncertainty involves both delay times and system nonlinearities. We introduce the framework of using delay-independent control to deal with unknown distributed delay dependence and using switching-based adaptive neural control to deal with unknown delay-dependent control gains. The control is designed in consideration of a Razumikhin norm condition on retarded functional state entailing efficiency with distributed delay dependence.

关键词： Artificial neural networks Approximation methods Delay Rendering (computer graphics) Switches Upper bound

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Quantum State Reduction for Universal Measurement Based Computation

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Physical Review Letters 2010年第2期105卷 020502-020502页

作者： Xie Chen Runyao Duan Zhengfeng Ji Bei Zeng Department of Physics Massachusetts Institute of Technology Cambridge Massachusetts USA Centre for Quantum Computation and Intelligent Systems (QCIS) Faculty of Engineering and Information Technology University of Technology Sydney NSW Australia Department of Computer Science and Technology Tsinghua National Laboratory for Information Science and Technology Tsinghua University Beijing China Perimeter Institute for Theoretical Physics Waterloo Ontario Canada State Key Laboratory of Computer Science Institute of Software Chinese Academy of Sciences Beijing China Institute for Quantum Computing University of Waterloo Waterloo Ontario Canada Department of Combinatorics and Optimization University of Waterloo Waterloo Ontario Canada

Measurement based quantum computation, which requires only single particle measurements on a universal resource state to achieve the full power of quantum computing, has been recognized as one of the most promising models for the physical realization of quantum computers. Despite considerable progress in the past decade, it remains a great challenge to search for new universal resource states with naturally occurring Hamiltonians and to better understand the entanglement structure of these kinds of states. Here we show that most of the resource states currently known can be reduced to the cluster state, the first known universal resource state, via adaptive local measurements at a constant cost. This new quantum state reduction scheme provides simpler proofs of universality of resource states and opens up plenty of space to the search of new resource states.

关键词： Quantum computers

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Iterative learning control of a class of fractional order nonlinear systems

Iterative learning control of a class of fractional order no...

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IEEE International Symposium on intelligent Control (ISIC)

作者： Yan Li Hyo-Sung Ahn YangQuan Chen School of Control Science and Engineering Shandong University Shandong China Gwangju Institute of Science and Technology Gwangju South Korea Center for Self-Organizing and Intelligent Systems of Department of Electrical and Computer Engineering Utah State University Logan UT USA

This paper firstly addresses the convergence analysis of iterative learning control of a class of fractional order nonlinear systems using the generalized Gronwall-Bellman lemma. Detailed problem definition and conver... 详细信息

关键词： Nonlinear systems Convergence Simulation Fractional calculus Linear systems Differential equations Laplace equations

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On convergence and optimality of genetic algorithms

On convergence and optimality of genetic algorithms

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Congress on Evolutionary Computation

作者： Witold Kosiński Stefan Kotowski Zbyszek Michalewicz Faculty of Mathematics Physics and Technology Kazimierz Wielki University Bydgoszcz Poland Faculty of Computer Science Polish-Japanese Institute of Information Technology Warsaw Poland Faculty of Computer Science Division of Intelligent Systems Polish Japanese Institute of Information Technology Warsaw Poland School of Computer Science University of Adelaide Adelaide SA Australia Institute of Fundamental Technological Research Warsaw Poland Department of Computer Sciences Polish Academy of Sciences Warsaw Poland

An action of genetic algorithm could be represented in the search space as a random Markovian process. The question concerning its asymptotic stability properties is discussed. Conditions under which genetic algorithm is convergent, are formulated. Then the existence of an operator to which infinite long iterations of the genetic algorithms tend, is shown. This operator describes optimal genetic algorithm in probabilistic sense.

关键词： Biological cells Markov processes Probabilistic logic Convergence Probability distribution computer science

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Rotary nanomotors based on head-to-head nanotube shuttles

Rotary nanomotors based on head-to-head nanotube shuttles

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Hamdi A. Subramanian L. X. Dong A. Ferreira B. J. Nelson ENSI Bourges Institut PRISME Bourges France Center for Integrated Nanotechnologies Sandia National Laboratories Albuquerque NM USA Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland Department of Electrical & Computer Engineering Michigan State University East Lansing MI USA

A novel rotary nanomotor is described using two axially aligned, opposing chirality nanotube shuttles. Based on inter-shell screw-like motion of nanotubes, rotary motion is generated by electrostatically pulling the two cores together. Simulations using molecular dynamics show the generation of rotation from armchair nanotube pairs and their actuation properties. The simulation results, together with recently reported progress in realizing batch-fabricated ultra-high density nanotube shuttles, point towards the use of these motors as building blocks in nanoelectromechanical systems (NEMS) and nanorobotic systems for sensing, actuation, and computation applications.

关键词： Nanoelectromechanical systems Carbon nanotubes Micromotors Computational modeling intelligent robots Nanostructured materials Nanostructures Nanoscale devices Rotors Voltage

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Grasping simulation of an underactuated finger mechanism for larm hand

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International Journal of Modelling and Simulation 2010年第1期30卷 87-97页

作者： Yao, S. Wu, L. Ceccarelli, M. Carbone, G. Lu, Z. School of Automation Science and Electrical Engineering Beihang University Beijing China College of Information Engineering Central University for Nationalities Beijing China State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China Beijing University of Aeronautics and Astronautics China and University of Cassino Italy LARM: Laboratory of Robotics and Mechatronics Cassino United States

In this paper, the grasp operation of an underactuated finger mechanism is simulated with the aim to characterize and analyze its performance. The design of the proposed mechanism is based on spring systems that give suitable underactuation characteristics. A CAD model is proposed and then it is used in a procedure for numerical simulation. Simulation results show suitable capability for grasping a wide range of objects in size and shape by operating the mechanism inside the finger body. The achieved grasp has been simulated as a human-like functionality with a grasp contact in each phalanx.

关键词： computer aided design

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Parameter identification of a linear permanent magnet motor using particle swarm optimization

Parameter identification of a linear permanent magnet motor ...

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7th Annual International Conference on Electrical Engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Therdbankerd, Tithiwat Sanposh, Peerayot Chayopitak, Nattapon Fujita, Hideaki Department of Electrical Engineering Intelligent Mechatronics Automation Robotics and Control Laboratory Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center 112 Thailand Science Park Phahonyothin Rd. Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology S3-18 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9789746724913

Accurate and effective parameter identification is an important engineering task in high performance control system design. One emerging approach to effectively identify such nonlinear or dynamic unknown parameters is to use Particle Swarm Optimization (PSO) algorithm. Linear Permanent Magnet (LPM) motor is a high performance actuator employed in many applications that require direct linear motion without mechanical transmission for high acceleration and accurate positioning. Therefore, accurate motor parameters are necessary to effectively control the LPM motors. This paper proposes a simple PSO based method with chirp inputs to identify the LPM motor's parameters. The simulations and experiments are conducted to verify the results and determine the effectiveness of the proposed method.

关键词： Parameter estimation

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