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2009 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Wei Wang Wenpeng Yu Houxiang Zhang Jianwei Zhang Dept of Informatics University of Hamburg Germany 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

JL-2, as a new version of the JL reconfigurable mobile robot system, features not only a docking and 3D posture adjusting capability between its robots, but also a multi-functional docking gripper. The basic concept of JL is that the robots in the system can simultaneously perform basic tasks in flat terrains, and in the case of rugged terrains, the robots can interconnect to enhance their locomotion capabilities. This paper introduces new designs for JL-2 by which the docking mechanism can be used as a simple gripper with 3 DOFs. Then the technologies of the docking mechanism are discussed in detail, including the workspace of the docking gripper, the docking procedure and analyses of the self-aligning ability. Then the workspaces of the posture adjusting mechanisms between two docked robots are analyzed to clarify the reconfiguration ability of JL-2. At last, a series of real experiments are proposed to test the designs and analyses and the basic performance of JL-2.

关键词： Manipulators Mobile robots robotics and automation Navigation Grippers intelligent robots Space technology Orbital robotics Mechanical engineering computer science

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Approximation-Based Adaptive Tracking Control of Pure-Feedback Nonlinear systems with Multiple Unknown Time-Varying Delays

Approximation-Based Adaptive Tracking Control of Pure-Feedba...

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Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： Min Wang Shuzhi Sam Ge College of Automation and the Center for Control and Optimization South China University of Technology the Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China the Department of Electrical and Computer Engineering National University of Singapore

This paper presents adaptive neural tracking control for a class of non-affine pure-feedback systems with multiple unknown state time-varying delays. The separation technique is introduced to decompose unknown functions of all time-varying delayed states into a series of continuous functions of each delayed state. A novel Lyapunov-Krasovskii functional is employed to compensate for the unknown function of current delayed state, which is effectively free from any restrictive assumption on unknown time-delay functions. The proposed control scheme guarantees the boundedness of all the signals in the closed-loop system and the tracking *** studies are provided to demonstrate the effectiveness of the proposed scheme.

关键词： Lyapunov Approximation-Based Adaptive Tracking Control of Pure-Feedback Nonlinear systems with Multiple Unknown Time-Varying Delays

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An integrated framework for parameter-based optimization of scientific workflows

An integrated framework for parameter-based optimization of ...

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18th ACM International Symposium on High Performance Distributed Computing, HPDC 09, Co-located with the 2009 International Symposium on High Performance Distributed Computing Conference, HPDC'09

作者： Kumar, Vijay S. Sadayappan, P. Mehta, Gaurang Vahi, Karan Deelman, Ewa Ratnakar, Varun Kim, Jihie Gil, Yolanda Hall, Mary Kurc, Tahsin Saltz, Joel Department of Computer Science and Engineering Ohio State University Columbus OH 43210 United States Advanced Systems Division Information Sciences Institute University of Southern California Marina del Rey CA 90292 United States Intelligent Systems Division Information Sciences Institute University of Southern California Marina del Rey CA 90292 United States School of Computing University of Utah Salt Lake City UT 84112 United States Center for Comprehensive Informatics Emory University Atlanta GA 30307 United States

ISBN: (纸本)9781605585871

Data analysis processes in scientific applications can be expressed as coarse-grain workflows of complex data processing operations with data flow dependencies between them. Performance optimization of these workflows can be viewed as a search for a set of optimal values in a multi-dimensional parameter space. While some performance parameters such as grouping of workflow components and their mapping to machines do not affect the accuracy of the output, others may dictate trading the output quality of individual components (and of the whole workflow) for performance. This paper describes an integrated framework which is capable of supporting performance optimizations along multiple dimensions of the parameter space. Using two real-world applications in the spatial data analysis domain, we present an experimental evaluation of the proposed framework. Copyright 2009 ACM.

关键词： Data handling

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Motion planning for a vigilant humanoid robot

Motion planning for a vigilant humanoid robot

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IEEE-RAS International Conference on Humanoid Robots

作者： Jean-Bernard Hayet Claudia Esteves Gustavo Arechavaleta Eiichi Yoshida Computer Science Group Centro de Investigación en Matemáticas Guanajuato Mexico Department of Mathematics Universidad de Guanajuato Guanajuato Mexico Robotics and Advance Manufacturing Group Centro de Investigación y de Estudios Avanzados del IPN (CINVESTAV) Saltillo Coahuila Mexico Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan

ISBN: (纸本)9781424445875

This paper presents a motion planner for a vigilant humanoid robot. In this context of surveillance, the robot task is to keep a distinctive point in the environment in sight during all of its motion. The method we propose consists of three main ingredients: (1) A motion planner for an appropriate simplified model of the walking robot, adapted to the particular needs of humanoid robots, that outputs an admissible path with local optimality properties. This path is guaranteed to satisfy the visibility constraints resulting both from the landmark and from the angular limits of the mechanical system; (2) A generic walking pattern generator that produces stable walking motions; (3) A generalized inverse-kinematics module to satisfy the remaining collisions and posture constraints, in particular the gaze direction. The effectiveness of this method is shown with several examples on the humanoid robot plataform HRP-2.

