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检索条件"机构=Institute of Computer Engineering Control and Robotics"

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Parallelizing of digital signal processing with using GPU

Parallelizing of digital signal processing with using GPU

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作者： Bozejko, Wojciech Dobrucki, Andrzej Walczynski, MacIej Wrocleaw University of Technology Institute of Computer Engineering Control and Robotics Wrocleaw Poland Wrocleaw University of Technology Institute of Telecommunications Teleinformatics and Acoustics Wrocleaw Poland

ISBN: (纸本)9781457714856

In this paper we show the process of a class of algorithms parallelization which are used in digital signal processing. We present this approach on the instance of the popular LMS algorithm which is used in noise reduction, echo cancelation problems and digital signal processing in general. We propose an approach which uses a GPGPU technology. Parallel approach allows us decomposing the problem into a number of smaller ones, which can be computed faster. Obtained results, especially increase of speed and efficiency, show that the parallel method implemented on GPU is much more effective than other existing procedures and it can be used in the real-time systems. © 2010 Division of Signal Processin.

关键词： Digital signal processing

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Computed-tomography or Magnetic Resonance based 3D model synchronization with real-time ultrasound data

Computed-tomography or Magnetic Resonance based 3D model syn...

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International Conference on Broadband and Biomedical Communications (IB2Com)

作者： Andrzej Wytyczak-Partyka Institute of Computer Engineering Control and Robotics Wroclaw Poland

This paper describes a method of augmenting real-time ultrasound imagery with accurate 3D models computed earlier from sources richer in data - Computed Tomography (CT) or Magnetic Resonance (MR) images. The 3D models are built for a number of phases of motion, therefore a collection of CT / MR scans needs to be taken or techniques such as Cine-MRI can be used. The ultrasound data is processed on-line and the phase of organ motion is estimated at each frame. That information is used to pick a nearest-match 3D model. In this paper we will examine the heart and its motion during its systole-diastole cycle as an example.

关键词： Ultrasonic imaging Three dimensional displays Solid modeling Real time systems Computed tomography Heart Computational modeling

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Selection of different paths for doubly nonholonomic mobile manipulators

Selection of different paths for doubly nonholonomic mobile ...

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作者： Mazur, Alicja Roszkowska, Elzbieta Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul. Janiszewskiego 11/17 50-372 Wroclaw Poland

ISBN: (纸本)9789898425010

This paper describes a problem of designing control laws preserving a motion along desired path for doubly nonholonomic mobile manipulators. The doubly nonholonomic mobile manipulator is composed of a mobile platform moving without slipping effect between wheels and the surface (i.e. nonholonomic platform) and an onboard manipulator equipped with special nonholonomic gears, designed by Nakamura, Chung and Sørdalen. A task for any nonholonomic subsystem (i.e. nonholonomic platform or nonholonomic manipulator) is to follow a desired path - some geometric curve parameterized by curvilinear distance from selected point. A description of the nonholonomic subsystem relative to the desired path using so-called Frenet parametrization is a basis for formulating the path following problem and designing a kinematic control algorithm.

关键词： Manipulators

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Differential Evolution for Multi-Objective Optimization with Self Adaptation

Differential Evolution for Multi-Objective Optimization with...

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International Conference on Intelligence engineering Systems

作者： A. Cichon E. Szlachcic J. F. Kotowski Institute of Computer Engineering Control and Robotics Wroclaw University of Technology

ISBN: (纸本)9781424476527

In the paper an adapted version of the differential evolution algorithm has been created to solve a multi-objective optimization problem. Multi-objective Differential Evolution Algorithm using vector differences for perturbing the vector population with self adaptation is introduced. Through the combination of mutation strategies and self adaptation of crossover and differentiation constants the proposed MO algorithm performs better than the one with the simple DE scheme in terms of computation speed and quality of the generated multi-objective non-dominated solutions.

关键词： Multi-objective optimization Differential evolution Self adaptation Learning process

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Constrained robot motion planning: Imbalanced Jacobian algorithm vs. optimal control approach

Constrained robot motion planning: Imbalanced Jacobian algor...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Mariusz Janiak Krzysztof Tchon´ Institute of Computer Engineering Control and Robotics Wroclaw Institute of Technology Wroclaw Poland Poland Institute of Computer Engineering Control and Robotics Wrocław Institute of Technology Wrocław Poland

We address the motion planning problem in non-holonomic robotic systems with constraints imposed on configuration and control variables. The imbalanced Jacobian motion planning algorithm is compared with the optimal c... 详细信息

关键词： Jacobian matrices Planning Mobile robots Heuristic algorithms Optimal control Optimization

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New trends in optimization

New trends in optimization

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IEEE International Conference on Intelligent engineering Systems (INES)

