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Advanced robotics 2009年第12-13期23卷 1687-1702页

作者： Wang, Chieh-Chih Lin, Chi-Hao Hu, Jwu-Sheng Department of Computer Science and Information Engineering Graduate Institute of Networking and Multimedia National Taiwan University Taipei 10617 Taiwan Intelligent Robotics Program of Industrial Technology Research Institute Department of Electrical and Control Engineering National Chiao Tung University HsinChu 310 Taiwan

Auditory perception is one of the most important functions for robotics applications. Microphone arrays are widely used for auditory perception in which the spatial structure of microphones is usually known. In practice, microphone array calibration can be tedious and other devices or means are required. The structure from sound (SFS) approach addresses the problem of simultaneously localizing a set of microphones and a set of acoustic events that provides a great flexibility to calibrate different setups of microphone arrays. However, the existing method does not take measurement uncertainty into account and does not provide uncertainty estimates of the SFS results. In this paper, we propose a probabilistic structure from sound (PSFS) approach using the unscented transform in which the uncertainties of the PSFS results are also available. In addition, a probabilistic sound source localization approach using the PSFS results is provided to improve sound source localization accuracy. The ample results of simulation and experiments using low-cost, off-the-shelf microphones demonstrate the feasibility and performance of the proposed PSFS approach. © 2009 VSP.

关键词： Microphone array

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Acoustomyographic sensor realization

Acoustomyographic sensor realization

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2nd International Multi-Conference on engineering and Technological Innovation, IMETI 2009

作者： Krysztoforski, Krzysztof Jopek, Wojciech Wotczowski, Andrzej Division of Biomedical Engineering and Experimental Mechanics Wroclaw University of Technology Wyb. Wyspianskiego 27 Wroclaw 50-371 Poland Division of Measuring and Medical Electronic Instruments Wroclaw University of Technology Wyb. Wyspianskiego 27 Wroclaw 50-371 Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wyb. Wyspianskiego 27 Wroclaw 50-371 Poland

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Decision support tool for resource allocation subject to imprecise data constraints

Decision support tool for resource allocation subject to imp...

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International Conference on control and Automation (ICCA)

作者： Grzegorz Bocewicz Zbigniew A. Banaszak Wojciech Muszynski Department of Computer Science and Management Technical University Koszalin Koszalin Poland Department of Business Informatics Warsaw University of Technology Warsaw Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Poland

This paper deals with resource allocation in multi-project manufacturing system design, where more than one shared renewable resource type may be required by the manufacturing operation and the availability of each type is time limited. The aim of the paper is to present a knowledge-based and constraint programming-driven approach to resource allocation where that data can be imprecise. The presented design scheme is used as a framework for developing a task oriented decision support tool for project portfolio prototyping (DST4P 3 ). The tool provides a prompt and interactive service to a set of routine queries defined in terms of both direct and inverse resource allocation tasks.

关键词： Resource management Production Fuzzy set theory Decision making Portfolios Decision support systems Electronic mail Logic programming Job shop scheduling Automatic control

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Preemptive Parallel Processor Scheduling with Distinct Due Windows and Min-Max Criterion

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IFAC Proceedings Volumes 2009年第13期42卷 234-237页

作者： A. Janiak R. Januszkiewicz Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Janiszewskiego 11/17 50-372 Wroclaw Poland tel.: +48-71-320-2107 fax.:+48-71-321-2677

Abstract Problem of scheduling n preemptive jobs on m identical parallel processors is studied, in which for each job a distinct due window is given in advance and an integer release date is specified. If a job is completed within its due window, then it incurs no penalty. Otherwise, it incurs a job-dependent earliness or tardiness cost. The objective is to find a job schedule such that a maximum of job-dependent costs associated with earliness, tardiness and a time a job is in process is minimized. It is proved that optimal solutions to this problem can be found by a solving a polynomial number of instances of classical maximum flow problem.

关键词： scheduling algorithms parallel processors preemption earliness-tardiness due windows

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Preemptive Single Processor Scheduling with Distinct Due Windows and Minimization of Maximum Earliness and Tardiness

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IFAC Proceedings Volumes 2009年第13期42卷 228-233页

作者： A. Janiak W.A. Janiak R. Januszkiewicz Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Janiszewskiego 11/17 50-372 Wroclaw Poland tel.: +48-71-320-2107 fax.:+48-71-321-2677 Faculty of Computer Science and Management Wroclaw University of Technology Lukasiewicza 5 50-371 Wroclaw Poland

Abstract Problem of scheduling n preemptive jobs on a single processor is studied, in which for each job a distinct due window is given in advance. If a job is completed within its due window, then it incurs no penalty. Otherwise, it incurs a job-independent earliness or tardiness cost. The objective is to find a job schedule such that a maximum of weighted costs associated with earliness and tardiness is minimized. Properties of optimal solutions of this problem are established and an algorithm based on them is presented. It is proved that the analysed problem is solvable in O ( n 2 ) time.

关键词： scheduling algorithms preemption earliness-tardiness due windows

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Genetic algorithm based optimization for EMG pattern recognition system

Genetic algorithm based optimization for EMG pattern recogni...

