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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Rakprayoon, Pannatee Sanposh, Peerayot Chayopitak, Nattapon Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Pathumthani 12120 Thailand

ISBN: (纸本)9781457721373

This paper studies the real-time adaptive and repetitive control problem using the Desired Compensation Learning Law (DCLL) that has the advantage of robustness under the presence of unknown parameters with low memory requirement. The control structure of DCLL consists of a feedforward compensator that is designed by a linear combination of shape functions that is adaptable to parameter variations;hence the selection of appropriate shape functions plays an important role in the adaptive ability and accuracy of DCLL. In this study, the B-spline shape function is proposed to be used under the slowly updating scheme and the obtained results show that the robustness and accuracy of the tracking can be greatly improved even under payload variation and torque limits. © 2011 IEEE.

关键词： Interpolation

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Stochastic H_2 Optimal Control of Discrete-Time Markov Jump Systems with Periodic Coefficients

Stochastic H_2 Optimal Control of Discrete-Time Markov Jump ...

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American Control Conference

作者： Hongji Ma Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781457710957

In this paper, the H_2 optimal state-feedback control problem is investigated for discrete-time Markov jump systems subject to periodic coefficients and multiplicative noise. First of all, an exhaustive analysis is pursued to set up an H_2 performance criterion (H_2 norm), which can be characterized by the periodic solutions of two generalized Lyapunov equations. Based on the obtained H_2 norm, the H_2 optimal state-feedback controller is designed in terms of the stabilizing solution of a discrete-time generalized Riccati equation with periodic coefficients. Moreover, this stabilizing solution can be computed efficiently by the available iterative algorithm.

关键词： Markov processes Noise Educational institutions Riccati equations Optimal control

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Lane Keeping Control for Autonomous 4WS4WD Vehicles Subject to Wheel Slip Constraint

Lane Keeping Control for Autonomous 4WS4WD Vehicles Subject ...

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American Control Conference

作者： Changfang Chen Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecom-munications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781457710957

This paper proposes a robust control scheme that prevents an autonomous 4WS4WD vehicle from lane departure and wheel skidding in presence of road curvature and aerodynamic drag. The control objectives can be specified as various closed-loop specifications, such as lane keeping, wheel slip constraint and disturbance attenuation. An LMI approach is used to deal with these objectives simultaneously, which combines the quadratic stabilization technique with constraints on inputs. Simulation results show that the proposed controller effectively limits the combined wheel slip and improves the lane keeping performance.

关键词： Wheels Vehicles Roads Tires Friction Aerodynamics Vehicle dynamics

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Tracking with pointing gesture recognition for human-robot interaction

Tracking with pointing gesture recognition for human-robot i...

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2011 IEEE/SICE International Symposium on System Integration, SII 2011

作者： Luo, Ren C. Chang, Shu-Ruei Yang, Yee-Pien Intelligent Robotics and Automation Laboratory Department of Electrical Engineering National Taiwan University No. 1 Sec. 4 Roosevelt Road Taipei 10617 Taiwan

ISBN: (纸本)9781457715235

In the field of human-robot interaction, it is the key problem for the robot to know the information of the interactive partner. Without obtaining these information the robot couldn't realize what is the partner means. Currently most of the interactive robots have vision sensors to catch human face, and then perform some reactions to the interactive partner. But it could only access under strict conditions because when the partner get out of the sight, the robot couldn't know where to find him. So it is important for the robot to find other information indicated by partner. Some of the interactive robot has audition sensors to localize the sound source. The robot could recognize the location of the sound source produced by partner and try to face him. But the audition system need more computation and hardware resources, so it's hard to be embed in a existing systems. Therefore, we try to find another solution. In this paper, we presented a tracking system with pointing gesture recognition for human-robot interaction. By showing fingers we can provide information for the robot to know that there is another person who wants to interact with it. Finally the whole system will implement at our humanoid robot head. © 2011 IEEE.

关键词： Human robot interaction

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New simplified model for an under-actuated quadruped robot in bounding motion

New simplified model for an under-actuated quadruped robot i...

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2011 2nd International Conference on Control, Instrumentation and automation, ICCIA 2011

作者： Kazemi, Hamed Majd, Vahid Johari Moghaddam, Majid M. Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Modares University Tehran Iran Robotics and Mechatronics Laboratory Mechanical Engineering Department Tarbiat Modares University Tehran Iran

ISBN: (纸本)9781467316903

In this paper, a quadruped robot is studied in bounding motion. A new simplified model of quadruped robot in bounding motion with four actuated and two unactuated joints is developed. The kinetic and potential energies of the under-actuated mechanical model of the quadruped robot are obtained and the dynamics of the robot model is derived using the Lagrangian method. It is shown that the dynamical equation of the proposed simplified model belongs to a class of second-order nonholonomic mechanical systems. The main motivation of this paper is to obtain quadruped model in bounding motion such that one can apply different control methods directly or after transformation in the obtained dynamic equations. Utilizing MATLAB, dynamics of the planar model has been simulated in backward and forward states. Physical parameters of the Little-Dog robot as an instance of the quadruped robot are considered in simulation The simulation is without control and therefore is unstable but it illustrates robot's manner in bounding motion before instability. © 2011 IEEE.