作者： Czeslaw Smutnicki Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

Summary form only given. Approaches used to solve optimization tasks generated in problems of control, planning, designing and management have completely changed during recent years. Cases with unimodal, convex, differentiable scalar goal functions have disappeared from research labs, because a lot of satisfactory efficient methods were developed. On the battle square there have remained hard cases: multimodal, multi-criteria, non-differentiable, NP-hard, discrete, with huge dimensionality. These practical tasks, generated by industry and market, have caused serious troubles in seeking global optimum. Main reasons of these troubles are recognized as: huge cardinality of local extremes frequently with the exponential number of extremes; curse of dimensionality; NP-hardness; lack of differentiability. Unfortunately, known “classical” exact solution methods have considered as rather weak in so hard conditions of the work. From the beginning of eighties have been observed fast development of approximate methods, resistant to local extremes. In fact, practice of these methods antecede development of the suitable theory, which has been formed usually 10-15 years later than the time moment of creating the approach. That's why we observe now more than 20 different approaches inspired by Nature and more than 30 if we include parallel computing environments. The paper presents critical survey of methods, approaches and trends observed in modern optimization, focusing on nature-inspired techniques recommended for particularly hard problems. Applicability of the methods, depending the class of stated optimization task and classes of goal function, have been discussed. Numerical as well theoretical properties of these algorithms are shown. Newest our own very efficient proposals are also provided.

关键词： Design optimization Optimization methods control engineering computing Design engineering Robot control Technology planning Technology management engineering management Parallel processing Proposals

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Improving efficiency of the Newton algorithm of motion planning for robot manipulators

Improving efficiency of the Newton algorithm of motion plann...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Ignacy Duleba Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

In this paper a method to speed up a convergence of the Newton algorithm of motion planning for manipulators was presented. The method couples one dimensional optimization (with respect to a coefficient influencing the convergence property of the algorithm) with a virtual goal replacing a real goal of the planning. The first modification of the basic Newton algorithm can be used for any taskspace while the second one works only for low dimensional (not greater than 3) taskspaces. An algorithm based on the method was provided and its efficiency was illustrated on a planar double pendulum manipulator.

关键词： Jacobian matrices Manipulators Planning Kinematics Optimized production technology

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Multistage classification of signals with the use of multiscale wavelet representation

Multistage classification of signals with the use of multisc...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Urszula Libal Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

The aim of signal decomposition in wavelet bases is to represent a signal as a sequence of wavelet coefficients sets. There is proposed a multistage classification rule using on every stage only one set of the signal coefficients. The hierarchical construction of wavelet multiresolution analysis was an inspiration for the multistage classification rule. The algorithm makes an optimal decision for every set of coefficients and its main advantage is a smaller dimension of classification problem on every stage.

关键词： Manganese Heart Databases Diseases Classification algorithms Probability density function Signal representations

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Modeling and analyzing nano-rod pushing with an AFM

Modeling and analyzing nano-rod pushing with an AFM

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2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Hou, Jing Wu, Chengdong Liu, Lianqing Wang, Zhidong Dong, Zaili Dept. of Electrical and Computer Engineering Northeastern University Shenyang 110004 China State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan School of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China

ISBN: (纸本)9781424470334

In developing nano-devices and nano-structures, traditional methodologies on MEMS meet the difficulty from the scale restriction. With the strategy of objects assembly, using AFM to handle nano-rods and other nano-objects is considered as an important and high potential technology in constructing nanostructures. However most of AFM only has one tip as the end effector and cannot control both translational and rotational motions during manipulation, this makes it be difficult to realize posture controllable manipulation especially in nano environment. In this paper, the behavior of nano-rod under pushing is theoretically analyzed and modeled. Viscous friction is incorporated in the model and the two situations that the pivot of the nanorod is either inside or outside the rod are addressed. By modeling, the pivot can be determined at each manipulation in real time, and the pushing points can be planned to realize posture controllable manipulation by using nano-hand strategy which is inspired by stable pushing theory of object manipulation in macro world, and to improve the reliability and the precision of manipulation. ©2010 IEEE.

关键词： Nanorods

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Towards constrained motion planning of mobile manipulators

Towards constrained motion planning of mobile manipulators

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IEEE International Conference on robotics and Automation (ICRA)

作者： Mariusz Janiak Krzysztof Tchoń Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

This paper addresses a constrained motion planning problem for mobile manipulators. The constraints are included into the system model by means of a sort of penalty function, and then processed in accordance with the endogenous configuration space approach. Main novelty of this paper lies in deriving a constrained Jacobian motion planning algorithm with the following features: inequality constraints are included into an extended kinematics model using a smooth approximation of the plus function, the model is then regularized against singularities, and the resulting imbalance in error equations is handled as a perturbation of an exponentially stable linear dynamic system. The operation of the constrained motion planning algorithm is illustrated by a motion planning problem of a mobile manipulator with bounds imposed on a platform variable. Performance of the algorithm is tested by computer simulations.

关键词： Kinematics Jacobian matrices Motion planning control systems Space technology Manipulator dynamics End effectors Motion control robotics and automation USA Councils

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