关键词： Motion planning Humanoid robots Legged locomotion Service robots Surveillance Monitoring Collision avoidance Robot sensing systems Mechanical systems Humans

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Fractional Order Proportional and Derivative Controller Synthesis for A Class of Fractional Order systems: Tuning Rule and Hardware-in-the-loop Experiment

Fractional Order Proportional and Derivative Controller Synt...

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Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： Ying Luo HongSheng Li YangQuan Chen Dept.of Automation Science and Engineering South China University of Technology Dept.of Electrical and Computer Engineering Utah State University the Dept.of Automatic Engineering Nanjing Institute of Technology Center for Self-Organizing and Intelligent Systems Electrical and Computer Engineering departmentUtah State University

In recent years, fractional order systems have attracted more and more attention in various field, studies on real systems have revealed inherent fractional order dynamic *** is intuitively true that these fractional order models require the corresponding fractional order controllers to achieve excellent *** this paper, a fractional order P Dμcontroller is designed systematically,to control a class of fractional order systems, the performance of the proposed P Dμcontroller designed for the fractional order system is compared with both the integer order and fractional order controllers which are designed for the approximate integer order system in the simulation and the hardware-in-the-loop experiment respectively.

关键词： Fractional calculus fractional order system fractional order controller PI~λD~μ controller iso-damping gain variations hardware-in-the-loop dynamometer

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Modeling and motion stability analysis of skid-steered mobile robots

Modeling and motion stability analysis of skid-steered mobil...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Hongpeng Wang Junjie Zhang Jingang Yi Dezhen Song Suhada Jayasuriya Jingtai Liu Institute of Robotics and Automation Information Systems Nankai University Tianjing China Department of Mechanical Engineering Texas A and M University College Station TX USA Department of Mechanical and AeroSpace Engineering Rutgers University Piscataway NJ USA Department of Computer Science Texas A and M University College Station TX USA

Skid-steered mobile robots are widely used because of the simplicity of mechanism and high reliability. However, understanding of the kinematics and dynamics of such a robotic platform is challenging due to the complex wheel/ground interactions and kinematic constraints. In this paper, we attempt to develop a kinematic and dynamic modeling scheme to analyze the skid-steered mobile robot. We model wheel/ground interaction and analyze the robot motion stability. As an application example, we present how to utilize the kinematic and dynamic modeling and analysis for robot localization and slip estimation using only low-cost strapdown inertial measurement units (IMU). The extended Kalman filter (EKF)-based localization scheme incorporates the kinematic constraints. The performance of the EKF-based localization and slip estimation scheme are presented. The estimation methodology is tested and validated on a robotic testbed.

关键词： Motion analysis Stability analysis Mobile robots Kinematics Wheels Aerodynamics Robot motion Testing robotics and automation Robot localization

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Novelty detection and 3D shape retrieval based on Gaussian Mixture Models for autonomous surveillance robotics

Novelty detection and 3D shape retrieval based on Gaussian M...

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2009 IEEE/RSJ International Conference on intelligent Robots and systems

作者： P. Núñez P. Drews R. Rocha M. Campos J. Dias ISIS Group Universidad de Málaga Spain Dept. Tecnologia de los Computadores y las Comunicaciones Universidad de Extremadura Spain Institute of Systems and Robotics Department Electrical and Computer Engineering University of Coimbra Portugal Dept. Computer Science Federal University of Minas Gerais Brazil Dept. Electrical and Computer Engineering University of Coimbra Portugal

This paper describes an efficient method for retrieving the 3-dimensional shape associated to novelties in the environment of an autonomous robot, which is equipped with a laser range finder. First, changes are detected over the point clouds using a combination of the Gaussian mixture model (GMM) and the earth mover's distance (EMD) algorithms. Next, the shape retrieval is achieved using two different algorithms. First, new samplings are generated from each Gaussian function, followed by a random sampling consensus (RANSAC) algorithm to retrieve geometric primitives. Furthermore, a new algorithm is developed to directly retrieve the shape according to the mathematical space of Gaussian mixture. In this paper, the set of geometric primitives has been limited to the set C = {sphere, cylinder, plane} . The two shape retrieval methods are compared in terms of computational cost and accuracy. Experimental results in various real and simulated scenarios demonstrate the feasibility of the approach.

