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Asian Control Conference

作者： Nurulaqilla Khamis Mohammad Fadzli Haniff Hazlina Selamat Omar Farouq Lutfy Centre for Artificial Intelligence & Robotics Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia Centre for Artificial Intelligence & Robotics Electrical Engineeering Faculty Universiti Teknologi Malaysia Centre for Artificial Intelligence & Robotics Electrical Engineering Faculty Universiti Teknologi Malaysia Control & Systems Engineering Department University of Technology

ISBN: (纸本)9781479978632

Human will have their own preferences when they are walking such as direction in their movement, destination and walking speed. These preferences and walking patterns can be affected by several factors including psychological behavior of evading other people or obstacle to avoid any collision by exerting certain repulsion forces. To demonstrate plausible human movement pattern, agent simulation model as a tool has been developed in this research studies where the agent will represent the human with the physical characteristics of body radius and Field of View (FoV) to navigate their surroundings. The modification in the proposed agent model was done by utilizing the physical force approach which results in a simpler mathematical representation compared to the original model. In the proposed model, two parameters, namely, K_(ad) and K_(ro), are used to represent the agent motivational force to move towards its target destination and the obstacle repulsion, respectively. Moreover, heuristics and non-linear parameters were used in the proposed model to provide more realistic agent motion by maintaining their safety boundary from obstacles. To increase the accuracy of the modified model, the Particle Swarm Optimization (PSO) algorithm is used to find the optimal settings for the parameters of the agent basic movement model. The PSO has achieved superior results by optimizing the model parameters to provide safe distance trajectories between agents and obstacles.

关键词： Agents research report Repulsion model parameters original model walking barriers Human Force Movements Diaphysis of radius Two-Parameter Models Physical characteristics

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Control Schemes for Passive Teleoperation systems over Wide Area Communication Networks with Time Varying Delay

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International Journal of Automation and computing 2014年第1期11卷 100-108页

作者： Shafiqul Islam Xiaoping P.Liu Abdulmotaleb El Saddik Lakmal Seneviratne Jorge Dias School of Information Technology and Engineering University of Ottawa School of Engineering and Applied Sciences Harvard University Robotics and Mechanical Engineering Khalifa University of Science & Technology Department of Systems and Computer Engineering Carleton University Electrical Engineering New York University Division of Engineering Kings College London Robotics and Electrical and Computer Engineering Khalifa University of Science & Technology Institute of Systems and Robotics University of Coimbra

In this paper,the problem of time varying telecommunication delays in passive teleoperation systems is *** design comprises delayed position,velocity and position-velocity signals with the local position and velocity signals of the master and slave *** adaptive control terms are employed locally to cope with uncertain parameters associated with the gravity loading vector of the master and slave ***-Krasovskii function is employed for three methods to establish asymptotic tracking property of the closed loop teleoperation *** stability analysis is derived for both symmetrical and unsymmetrical time varying delays in the forward and backward communication channel that connects the local and remote ***,evaluation results are presented to illustrate the efectiveness of the proposed design for real-time applications.

关键词： Teleoperation telerobotics Lyapunov-Krasovskii functional time varying delay passive systems

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Selecting observers for source localization via error exponents

Selecting observers for source localization via error expone...

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IEEE International Symposium on Information Theory

作者： Sabina Zejnilović João Xavier João Gomes Bruno Sinopoli Carnegie Mellon University Pittsburgh PA US Institute for Systems and Robotics University of Lisbon Portugal Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA

ISBN: (纸本)9781467377058

In today's large social and technological networks, since it is unfeasible to observe all the nodes, the source of diffusion is determined based on the observations of a subset of nodes. The probability of source localization error depends on the particular choice of observer nodes. We propose a criterion for observer node selection based on the minimal pairwise Chernoff distance between distributions of different source candidates. The proposed approach is optimal for the fastest error decay with vanishing noise. Although suboptimal for non-negligible noise, through simulation, we demonstrate its applicability in achieving low error probability. We also analyze the effect of network topology on the resulting error by bounding the smallest Chernoff distance for some specific networks.

关键词： Observers Noise Error probability Measurement Topology Noise level Network topology

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Robot control as a service - Towards cloud-based motion planning and control for industrial robots 10

Robot control as a service - Towards cloud-based motion plan...

