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OPTIMIZING THE SUBDIVISION OF ELEMENTS IN DISCONTINUITY MESHING FOR HIERARCHICAL RADIOSITY

International Journal on Artificial Intelligence Tools 2003年第4期12卷 395-411页

作者： IOANNIS A. PANTAZOPOULOS SPYROS G. TZAFESTAS Intelligent Robotics and Automation Laboratory Signals Control and Robotics Division Electrical and Computer Engineering Department National Technical University of Athens Zographou Athens Greece

This paper presents a new topological structure for use in the context of hierarchical radiosity combined with discontinuity meshing. This is most useful for a new strategy adopted for subdividing the elements of a scene consisting of convex polygons. The subdivision is done in a local optimization manner keeping the aspect ratios of produced polygons low. The generated meshes give high visual accuracy.

关键词： Hierarchical radiosity discontinuity meshing mesh pre(post)-processing multigriding aspect-ratio

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Breaking des in tile assembly models

Breaking des in tile assembly models

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4th International Workshop on Advanced Computational Intelligence, IWACI 2011

作者： Chen, Zhihua Xu, Jin Shi, Xiaolong Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 Hubei China School of Electronics Engineering and Computer Science Peking University Beijing 100871 China

ISBN: (纸本)9781612843735

The potential use of molecular computation in attacking the Data Encryption Standard (DES) is already known, but the used computing models are not autonomous and require many tedious laboratory steps to execute. In this paper, a description of attacking DES using tile self assembly models in Θ(1) distinct tile types is given theoretically. The computation takes advantage of tiles' autonomy and the characteristic of highly distributed parallel computation. Each assembly configuration yields the ciphertext in linear time with respect to the times of the round function included in DES. The feasibility of finding the main key of DES in tile assembly models has been discussed. Analysis indicates that the tile assembly models might succeed by using a little of DNA under low error rate. © 2011 IEEE.

关键词： Self assembly

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A Real-time Local Planner Design for Smart Wheelchairs Based on Koopman Bilinear Model Predictive control

A Real-time Local Planner Design for Smart Wheelchairs Based...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Yu, Guanfeng Zhang, Han Wang, Zehao Wang, Jingchuan Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Ministry of Education of China Key Laboratory of System Control and Information Processing China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350372601

The paper introduces a Koopman bilinear model predictive control (KBMPC) as a local planner for smart wheelchair systems. This approach leverages the Koopman Operator to streamline the nonlinear terms in MPC, aiming to achieve superior real-time performance. In particular, we employ the Extended Dynamic Mode Decomposition (EDMD) method to approximate the infinite dimensional Koopman operator. To tackle the challenge of designing lifting functions, we systematically utilize the derivatives of known nonlinear structures to methodically derive lifting functions. This systematic approach facilitates the identification of a precise bilinear model. Next, we formulate the corresponding Koopman bilinear MPC problem. Finally, an iterative algorithm is employed to efficiently solve the KBMPC problem. This method linearizes the bilinear model around estimations and iteratively solves the resulting quadratic programming problem to refine estimations. This allows KBMPC to function as a real-time local planner for smart wheelchairs. The prediction of nonlinear terms shows that the identified Koopman bilinear model increases the prediction accuracy. Furthermore, experiments demonstrate the advantages of the designed KBMPC local planner, highlighting its superior real-time performance and predictive capabilities. © 2024 IEEE.

关键词： Iterative methods

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Region-based Q-learning for intelligent robot systems

Region-based Q-learning for intelligent robot systems

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： I.H. Suh J.H. Kim S.R. Oh Intelligent Control and Robotics Laboratory Department of Electronics Eng Hanyang University Kyunggi South Korea

It is desirable for autonomous robot systems to possess the ability to behave in a smooth and continuous fashion when interacting with an unknown environment. Since Q-learning requires a lot of memory and time to optimize a series of actions in a continuous state space, it may not be easy to apply the method to such a real environment. In this paper, for a continuous state space application, we propose a new method of Q-learning that incorporates a region-based reward assignment being used to solve a structural credit assignment problem and a triangular type Q-value model. Our learning method can estimate a current Q-value by a relationship with its neighboring states and has the ability to learn its actions similar to that of Q-learning. Thus, our method can enable robots to move smoothly in a real environment. To show the validity of our method, navigation comparison with Q-learning is given and visual tracking simulation results involving a 2-DOF SCARA robot are also presented.

关键词： intelligent robots State-space methods Learning systems Navigation intelligent control Orbital robotics Optimization methods State estimation control systems Fuzzy sets

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Remote control library and GUI development for Russian crawler robot Servosila Engineer 13

Remote control library and GUI development for Russian crawl...

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13th International Conference on Electromechanics and robotics "Zavalishin's Readings", ER(ZR) 2018

作者： Mavrin, Ilya Lavrenov, Roman Svinin, Mikhail Sorokin, Sergey Magid, Evgeni Intelligent Robotics Department Higher School of Information Technology and Information Systems Kazan Federal University Russia Robot Dynamics and Control Laboratory College of Information Science and Engineering Ritsumeikan University Japan Mechanical Engineering Department Chuvash State University Russia

Recently a large variety of robots are available on the global market for a reasonable price. Often it turns out that even though a robot has a high-quality hardware and architecture, an original software of the robot may have a number of drawbacks or lacks some important features, which are required for a particular application of the robot. In such cases a user may decide to implement new libraries and functionalities using a provided by a manufacturer application programming interfaces as in most cases code of a commercial robot system is not an open-source. A number of our ongoing research projects concentrate on applications of various robots in urban search and rescue operations, and in most of these projects utilize Russian crawler robot Servosila Engineer. This paper describes the development of a new ROS-based control software and graphical user interface for Servosila Engineer robot. © The Authors, published by EDP Sciences.