关键词： Shape Surveillance intelligent robots Mobile robots Simultaneous localization and mapping Clouds Sampling methods Navigation Robotic assembly Change detection algorithms

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Real-time quantification of resting tremor in the Parkinson's disease

Real-time quantification of resting tremor in the Parkinson'...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： George Rigas Alexandros T. Tzallas Dimitrios G. Tsalikakis Spiros Konitsiotis Dimitrios I. Fotiadis Department of Computer Science University of Ioannina (UoI) Ioannina Greece Unit of Medical Technology and Intelligent Information Systems Department of Material Science and Engineering University of Ioannina (UoI) Ioannina Greece Department of Engineering Informatics and Telecommunications University of Western Macedonia Koza-gun Greece Department of Neurology Medical School University of Ioannina (UoI) Ioannina Greece FORTH Biomedical Research Institute Ioannina Greece

Resting tremor (RT) is one of the most frequent signs of the Parkinson's disease (PD), occurring with various severities in about 75% of the patients. Current diagnosis is based on subjective clinical assessment, which is not always easy to capture subtle, mild and intermittent tremors. The aim of the present study is to assess the suitability and clinical value of a computer based real-time system as an aid to diagnosis of PD, in particular the presence of RT. Five healthy subjects were asked to simulate several severities of RT in hands and feet in three static activities. The behaviour of the subjects is measured using tri-axial accelerometers, which are placed at four different positions on the body. Frequency-domain features, strongly correlated with the RT activity, are extracted from the accelerometer data. The classification of RT severity based on those features, provided accuracy 76%. The real-time system designed for efficient extraction of those features and the provision of a continuous RT severity measure is described.

关键词： Parkinson's disease Materials science and technology Biomedical engineering intelligent systems Information systems Frequency Electromyography Real time systems Accelerometers Data mining

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A distributed virtual reality framework for Korea-Japan high-speed network test bed

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International Journal of High Performance Computing and Networking 2009年第1期6卷 35-46页

作者： Nishino, Hiroaki Yamabiraki, Shinji Kagawa, Tsuneo Utsumiya, Kouichi Kwon, Yong-Moo Okada, Yoshihiro Department of Computer Science and Intelligent Systems Oita University 700 Dannoharu Oita 870-1192 Japan Fujitsu Corporation 140 Miyamoto Numazu Shizuoka 410-0396 Japan Imaging Media Research Center Korea Institute of Science and Technology 39-1 Hawalgog-dong Sungbuk-ku Seoul 136-791 Korea Republic of Graduate School of Information Science and Electrical Engineering Kyushu University 744 Motooka Nishi-ku Fukuoka 819-0395 Japan

A framework to practically constitute a Distributed Virtual Reality (DVR) system on a heterogeneous high-speed network environment is shown. The proposed approach essentially integrates a 'haptic' channel into traditional vision and acoustic modalities. The haptic technology empowers the reality of the DVR system by allowing users to touch virtual objects. The human touch sensation, however, is very sensitive to delays and jitters;therefore, we propose a hybrid DVR architecture to realise both data consistency by client-server and scalability by peer-to-peer models on a long-haul network. Some experiments using a Korea-Japan high-speed research network are described to validate the proposed method. Copyright © 2009, Inderscience Publishers.

关键词： HIgh speed networks

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robotics-mechatronics design competition in Kyushu area, Japan

Robotics-mechatronics design competition in Kyushu area, Jap...

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SICE Annual Conference

作者： Taisuke Sakaki Takanori Kiyota Hitoshi Kino Shinichi Sagara Ryuichi Oguro Shunji Moromugi Keiji Imado Hidetaka Ikeuchi Manabu Fukushima Takeshi Ikeda Kanta Aoki Nobuhiro Ushimi Department of Engineering Kyushu Sangyo University Fukuoka Japan Department of Mechanical Systems Engineering University of Kitakyushu Kitakyushu Japan Department of Intelligent Mechanical Engineering Fukuoka Institute of Technology Fukuoka Japan Department of Control Engineering Kyushu Institute of Technology Kitakyushu Japan Department of Computer Science and System Engineering Kyushu Institute of Technology Lizuka Japan Department of Mechanical Systems Engineering Nagasaki University Nagasaki Japan Department of Architecture and Mechatronics Oita University Oita Japan Department of Media Technology Nippon Bunri University Oita Japan Department of Mechanical Engineering Kyushu University Fukuoka Japan Department of Art Kyushu Sangyo University Fukuoka Japan

We describe a unique competition based on the novel concept of robotics and mechatronics products that included evaluation of the products' engineering function and interface design. Seventy-seven students of eleven teams from seven universities in the Kyushu area participated in the competition, whose subject was ldquoHealth care, life supporting and communication or other technical aids for the elderly or *** Many of the plans presented ideas that balanced function and design, showing the results of collaboration among students studying engineering and students studying product design.

关键词： Design engineering Electronic mail Mechatronics Educational institutions Senior citizens Service robots systems engineering and theory Art Educational robots Collaborative work

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