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10th International Workshop on Robot Motion and Control, RoMoCo 2015

作者： Vick, Axel Vonásek, Vojtěch Pěnička, Robert Krüger, Jörg Department of Industrial Automation Technology Institute for Machine Tools and Factory Management Technische Universität Berlin Pascalstr. 8-9 Berlin10587 Germany Czech Technical University in Prague Faculty of Electrical Engineering Technicka 2 Prague16627 Czech Republic Department of Robotics and Automation Fraunhofer Institute for Production Systems and Design Technology IPK Pascalstr. 8-9 Berlin10587 Germany

ISBN: (纸本)9781479970438

This paper introduces a new concept for flexible motion planning and control of industrial robots. Instead of a closed monolithic architecture, an open service-based framework is proposed. The services can be run hardware-independent on a decentralized IT infrastructure (Cloud) allowing a fast reconfiguration of control modules and their multiple usage in different tasks. The services can be run on a dedicated PC or on individual virtual machines inside a single computing cluster. The proposed service-based framework was implemented and tested for the motion planning of a robotic manipulator. Effects on control performance, availability and scalability are investigated and documented. © 2015 IEEE.

关键词： Motion planning

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Dexterity optimization of a three degrees of freedom DELTA parallel manipulator 1

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ROBOT 2013: 1st Iberian robotics Conference

作者： Silva, Vitor Gaspar Tavakoli, Mahmoud Marques, Lino Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal

ISBN: (纸本)9783319036526

This paper demonstrates dexterity optimization of a Deltalike three degrees of freedom (3 DOF) spatial parallel manipulator. The parallel manipulator consists of three identical chains and is able to move on all three translational axes. In order to optimize the manipulator in term of dexterity, a Genetic Algorithm (GA) global search method was applied. This algorithm aims to propose the best design parameters such as the length of the links which results in a better dexterity. Results of the optimization are presented. © Springer International Publishing Switzerland 2014.

关键词： Manipulators

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Global Exponential Stabilization on the n-Dimensional Sphere

Global Exponential Stabilization on the n-Dimensional Sphere

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American Control Conference

作者： Pedro Casau Christopher G. Mayhew Ricardo G. Sanfelice Carlos Silvestre Department of Electrical and Computer Engineering and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico Universidade Tecnica de Lisboa 1049-001 Lisboa Portugal Department of Computer Engineering University of California Santa Cruz CA 95064 Department of Electrical and Computer Engineering of the Faculty of Science and Technology of the University of Macau Macao China

ISBN: (纸本)9781479917730

In this paper, we show that the existence of centrally synergistic potential functions on the n-dimensional sphere, denoted by S~n, is a sufficient condition for the global asymptotic stabilization of a point in S~n. Additionally, if these functions decrease exponentially fast during flows and are bounded from above and from below by some polynomial function of the tracking error, then the reference point can be globally exponentially stabilized. We construct two kinds of centrally synergistic functions: the first kind consists of a finite family of potential functions on S~n while the second kind consists of an uncountable number of potential functions on S~n. While the former generates a simpler jump logic, the latter is optimal in the sense that it generates flows with minimal length.

关键词： Tin Manifolds Robots Trajectory Robustness Three-dimensional displays Computers

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Robotic Software System for the Disaster Circumstances: System of Team KAIST in the DARPA robotics Challenge Finals

Robotic Software System for the Disaster Circumstances: Syst...

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IEEE-RAS International Conference on Humanoid Robots

作者： Jeongsoo Lim Inwook Shim Okkee Sim Hyunmin Joe Inhyeok Kim Jungho Lee Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory Department of Electrical Engineering College of Information Science and Technology Korea Advanced Institute of Science and Technology Rainbow Co.

ISBN: (纸本)9781479968862

We developed a software system for operating the humanoid robot DRC-HUBO+ in disaster circumstances that the US Defense Advanced Research Projects Agency suggested. This system was developed under the consideration of the stability of whole system, the systemic software environment for multiple developers, and the recovery routine when the system encounters a seriously abnormal situation. With these design goals, we devised our strategy for three domains: system, vision, and communication. Following the strategy we made two software frameworks (PODO and VPC) and one logical flow of data for remote process management. With this software system, we conducted all Tasks in the DARPA robotics Challenge Finals, and we won the competition.

关键词： Software systems DARPA design target robotics Disasters Religious Missions flow datas

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Structure from motion;ToF-aided 3D reconstruction of isometric surfaces

Structure from motion;ToF-aided 3D reconstruction of isometr...

