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A WLS-Based Step-by-Step Identification Method for Industrial Robot Dynamics Parameters

A WLS-Based Step-by-Step Identification Method for Industria...

引用

International Conference on Control, Automation and robotics (ICCAR)

作者： Qianjiang Wang Mingxiu Kong Chuancheng Bian Hao Hong State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9798350373172

ISBN: (纸本)9798350373189

In order to improve the accuracy of robot dynamics parameter identification, this paper designs a step-by-step identification method based on weighted least squares. The robot dynamics model is first linearized to obtain the minimum parameter set. Subsequently, the friction model is built separately and experiments are designed to recognize the joint friction parameters first. Based on this, the excitation trajectory of finite term Fourier series is designed and optimized and data are collected. The joint moments obtained from the difference between the overall experimentally collected moments and the calculated friction moments are used to obtain the complete robot dynamics parameters based on weighted least squares identification. Comparison of the designed overall identification experiments shows that the total moment residuals of this method are reduced by 35.52% compared with the one-time identification method, which proves the effectiveness of this method.

关键词： Parameter estimation Accuracy Automation Service robots Friction Industrial robots Kinetic theory

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Real-time adaptive control for haptic manipulation with Active Observers

Real-time adaptive control for haptic manipulation with Acti...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： R. Cortesao JaeHeung Park O. Khatib Electrical and Computer Engineering Department Institute of System and Robotics (ISR) University of Coimbra Coimbra Portugal Robotics Group University of Stanford CA USA

The paper discusses compliant motion control using Active Observers (AOBs) applied in robotic manipulators. Stochastic estimation strategies for haptic manipulation are introduced. Stability and robustness analysis is... 详细信息

关键词： Adaptive control Haptic interfaces Robot kinematics Motion control Robust stability Manipulator dynamics Iron Control system synthesis Force control Torque control

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous robotics systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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A Model for Price Assessment of Residential Property in Bulgaria and its Implementation Options as SaaS

A Model for Price Assessment of Residential Property in Bulg...

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2012 International Conference on Innovation,Trade and Economics(ICITE 2012)

作者： Georgi Zabunov Dimiter Velev Plamena Zlateva University of National and World Economy Sofia Bulgaria Institute of System Engineering and Robotics - BAS Sofia Bulgaria

The paper presents a possible approach to assessment of residential real estate *** situation in small Bulgarian regional towns is *** segment of residential real estate market is often underestimated.A spatial regression model of hedonic pricing is *** model is based on available through the Internet official *** approach can be used by small businesses operating in the real estate market - real estate agencies,property/ facility management companies,developers,investors,and *** results are suitable to the modern SaaS systems.

关键词： Real estate,Residential real estate market,Real estate pricing factors,Hedonic pricing,SaaS

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A design of the preference acquisition detection system

A design of the preference acquisition detection system

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SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007

作者： Yokomatsu, Eriko Ito, Shin-Ichi Mitsukura, Yasue Cao, Jianting Fukumi, Minoru Graduate School of Bio-Applications and System Engineering Tokyo University of Agriculture and Technology Tokyo Japan Department of Human-Robotics Saitama Institute of Technology Saitama Japan Department of Information Science and Intelligent Systems University of Tokushima Tokushima Japan

ISBN: (纸本)4907764286

Recently in the world, there are a lot of reports concerning the relation between the EEG and the preference in the analysis of the biosignal. In this paper, personal preference using olfactory stimulus and the EEG are taken out. We measure the EEG when smelling favorite odor and dislikeable odor. Then, the feature data of the EEG are extracted by the proposed method. Furthermore, in order to show the effectiveness, we demonstrate simulation examples. From the simulation result, it was confirmed that the proposed method works well. © 2007 SICE.

关键词： EEG Factor analysis Odor Preference

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A Time-Optimal Trajectory Planning Algorithm for Six-Degree-of-Freedom Robots Based on NURBS Curves

A Time-Optimal Trajectory Planning Algorithm for Six-Degree-...

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International Conference on Control, Automation and robotics (ICCAR)

作者： Hao Hong Minxiu Kong Jiawang Wang Qianjiang Wang School of Mechatronics Engineering Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (数字)9798350373172

ISBN: (纸本)9798350373189

In this paper, we research and analyse the practical needs of robotic arm to complete the complex path planning of robotic arm and smooth transition of multi-attitude in the shortest time under the premise of satisfying the dynamics constraints, and put forward the time-optimal trajectory planning based on NURBS curves and multi-attitude interpolation algorithm based on quaternion with NURBS curves. Using the complex nature of quaternions, the quaternions are converted into three-dimensional space points for curve interpolation, and finally converted back to quaternions to achieve the second-order continuity of multi-gesture interpolation; a time-optimal trajectory planning algorithm based on NURBS curves is designed, which discretises the curves, and fits the NURBS curves using the discrete points. At the same time, the optimal rate solution under all the constraints is calculated point by point according to the discrete points on the motion path, and the optimal velocity curve satisfying the dynamics constraints is obtained, so as to achieve the time-optimal trajectory planning. Finally, the feasibility of the designed trajectory planning algorithm is verified in the simulation software and experimental platform, and it is proved that the algorithm can effectively improve the running speed by at least 30%.

