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2010 IEEE International Conference on Automation Science and eng.neering, CASE 2010

作者： Ding, Hao Schnattinger, Georg Passenberg, Benjamin Stursberg, Olaf Institute of Control and System Theory Dept. of Electrical Eng. and Computer Science University of Kassel Germany Institute for High-Frequency Engineering Technische Universität München 80290 München Germany Institute of Automatic Control Engineering Technische Universität München 80290 München Germany

ISBN: (纸本)9781424454471

A control scheme for efficient and safe path and motion planning of industrial robots is proposed. For motion planning of robotic manipulators, an offline method is developed which generates feasible trajectories of the joints such that a given performance criterion is maximized. The planning problem considering obstacle avoidance is converted to an optimization problem with interior points for the joint angles to guide the trajectory away from obstacles. The interior points are generated from an approach of rapidly exploring random trees (RRTs] in the configuration and time space. The method is applied to a 3-DOF-robot with known dynamic moving obstacles and evaluated afterwards. Online motion generation of industrial robots is then discussed for a human robot interaction scenario. ©2010 IEEE.

关键词： Motion planning

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Improved multidisciplinary multiobjective collaborative optimization technique based on nsga-ii algorithm

Improved multidisciplinary multiobjective collaborative opti...

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IFAC International Workshop on "Supplemental Ways for Improving International Stability", SWIIS 2010 - Proceedings

作者： Li, H. Jing, Y. Zhang, S. Ojleska, V. Kolemisevska, T. Dimirovski, G.M. Key Laboratory of Integrated Automation of Process Industry Northeastern University Ministry of Education Shenyang 110004 China School of Information Science and Engineering Northeastern University 110004 Shenyang China Institute of ASE School FEIT SS Cyril and Methodius University Karpos II BB MK-1000 Skopje Macedonia Computer Eng. and Control Eng. Departments Dogus University TR-34722 Istanbul Turkey

ISBN: (纸本)9783902661920

The multiobjective collaborative optimization (MCO) has been widely adopted in concurrent eng.neering design as a good multiobjective optimization approach provided the problem of optimization results converging often to a local extremum has been taken care of. It has been demonstrated to yield useful solutions to a wide range of optimization problems under concurrent condition both technical and non-technical ones. A solution strategy for MCO that overcomes this drawback is proposed here on the grounds of genetic NSGA-II algorithm. It is an adaptive heuristic search technique that controls the distances between the individual and system's feasible region during genetic evolution. In the evolving NSGA-II based non-dominated sorting, the individual threshold of infeasibility degree is reduced gradually via genetic evolution and the individual's feasibility capacity is determined by its infeasibility degree and the threshold. It has been applied to a benchmark example of speed reducer design, and the obtained results demonstrate the proposed technique is comparably more efficient and may offer substantial advantages over the gradient-based optimization methods. © 2010 IFAC.

关键词： Multiobjective optimization

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Robust falling-down avoidance control for acrobat robot using switching controller

Robust falling-down avoidance control for acrobat robot usin...

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SICE Annual Conference

作者： Y. Yashiro M. Yamakita S. Hirano Z W. Luo Dept. of Mechanical and Control Eng. Tokyo Institute of Technology Tokyo JAPAN The Institute of Physical and Chemical Research(RIKEN) Nagoya JAPAN Dept. of Computer and Systems Eng. Kobe University Kobe JAPAN

ISBN: (纸本)9781424476428

In this paper, we propose methods of designing systematic controller including identification to stabilize the acrobat robot with reinforcement learning algorithm. We model the final stage of the robot at falling-down as a switched system with few contact conditions. For this model, we can systematically design a SDOF controller with for an unstable LTI system whose parameters are calculated by a closed loop identification. Considering the change of the dimension of the subsystem, we add a new subsystem with a reduced dimension to the switched system. we confirm the effectiveness of these methods with experiments using a real robot system.