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3rd International Conference on Pattern Recognition Applications and Methods, ICPRAM 2014

作者： Jafar Hosseini, S. Araujo, Helder Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Coimbra Portugal

ISBN: (纸本)9789897580185

This paper deals with structure-from-motion (SfM) for non-rigid surfaces that undergo isometric motion. Our SfM framework aims at the joint estimation of the 3D surface and the camera motion by combining a ToF range sensor and a monocular RGB camera through a template-based approach. Our goal is to use the 2D low-resolution depth estimates provided by the TOF camera, in order to facilitate the estimation of non-rigid structure using the high-resolution images obtained by means of a RGB camera. In this paper, we model isometric surfaces with a triangular mesh. The ToF sensor is used to obtain the depth of a sparse set of 3D feature points, from which the depth of the mesh vertices can be recovered using a multivariate linear system. Subsequently, we form a non-linear constraint based on the projected length of each edge. A second non-linear constraint is then used for minimizing re-projection errors. These constraints are finally incorporated into an optimization scheme to solve for structure and motion. Experimental results show that the proposed approach has good performance even if only a low-resolution depth image is used. Copyright © 2014 SCITEPRESS.

关键词： Linear systems

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Dynamic Control of a Walking Robot Using the Versatile Intelligent Portable Robot Platform

Dynamic Control of a Walking Robot Using the Versatile Intel...

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International Conference on Control systems and Computer Science (CSCS)

作者： Victor Vladareanu Corina Boscoianu Radu I. Munteanu Hongnian Yu Luige Vladareanu Robotics and Mechatronics Department Romanian Academy Institute of Solid Mechanics Bucharest ROMANIA Department of Automatic Control and Systems Engineering Faculty of Electrical Engineering Technical University of Cluj-Napoca Napoca ROMANIA School of Design Engineering and Computing Bournemouth University Poole UK Bournemouth UK

This paper studies the walking robot hybrid dynamic control in real time in order to increase movement stability of walking robots on flat terrain, with obstacles or uneven ground, at constant or variable walking speed and variable load. The motion trajectory positions of the robot leg end-effect or and joints, reaction forces and the walking robot dynamics are analyzed and the virtual projection method is adopted using the Versatile Intelligent Portable Robot Platform VIPRO. The obtained results lead to higher performance in relation to the walking robots movement possibilities, the real-time robot balance control, gait control and predictable motion control, providing increased mobility and stability, and also the development of new technological capabilities of the control systems.

关键词： Legged locomotion Stability analysis Control systems Real-time systems Robot kinematics Dynamics

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Microscopic image segmentation using quantum inspired evolutionary algorithm

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Journal of Advanced Microscopy Research 2015年第3期10卷 164-173页

作者： Choudhury, Alokeparna Samanta, Sourav Dey, Nilanjan Ashour, Amira S. Balas-Timar, Dana Gospodinov, Mitko Gospodinova, Evgeniya Department of Computer Science and Engineering University Institute of Technology Burdwan West Bengal713104 India Department of Information Technology Techno India College of Technology Kolkata700156 India Department of Electronics and Electrical Communications Engineering Faculty of Engineering Tanta University 31527 Egypt Aurel Vlaicu University of Arad Arad310130 Romania Institute of Systems Engineering and Robotics Bulgarian Academy of Sciences Sofia1113 Bulgaria

Image segmentation has became an important research area for various medical imaging fields. The automated complex analytical process makes it a huge time consuming procedure. The intention to microscopic images segmentation is to extract the cellular, nuclear or tissue components. This is considered a challenging process due to the large variations of features of these components (size, shape, orientation or texture). In this paper, a novel approach to deal with rats' microscopic hippocampus images segmentation based on the hybrid evolutionary strategy (ES) is proposed. The proposed work used the quantum-inspired evolutionary algorithm (QIEA) to establish the optimal level for the multilevel thresholding. The QIEA depends on both quantum and evolutionary computing. An intensive works for automatic hippocampus segmentation is performed on a database of 179 images. The acquired results have demonstrated that the proposed algorithm provides superior segmentation with eight levels (L = 8), that offer the highest correlation between the original and the corresponding segmented image. © Copyright 2015 American Scientific Publishers All rights reserved.

关键词： Evolutionary algorithms

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