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Conference of the Society of Instrument and control eng.neers of Japan

作者： K.W. Seo Y. Kaneda M. Yamakita N. Kamamichi J. Ishikawa A. Ohata K. Furuta Department of Mechanical Control Systems Eng. Tokyo Institute of Technology Tokyo Metropolitan Industrial Technology Research Institute Department of Robotics and Mechatronics Tokyo Denki University Toyota Motor Co. Higashifuji Technical Center

ISBN: (纸本)9781479985845

In this paper a novel real-time eng.ne simulator which is combined with partial mechanical hardware system and numerical simulator. In the hardware, the actual piston-clank mechanism is used, and the thrust force is generated by a liner motor. In the numerical simulator, admission and combustion dynamics are calculated, and the motion of the piston is realized by a kind of model matching or following *** this paper, we introduce the concept of the proposed simulator system, and explain the control systems.

关键词： eng.ne Model eng.ne Simulator Model Following control

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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Designing an artificial attention system for social robots

Designing an artificial attention system for social robots

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： P. Lanillos J. F. Ferreira J. Dias Dept. of Electrical & Computer Eng. University of Coimbra. Pinhal de Marrocos AP4ISR team Institute of Systems and Robotics (ISR) COIMBRA Portugal Khalifa University of Science Technology and Research Abu Dhabi UAE

In this paper, we introduce the main components comprising the action-perception loop of an overarching framework implementing artificial attention, designed to fulfil the requirements of social interaction (i.e., reciprocity, and awareness), with strong inspiration on current theories in functional neuroscience. We demonstrate the potential of our framework, by showing how it exhibits coherent behaviour without any inbuilt prior expectations regarding the experimental scenario. Current research in cognitive systems for social robots has suggested that automatic attention mechanisms are essential to social interaction. In fact, we hypothesise that enabling artificial cognitive systems with middleware implementing these mechanisms will empower robots to perform adaptively and with a higher degree of autonomy in complex and social environments. However, this type of assumption is yet to be convincingly and systematically put to the test. The ultimate goal will be to test our working hypothesis and the role of attention in adaptive, social robotics.

关键词： Context Robot sensing systems Neuroscience Brain modeling Modulation computer architecture

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Verifying multiagenpt-based web service compositions regulated by commitment protocols 21

Verifying multiagenpt-based web service compositions regulat...

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2014 21st IEEE International Conference on Web Services, ICWS 2014

作者： El Kholy, Warda El Menshawy, Mohamed Bentahar, Jamal Qu, Hongyang Dssouli, Rachida Concordia Institute for Information Systems Eng. Concordia University Canada Computer Science Menofia University ECE Concordia University Canada Automatic Control and Systems Eng. Sheffield University United Kingdom

ISBN: (纸本)9781479950546

The ability to compose web services from available services is one of the most crucial problems in the serviceoriented computing paradigm. Conventional software eng.neering approaches and even standard languages compose web services as workflow models that control the business logic required to coordinate data over participating services. Such models would not apply to the design of multiagent-based web services, which offer high-level abstractions that support autonomy, businesslevel compliance, and flexible dynamic changes. In this paper, we model interactions among multiagent-based services by commitment modalities in the figure of contractual obligations and devote multiagent commitment protocols to regulate such interactions and eng.neer services composition. We develop and fully implement a symbolic model checking algorithm by enriching the MCMAS model checker with certain symbolic algorithms to verify the correctness of protocols, given properties expressed in a temporal commitment logic, suitably extended with actions. The time complexity and space complexity of the developed algorithm are P-complete for explicit models and for PSPACE-complete concurrent programs. Finally, we report the experimental results of two case studies, adopted to check the algorithm's efficiency. © 2014 IEEE.

关键词： Web services

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An analysis of the heading bias effects in PNS using imus attached to shoes

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Journal of institute of control, robotics and Systems 2013年第11期19卷 1053-1059页

作者： Kim, SangSik Yi, YearnGui Park, Chansik Department of Control and Robotics Eng. Chungbuk National University Korea Republic of Department of Control and Robotics Eng. Research Institute of Computer Information and Communication Chungbuk National University Korea Republic of

Heading bias effects in PNS using IMUs attached to shoes are analyzed in this paper. The navigation algorithms of a single foot PNS where one IMU is attached to a foot and dual foot PNSs where two IMUs are attached to each foot are derived. Two navigation algorithms are proposed for the dual foot PNS: 1) the positions from the independent right and left foot PNSs are averaged to provide the final position, 2) the right and left foot PNSs are correlated and it provides positions of each foot. Furthermore, it is proven that two methods are equal. Using the derived navigation algorithms the effect of heading bias caused by a misalignment of the moving direction and IMU is analyzed. The analysis explains the position error of a single foot PNS is diverged while the heading bias is effectively compensated in dual foot PNSs because of the symmetry of heading biases. The experimental results confirm the analysis. © ICROS 2013.

关键词： Navigation

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USING THE GPU FOR FAST SYMMETRY-BASED DENSE STEREO MATCHING IN HIGH RESOLUTION IMAGES

USING THE GPU FOR FAST SYMMETRY-BASED DENSE STEREO MATCHING ...