关键词： Potential energy

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Detecting CD20-Rituximab interaction forces using AFM single-molecule force spectroscopy

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Chinese Science Bulletin 2011年第35期56卷 3829-3835页

作者： LI Mi LIU LianQing XI Ning WANG YueChao DONG ZaiLi LI GuangYong XIAO XiuBin ZHANG WeiJing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate University of Chinese Academy of Sciences Beijing 100049 China Department of Electrical and Computer Engineering Michigan State University East Lansing 48824 USA Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh 15261 USA Department of Lymphoma Affiliated Hospital of Military Medical Academy of Sciences Beijing 100071 China

The invention of atomic force microscopy(AFM) has provided new technology for measuring specific molecular interaction *** AFM single-molecule force spectroscopy(SMFS) techniques,CD20-Rimximab rupture forces were measured on purified CD20 proteins,Raji cells,and lymphoma patient B *** molecules were linked onto AFM tips using AFM probe functionalization technology,and purified CD20 proteins were attached to mica using substrate functionalization *** cells(a lymphoma cell line) or lymphoma patient cells were immobilized on a glass substrate via electrostatic adsorption and chemical *** topography of the purified CD20 proteins,Raji cells,and patient lymphoma cells was visualized using AFM imaging and the differences in the rupture forces were analyzed and *** results showed that the rupture forces between the CD20 proteins on Raji cells and Rituximab were markedly smaller than those for purified CD20 proteins and CD20 proteins on lymphoma patient B *** findings provide an effective experimental method for investigating the mechanisms underlying the variable efficacy of Rituximab.

关键词：原子力显微镜相互作用力单分子光谱 Raji细胞蛋白质纯化功能化技术 AFM探针

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Human robot interactions using speech synthesis and recognition with lip synchronization

Human robot interactions using speech synthesis and recognit...

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Annual Conference of Industrial Electronics Society

作者： Ren.C. Luo Shu-Ruei Chang Chien-Chieh Huang Yee-Pien Yang Intelligent Robotics and Automation Laboratory Department of Electrical Engineering National Taiwan University Taipei Taiwan

The most common way for human interaction to understand each other is through communication with each other, so as in the human robot interaction. The ability to talk is one of the most important technologies in the field of intelligent robotics. When it comes to talk there are two basic type of signal transmitted by people: Auditory and Visual. Speech synthesis and speech recognition are crucial abilities for auditory signal. Likewise, lip synchronization is the key technique for visual signal. The mimic lip synchronization could contribute to the improvement of human robot interaction. In this paper, we design a lip synchronization system for our humanoid robot using Microsoft Speech API (SAPI). With totally thirty degrees of freedom (twelve for mouth) we build sixteen lip shapes to perform all the visemes. With proposed system the precise and mimic lip synchronization can let the users to have favorable impression, and gains the closeness to the people. Finally the whole system is implemented at our humanoid robot head to demonstrate the success of the system proposed herein.

关键词： Synchronization Speech Robot kinematics Speech recognition Humans Visualization

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Tracking with pointing gesture recognition for human-robot interaction

Tracking with pointing gesture recognition for human-robot i...

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IEEE/SICE International Symposium on System Integration

作者： Ren. C. Luo Shu-Ruei Chang Yee-Pien Yang Intelligent Robotics and Automation Laboratory Department of Electrical Engineering National Taiwan University Taipei Taiwan

关键词： Face Robot kinematics Thumb Humans Robot sensing systems

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Fuzzy cognitive maps: basic theories and their applications in medical problems

Fuzzy cognitive maps: basic theories and their applications ...

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Mediterranean Conference on Control and automation (MED)

作者： Peter P. Groumpos Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Rion Greece

This paper investigates a hybrid methodology that combines fuzzy logic and neural networks, Fuzzy Cognitive Map (FCM), for modeling and controlling Supervisory Control Systems. A mathematical description of Fuzzy Cognitive Maps (FCM) will be presented and new construction methods will be extensively examined. Synthesizing different FCM will be presented and explained with examples. The neural network nature of FCM will be briefly discussed. The problem of decision making process and a Decision Tree-FCM model is presented. A successful application of FCM theory in a medical problem (bladder tumor) is provided.

关键词： Mathematical model Fuzzy cognitive maps Equations Pragmatics Humans Analytical models Control systems

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Target object identification and localization in mobile manipulations

Target object identification and localization in mobile mani...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Jiang, Yong Xi, Ning Zhang, Qin Jia, Yunyi Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang 110016 China Mechatronic Engineering Beijing University of Posts and Telecommunications Beijing 100876 China

ISBN: (纸本)9781457721373

How to make mobile manipulator autonomously identify and locate target object in unknown environment, this is a very challenging question. In this paper, a multi-sensor fusion method based on camera and laser range finder (LRF) for mobile manipulations is proposed. Although the camera can acquire rich perceptual information, the image processing is very complex and easily influenced from the change in ambient light. Moreover, it can not directly provide the depth information of the environment. Since the LRF has the ability to directly measure 3D coordinates and the stability against the ambient light influence, meanwhile, the camera has the ability to acquire color information, the combination of the two sensors by making use of their advantages is utilized to obtain more accurate measurements as well as to simplify information processing. To overlay the camera image with the measurement points of the LRF pitching scan and to reconstruct the 3D image which includes the depth-of-field information, the model and the calibration of the system are built. Based on the combination of the color features extracted from the color image and the shape, size features extracted from the 3D depth-of-field image, the target object identification and localization are implemented autonomously. In order to extract the shape and size features, a triangular facet normal vector clustering (TFNVC) algorithm is introduced. The effectiveness of the proposed method and algorithm are validated by some experimental testing and analysis carried out on the mobile manipulator platform. © 2011 IEEE.

关键词： Cameras

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