关键词： Switches Mathematical model Servomotors Robot kinematics Switched systems

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Integrated actuator-sensor system of bucky gel device

Integrated actuator-sensor system of bucky gel device

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SICE Annual Conference

作者： Kazuhiro Tanaka Motonobu Sugiura Masaki Yamakita Norihiro Kamamich Toshiharu Mukai Department of Mechanical and Control Eng. Tokyo Institute of Technology Tokyo Japan Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan Institute for Physical and Chemical Research Nagoya Japan

ISBN: (纸本)9781424476428

Bucky gel actuator is a novel electro-active polymer(EAP), which is a low-voltage driven dry soft actuator. It exhibits a bending motion under an applied electric current and it has also ability of sensor. Since sensor and actuator functions exist in a same device, both functions can be integrated with keeping the advantages of flexibility. In this paper, we study a parallel type actuator-sensor integrated bucky gel devices. These devices have a problem of the electric interference between the actuator signal and the sensor signal. To solve the problem, we propose two solutions; one of the solutions is that we construct the sensor system which estimates the electric interference voltage and compensate the sensor output. The other solution is that the resistivity change of the bucky gel device surface is used for the sensing. The effectiveness of the methods are demonstrated by experiments.

关键词： Actuators Robot sensing systems Interference Bridge circuits Electrodes Polymers

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Investigating Epidemic Diseases Characterized by Vertical Transmission and Contract: Cellular Automata Computational Model 1

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IFAC Proceedings Volumes 2010年第25期43卷 155-159页

作者： C.L. Chang Y. Jing S. Zhang G. Stojanovski M. Stankovski G. Dimirovski Northeastern University School of Information Science & Engineering 110004 Shenyang P.R. China SS Cyril and Methodius University School FEIT Institute of ASE Karpos II BB MK-1000 Skopje R. Macedonia Dogus University Computer Eng. and Control Eng. Departments TR-34722 Istanbul Turkey

A computationally and theoretically new model based on cellular automata is developed to generate descriptive emulation of epidemic disease processes, a particularly prevailing phenomenon in developing countries that may cause dramatic events. The feature phenomena of vertical transmission and contract of epidemic diseases are accounted for. Thus the proposed model captures the essence of the epidemic dynamics as demonstrated by the simulation experiments. The proposed model can serve as a background basis for developing more sophisticated models and algorithms to simulate scenario of real-world epidemics based on recorded data. Copyright © 2010 IFAC

关键词： Bio-cybernetics cellular automata epidemic diseases emulation model systems biology

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Improved Multidisciplinary Multiobjective Collaborative Optimization Technique Based on NSGA-II Algorithm 1

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IFAC Proceedings Volumes 2010年第25期43卷 139-144页

作者： H. Li Y. Jing S. Zhang V. Ojleska T. Kolemisevska G.M. Dimirovski Key Laboratory of Integrated Automation of Process Industry Ministry of Education Northeastern University Shenyang 110004 P.R. China Northeastern University School of Information Science & Engineering Shenyang 110004 P.R. China SS Cyril and Methodius University School FEIT Institute of ASE Karpos II BB MK-1000 Skopje R. Macedonia Dogus University Computer Eng. and Control Eng. Departments TR-34722 Istanbul Turkey

关键词： Collaborative optimization dynamic threshold genetic algorithms multidisciplinary optimization multiobjective optimization

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Novel Design of Interactive Caption and Recognition Postures within the Wearable and Non-Vision System over Wireless Sensor Network

Novel Design of Interactive Caption and Recognition Postures...

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International Conference on Complex, Intelligent and Software Intensive Systems, CISIS

作者： W.T. Huang Chao-Nan Hung Chiu-Ching Tuan Chin-Hsing Chen Yuan-Jen Chang You-Yin Chen Department of Computer Science and Information Engineering Minghsin University of Science and Technology Taiwan R.O.C. Department of Graduate Institute of Computer and Communication Engineering National Taipei University of Technology Taiwan Department of Management Information Systems Central Taiwan University of Science and Technology Taiwan Dept. of Electr. & Control Eng. Nat. Chiao Tung Univ. Hsinchu Taiwan

In this study, we design and present the novel wearable system with the interactive posture caption and recognition functions based on the non-vision over the ZigBee wireless sensor network (ZigBee-WSN). There are two type sensors, 3-axis accelerometer and clip type, to be employed in our wearable system. These sensors are arranged on user's four limbs such that the posture information can be gathered by them. Then, the posture information is transmitted to the data-controlling center over ZigBee-WSN. Finally, this center can analyze and distinguish various postures by our proposed algorithm through the friend user's interface to express. Our presented wearable system can distinguish out 28 kinds of hand postures and 13 kinds of leg postures altogether. Moreover, under our presented ZigBee-WSN system with small size, low-power consumption, and high-reliability characteristics, the data-controlling center can simultaneously tele-monitor the real-time body interactive postures of 8 persons, when the transmitting distance is less than 18 M and the package correct transmitted rate is more than 97.5%.