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IEEE International Conference on Acoustics, Speech and Signal Processing

作者： Vasco Mota Gabriel Falcao Michel Antunes Joao Barreto Urbano Nunes Institute of Systems and Robotics Dept. of Electr. & Computer Eng. University of Coimbra Portugal Instituto de Telecomunicacoes Dept. of Electr. & Computer Eng. University of Coimbra Portugal

ISBN: (纸本)9781479928941

SymStereo is a new algorithm used for stereo estimation. Instead of measuring photo-similarity, it proposes novel cost functions that measure symmetry for evaluating the likelihood of two pixels being a match. In this work we propose a parallel approach of the LogN matching cost variant of SymStereo capable of processing pairs of images in real-time for depth estimation. The power of the graphics processing units utilized allows exploring more efficiently the bank of log-Gabor wavelets developed to analyze symmetry, in the spectral domain. We analyze tradeoffs and propose different parameterizations of the signal processing algorithm to accommodate image size, dimension of the filter bank, number of wavelets and also the number of disparities that controls the space density of the estimation, and still process up to 53 frames per second (fps) for images with size 288 × 384 and up to 3 fps for 768 × 1024 images.

关键词： Graphics processing units Stereo vision Estimation Real-time systems Conferences Image resolution Signal processing algorithms

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A weight-incorporated similarity-based clustering ensemble method

A weight-incorporated similarity-based clustering ensemble m...

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IEEE International Conference on Networking, Sensing and control

作者： ShiYao Liu Qi Kang Jing An Meng.hu Zhou Dept. of Control Science and Eng. Tongji University Shanghai China School of Electrical & Electronic Engineering Shanghai Institute of Technology Shanghai China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

Clustering analysis is an important tool of data mining. The study on efficient clustering has great significance, especially in improving a clustering algorithm's adaptability and usefulness. Clustering ensemble (CE) integrates several clustering algorithms such that the clustering results can be effectively improved. This work investigates similarity-based methods and proposes a new method called weight- incorporated similarity-based clustering ensemble (WSCE). Six classic data sets are used to test single clustering algorithms, similarity-based one, and the proposed one via simulation. The results prove the validity and performance advantage of the proposed method.

关键词： Iris Vehicles Image segmentation Clustering algorithms Algorithm design and analysis computers Lead

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OmniClimber-II: An omnidirectional climbing robot with high maneuverability and flexibility to adapt to non-flat surfaces

OmniClimber-II: An omnidirectional climbing robot with high ...

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2013 IEEE International Conference on robotics and Automation, ICRA 2013

作者： Tavakoli, Mahmoud Viegas, Carlos Marques, Lino Norberto Pires, J. De Almeida, Anibal T. Institute for Systems and Robotics Dep. of Electrical and Computer Eng. University of Coimbra Portugal Dep. of Mechanical Eng. University of Coimbra Portugal

ISBN: (纸本)9781467356411

This paper introduces, OmniClimber II, an evolution of OmniClimber I, a novel climbing robot with high maneuverability for inspection of ferromagnetic 3D human made structures. The robot takes advantage of novelties which allows an excellent maneuverability on the structure and can adapt to flat and non-flat structures. In this paper we present the conceptual and detailed design of the robot, the implementation and improvements over the first version and a set of tests: laboratory tests on a flat surface;and a set of field tests performed on a wind turbine foundation and another field test on a curved steel structure in Mechanical eng.neering, to prove the applicability of the robot on both structures. © 2013 IEEE.

关键词： Robots

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Magnetic omnidirectional wheels for climbing robots

Magnetic omnidirectional wheels for climbing robots

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2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013

作者： Tavakoli, Mahmoud Viegas, Carlos Marques, Lino Pires, J. Norberto De Almeida, Anibal T. Institute for Systems and Robotics Dep. of Electrical and Computer Eng. University of Coimbra Portugal Dep. of Mechanical Eng. University of Coimbra Portugal

ISBN: (纸本)9781467363587

This paper describes design and development of omnidirectional magnetic climbing robots with high maneuverability for inspection of ferromagnetic 3D human made structures. The main focus of this article is design, analysis and implementation of magnetic omnidirectional wheels for climbing robots. We discuss the effect of the associated problems of such wheels, e.g. vibration, on climbing robots. This paper also describes the evolution of magnetic omnidirectional wheels throughout the design and development of several solutions, resulting in lighter and smaller wheels which have less vibration and adapt better to smaller radius structures. These wheels are installed on a chassis which adapts passively to flat and curved structures, enabling the robot to climb and navigate on such structures. © 2013 IEEE.

关键词： Wheels

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control of uncertain nonlinear systems using ellipsoidal reachability calculus

Control of uncertain nonlinear systems using ellipsoidal rea...

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9th IFAC Symposium on Nonlinear control Systems, NOLCOS 2013

作者： Asselborn, L. Groß, D. Stursberg, O. Institute of Control and System Theory Dept. of Electrical Eng. and Computer Science University of Kassel Germany

ISBN: (纸本)9783902823472

This paper proposes an approach to algorithmically synthesize control strategies for discrete-time nonlinear uncertain systems based on reachable set computations using the ellipsoidal calculus. For given ellipsoidal initial sets and bounded ellipsoidal disturbances, the proposed algorithm iterates over conservatively approximating and LMI-constrained optimization problems to compute stabilizing controllers. The method uses first-order Taylor approximation of the nonlinear dynamics and a conservative approximation of the Lagrange remainder. An example for illustration is included. © IFAC.

关键词： Calculations

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