关键词： Graphical user interfaces

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Development of a Tetris playing robot controlled by KNR 15

Development of a Tetris playing robot controlled by KNR

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Wang, Ming Zhang, Yanlu Dong, Huifang Li, Xu Yu, Junzhi Department of Information and Electrical Engineering University of Shandong Jianzhu University Jinan250100 China Department of Intelligent Robotics State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

ISBN: (纸本)9781538660720

Robot plays an increasingly important role in daily life. This paper presents a vision-based wheeled robot for playing Tetris. How to control the robot is elaborated at length in this paper. The robot adopted a KNR controller as its core controller. With a CCD sensor, it identified colored blocks, lines and the destination. All algorithms are programed with LabVIEW. The experiments and the contest validated the effectiveness of the proposed vision-based wheeled robot system. © 2018 IEEE.

关键词： controllers

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Force-based Feedback for Haptic Device of Mobile Assembly Robot 27

Force-based Feedback for Haptic Device of Mobile Assembly Ro...

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27th International Workshop on Electric Drives: MPEI department of Electric Drives 90th Anniversary, IWED 2020

作者： Lukin, Aleksandr Demidova, Galina L. Rassolkin, Anton Vaimann, Toomas Roozbahani, Hamid ITMO University Faculty of Control System and Robotics Saint Petersburg Russia Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallin Estonia Lappeenranta University of Technology Laboratory of Intelligent Machines Lappeenranta Finland

ISBN: (纸本)9781728141589

This paper describes the control system for twin serial robot manipulators, installed on TIERA mobile robot, focusing in Robot Operating System (ROS) based control network and haptic feedback. Forward and inverse kinematics were used to translate the angular positions of Geomagic touch into joint angles of both UR10 manipulators. Force feedback allows the operator to sense forces applied to both grippers of robotic arms simultaneously using two Geomagic touch. Field tests of TIERA have shown that haptic feedback was established accurately, directions of forces inside the haptic device correspond with directions of forces affecting the gripper, and the current scaling coefficient is enough to sense forces on the haptic device. © 2020 IEEE.

关键词： Mobile robots

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A Comparison of the Effect of Sonar Grid Map Building Based on DSmT and DST

A Comparison of the Effect of Sonar Grid Map Building Based ...

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World Congress on intelligent control and Automation (WCICA)

作者： Xinde Li Xinhan Huang Min Wang Gang Peng Intelligent Control and Robotics Laboratory Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China

Information acquired in map building presents characteristics of uncertainty, imprecision and even high conflict, especially in the course of building grid map using sonar. Here a new method of information fusion - DSmT (Dezert-Smarandache theory) recently developed from DST and Bayesian theory was introduced to apply to managing and dealing with this uncertainty. Aiming to static environment, classic DSm mathematic modal was established by constructing the general basic belief assignment function, so that the global evidence grid map is built by applying the classic DSm rule. Pioneer II virtual mobile robot served as an experiment platform. By comparing the numbers of acquiring-information spot, the quality of grid map building and the time in need of finishing the global map building, better fusion results than that with DST are gotten. Especially when dealing with high conflictive information from sonar grid map building, DSmT was more effective and successful than DST. In short, this study not only found a new method for building map under static environment, but also supplied with a theory foundation for us to further apply hybrid DSmT to dynamic unknown environment and multi-robots' building map together

关键词： Sonar Uncertainty intelligent robots Mobile robots Buildings Bayesian methods intelligent control Laboratories Mathematics Finishing

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Multiple Mobile Robots Map Building Based on DSmT

Multiple Mobile Robots Map Building Based on DSmT

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IEEE Conference on robotics, Automation and Mechatronics

作者： Peng Li Xinhan Huang Min Wang Xiangjin Zeng Intelligent Control and Robotics Laboratory Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China

In this paper, a new multi-robot system framework is introduced to solve the problem of multi-robot map building. Compared with the classical architectures introduced in the literature, this kind of framework enhances overall system performance, especially in reducing calculations and communications, improving real-time performance. Meanwhile a general basic belief assignment function (gbbaf) is constructed to deal with the uncertain and imprecise information obtained by sonar sensors with the application of new information fusion method DSmT (dezert and smarandache theory) in the system and consideration of characteristics of sonar sensors. At last, Pioneer II mobile robots are used to carry out experiments of map building for both single-robot system and multi-robot system. The comparison of created ichnography with the real map testified the validity of DSmT and efficiency of multi-robot system for fusing imprecise information and map building proposed by this research.

关键词： Mobile robots Buildings Multirobot systems Sonar applications Sensor fusion Sensor phenomena and characterization Sensor systems and applications System performance Mobile communication Real time systems

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Neural Oscillator for Rhythmic Motion control of Biped Robot

Neural Oscillator for Rhythmic Motion Control of Biped Robot

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International Conference on Signal Processing, Communication and Networking (ICSCN)

作者： Carlos A. Acosta Calderon Mohan Rajesh Elara Changjiu Zhou Lingyun Hu Bharathiselvan Iniya Advanced Robotics and Intelligent Control Centre Advanced Robotics and Intelligent Control Centre Singapore polytechnics Singapore School ofElectrical and Electronics Department of Electronics and Communication Engineering SRM University Tamil Nadu India

This paper presents a structure of a neural oscillator which is used as Central Pattern Generator for a biped robot locomotion. This architecture is suitable to generate different rhythmic motions, according to the amplitude and frequency of the system. Results of the system on a simulated biped robot show the feasibility of this approach.

关键词： Oscillators Motion control Limit-cycles intelligent robots Signal generators Legged locomotion Neurons Humans Nonlinear dynamical systems intelligent control

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