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作者： Fischer, P. Amaral, T.G. Dias, O.P. Wolczowski, A.R. Lichtenstein, M. Institute of Computer Engineering Control and Robotics Faculty of Electronics Wroclaw University of Technology Wybrzeze Wyspianskiego 27 50-370 Wroclaw Poland Escola Superior de Tecnologia de Setúbal/IPS CESET ISR - Pólo Coimbra 2910-761 Setúbal Portugal Escola Superior de Tecnologia de Setúbal/IPS CESET INESC - Lisboa 2910-761 Setúbal Portugal

ISBN: (纸本)9783902661555

The paper presents the concept of genetic algorithm based optimization for the EMG pattern recognition system controlling the hand prosthesis. The recognition of EMG signals for determining the hand movements is made by a linear neural network discriminating between five predefined grasps. The input feature vector for the classification was established using AR model, and its coefficients became the features. The genetic algorithms are used to optimize the number of elements in the input feature vector and simultaneously maintain the recognition efficiency at the same level. Experimental results show a good efficiency in the optimization method maintaining the performance of the recognition system for the studied grasp movements' repertoire.

关键词： Genetic algorithms

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Efficiency of Double Nonholonomic Mobile Manipulators

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IFAC Proceedings Volumes 2009年第13期42卷 641-646页

作者： R. Ilnicki K. Zadarnowska Institute of Machines Design and Operation Wrocaw University of Technology ul. Łukasiewicza 7/9 50-371 Wrocaw Poland tel.: +*** fax: +*** Institute of Computer Engineering Control and Robotics Wrocław University of Technology ul. Janiszewskiego 11/17 50-372 Wrocław Poland tel.: +*** fax: +***

Abstract This paper deals with the problem of defining performance measures of doubly nonholonomic mobile manipulators composed of a nonholonomic mobile platform and a nonholonomic manipulator mounted on the platform. We introduce the kinematic theory of such mobile manipulators in frame of the endogenous configuration space approach, which assumes that: the kinematics of mobile manipulators is represented by a pair of driftless control systems driven by platform and manipulator controls, and sharing output function that describes position and orientation of the end-effector; the kinematic performance measures refer to the analytic Jacobian of the system; a locally controllable system yields nontrivial performance measures. Our results consist in a definition of the following local performance characteristics: the dexterity ellipsoid, the local dexterity, the energy efficiency and the motion efficiency. The usefulness of new local measures is demonstrated on the example of determining efficient configurations of a 3 d.o.f. planar nonholonomic manipulator fixed to a kinematic car type platform.

关键词： double nonholonomic manipulator control system efficiency motion patterns

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A multi-body approach for 6DOF modeling of Biomimetic Autonomous Underwater Vehicles with simulation and experimental results

A multi-body approach for 6DOF modeling of Biomimetic Autono...

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IEEE Conference on control Technology and Applications (CCTA)

作者： P. Krishnamurthy F. Khorrami J. de Leeuw M. E. Porter K. Livingston J. H. Long IntelliTech MicroSystems Inc. Bowie MD USA Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic Institute of New york University Brooklyn NY USA Vassar College Poughkeepsie NY USA

We propose a six degree-of-freedom multi-body approach for modeling and simulation of biologically-inspired (or Biomimetic) autonomous underwater vehicles (BAUVs), i.e., artificial fish. The proposed approach is based on considering the BAUV as comprised of multiple rigid bodies interlinked through joints; the external force and torque on each rigid body in the BAUV is expressed using quasi-steady aerodynamic theory and the joint constraints are imposed through an impulse-based technique. A BAUV simulation platform has been implemented based on the proposed modeling framework and has been applied to analyze a specific BAUV inspired by the electric ray. The hardware implementation of the electric ray inspired BAUV is also presented. Finally, sample simulation results and validation against experimental data collected from the electric ray inspired BAUV are also presented.

关键词： Biomimetics Underwater vehicles Aerodynamics Marine animals Biological system modeling Analytical models Computational fluid dynamics Hydrodynamics Biological control systems Robots

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Defining Spatial Regions in computer-Assisted Laparoscopic Surgical Training

Defining Spatial Regions in Computer-Assisted Laparoscopic S...

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International Conference and Workshop on engineering of computer-Based Systems

作者： Chuan Feng Jerzy W. Rozenblit Allan J. Hamilton Andrzej Wytyczak-Partyka Department of ECE University of Arizona Tucson Tucson AZ USA Department of Surgery University of Arizona Tucson Tucson AZ USA University of Arizona Tucson AZ US Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

To provide appropriate guidance in minimally invasive surgical training (and potentially an additional safety measure in the operating room), we propose a model called a "No-Fly Zone" based on the situational awareness enhancing system. By defining the configuration space of the instrument, a collision free region is defined. If an intrusion occurs into the no-fly region space, the system provides audio, visual, and haptic feedback to reinforce an appropriate maneuver. The proposed method is intended to refine surgical skills and to improve the patient safety. Usability experiment will be performed to test the system.

关键词： Minimally invasive surgery Computational modeling Space technology Feedback Surgical instruments Railway safety Haptic interfaces Abdomen Laparoscopes Psychology

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Grammar-based classifier system: A universal tool for grammatical inference

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WSEAS Transactions on computers 2008年第10期7卷 1584-1593页

作者： Unold, Olgierd Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wyb. Wyspianskiego 27 50-370 Wroclaw Poland

Grammatical Inference deals with the problem of learning structural models, such as grammars, from different sort of data patterns, such as artificial languages, natural languages, biosequences, speech and so on. This article describes a new grammatical inference tool, Grammar-based Classifier System (GCS) dedicated to learn grammar from data. GCS is a new model of Learning Classifier Systems in which the population of classifiers has a form of a context-free grammar rule set in a Chomsky Normal Form. GCS has been proposed to address both regular language induction and the natural language grammar induction as well as learning formal grammar for DNA sequence. In all cases near-optimal solutions or better than reported in the literature were obtained.

关键词： Context free grammars

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