关键词： Surface reconstruction Interpolation Trajectory planning Service robots Quaternions Heuristic algorithms Software algorithms

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Artificial Intelligence for Edge Computing Security: A Survey 2

Artificial Intelligence for Edge Computing Security: A Surve...

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2nd IEEE International Conference on Artificial Intelligence in Everything, AIE 2022

作者： Waguie, Francxa Tagne Al-Turjman, Fadi Near East University Faculty of Science Department of Information System Engineering Cyprus Ai and Robotics Institute Near East University Artificial Intelligence Engineering Dept. Mersin 10 Nicosia Cyprus University of Kyrenia Research Center for Ai and IoT Faculty of Engineering Mersin 10 Kyrenia Cyprus

ISBN: (数字)9781665474009

ISBN: (纸本)9781665474009

Edge computing is a prospective notion for expanding the potential of cloud computing. It is vital to maintaining a decent atmosphere free of all forms of security and breaches in order to continue utilizing computer services. The security concerns surrounding the edge computing environment has been impeded as a result of the security issues that surround the area. Many researchers have looked into edge computing security issues, however, not all have thoroughly studied the needs. Security requirements are the goals that specify the capabilities and operations that a process that is carried out by a system in order to eliminate various security flaws. The purpose of this study is to give a complete overview of the many different artificial intelligence technologies that are now being utilized for edge computing security with the intention of aiding research in the future in locating research potential. This article analyzed the most recent research and shed light on the following topics: state-of-the-art techniques used to combat security threats, technological trends used by the method, metrics utilize to assess the techniques' ability, and opportunities of research for future researchers in the area of artificial intelligence for edge computing security. © 2022 IEEE.

关键词： Edge computing

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Use of Social Media in Natural Disaster Management

Use of Social Media in Natural Disaster Management

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2012 International Conference on Innovation,Trade and Economics(ICITE 2012)

作者： Dimiter Velev Plamena Zlateva University of National and World Economy Sofia Bulgaria Institute of System Engineering and Robotics - BAS Sofia Bulgaria

The possibilities for the use of social media in the management of natural disasters are discussed in the paper.A brief overview of natural disasters is *** term social media is defined and their basic functions and components are *** types and the means for their implementation between participants in natural disaster events are *** guidelines for organizing information exchange by social media are proposed.

关键词： Web 2.0,social networking site,social media,natural disaster

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Some Risk Models for Loss Assessment Due to Natural Disasters

Some Risk Models for Loss Assessment Due to Natural Disaster...

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2012 International Conference on Economics, Business Innovation（ICEBI 2012）

作者： Plamena Zlateva Dimiter Velev Institute of System Engineering and Robotics - BAS Sofia Bulgaria University of National and World Economy Sofia Bulgaria

Various risk situations which describe the possible financial losses of the monitored objects due to occurrence of natural disasters, are considered. The main components of the risk assessment models are discussed: the number of natural disasters (adverse events) and the negative consequences (loss severity). The risk assessment results can support the stakeholders to take more informed decisions regarding the efficient allocation of the available funding for the improvement of the monitored objects protection from natural disasters. A concept for implementing the risk assessment models as a part of a Web integrated information system for risk management of natural disasters are outlined.

关键词： risk situation, loss assessment, risk model natural disasters, Web integrated information system

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Unsupervised learning of finite mixture models using mean field games

Unsupervised learning of finite mixture models using mean fi...

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2011 49th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2011

作者： Pequito, Sergio Aguiar, A. Pedro Sinopoli, Bruno Gomes, Diogo A. Department of Electrical and Computer Engineering Institute for System and Robotics Technical University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA 15213 United States Department of Mathematics Instituto Superior Tecnico Technical University of Lisbon Lisbon Portugal

ISBN: (纸本)9781457718168

In this paper we develop a dynamic continuous solution to the clustering problem of data characterized by a mixture of K distributions, where K is given a priori. The proposed solution resorts to game theory tools, in particular mean field games and can be interpreted as the continuous version of a generalized Expectation-Maximization (GEM) algorithm. The main contributions of this paper are twofold: first, we prove that the proposed solution is a GEM algorithm;second, we derive closed-form solution for a Gaussian mixture model and show that the proposed algorithm converges exponentially fast to a maximum of the log-likelihood function, improving significantly over the state of the art. We conclude the paper by presenting simulation results for the Gaussian case that indicate better performance of the proposed algorithm in term of speed of convergence and with respect to the overlap problem. © 2011 IEEE.

关键词： Game theory

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