关键词： Wireless sensor networks Wearable sensors ZigBee Sensor systems Accelerometers Algorithm design and analysis User interfaces Leg Real time systems Packaging

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Novel Emotion eng.ne for Robot and Its Parameter Tuning by Bacterial Foraging

Novel Emotion Engine for Robot and Its Parameter Tuning by B...

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5th International Symposium on Applied Computational Intelligence and Informatics

作者： Kim, Dong-Hwa Nair, Shivashankar B. Dept. of Instrumentation and Control Eng. Hanbat National University Daejeon City South Korea Department of Computer Science and Engineering Indian Institute of Technology Guwahati Guwahati India

ISBN: (纸本)9781424444779

In this paper, we propose the novel emotional eng.ne like human's emotion and its parameter tuning using by hybrid system bacterial foraging (BF) and agent machine learning. The most general method uses neural networks to classify emotion by using speech and face image data for human's emotion recognition. But high-dimension and large size of this data cause low-speed learning of neural network. The main idea of the proposed method is to suggest emotion eng.ne and to express emotion by hybrid system composed of bacterial foraging and multi-agent system. Experimental result shows that this method can achieve better performance for human's emotion recognition than others and express emotion.

关键词： Hybrid systems

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Fusion of external context and patterns – learning from video streams

Advances in Intelligent and Soft Computing

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Advances in Intelligent and Soft Computing 2009年 57卷 27-34页

作者： Rafajlowicz, Ewaryst Institute of Computer Eng. Control and Robotics Wroclaw University of Technology Wyb. Wyspiańskiego 27 Wroclaw50 370 Poland

A mathematical model, which extends the Bayesian problem of pattern recognition by fusion of external context variables and patterns is proposed and investigated. Then, its empirical version is discussed and a learning algorithm for an orthogonal neural net is proposed, which takes context variables into account. The proposed algorithm has a recursive form, which is well suited for learning from a stream of patterns, which arise when features are extracted from a video sequence. © Springer-Verlag Berlin Heidelberg 2009.

关键词： Pattern recognition

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ZMP trajectory reference for the sagittal plane control of a biped robot based on a human CoP and gait

ZMP trajectory reference for the sagittal plane control of a...

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

作者： Ferreira, João P. Crisóstomo, Manuel Coimbra, A. Paulo Inst. of Systems and Robotics Dept. of Electrical and Computer Eng. Univ. of Coimbra Portugal Dept. of Electrical Engineering Superior Institute of Engineering of Coimbra Coimbra Portugal

ISBN: (纸本)9781424438044

This paper introduces two new important issues to be considered in the design of the zero moment point (ZMP) trajectory reference for the sagittal plane balance control of an autonomous walking biped robot with an human-like gait. ZMP trajectory reference generation is very important in the design and balance control of the walking of a biped robot. ZMP reference generation algorithms based on the Linear Inverted Pendulum Model (LIPM) and moving ZMP references in the swing phase have already been proposed with the ZMP trajectory during the swing phase being designed moving along a symmetric trajectory relative to the center of the foot. It was verified experimentally that in the human gait the ZMP trajectory moves along the foot in a way that it is shifted forward relative to its center. To take this into account a shift parameter is then proposed to move forward the XZMP trajectory reference during the swing phase. It was also verified experimentally that in the human gait the ZMP trajectory amplitude depends on the swing time. Its variation law has been determined experimentally and it was verified that this range decreases as the swing time increases, reducing to zero for a static gait. It is then proposed a parameter H to take into account this variation with the swing time of the gait. Six experiments were carried out for three different XZMP trajectory references. In order to evaluate and compare the performance of the biped robot using the three XZMP trajectory references two performance indexes are proposed. © 2009 IEEE.

关键词： Trajectories

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