The localization of indoor mobile robots was studied. Point cloud data of surrounding environments were obtained by a two-dimensional laser range finder, and then three scan-matching algorithms, including Trimmed ICP ...
详细信息
The localization of indoor mobile robots was studied. Point cloud data of surrounding environments were obtained by a two-dimensional laser range finder, and then three scan-matching algorithms, including Trimmed ICP (iterative closest point) algorithm, corner feature matching based HAYAI algorithm, as well as point-line matching based PLICP algorithm, were used respectively to estimate the relative displacement between two consecutive measurements to calibrate the localization result from odometer approaches. Better accuracy of long-range localization of indoor mobile robot could be achieved thereby. In the simulation, both the real-time property and accuracy of the mentioned three methods used were compared, showing the effectiveness and application field of the methods.
Traditional batch model-based Collaborative Filtering (CF) approaches typically assume a collection of users' rating data is given a priori for training the model. They suffer from a common yet critical drawback, ...
详细信息
Supervisory control reconfiguration has been paid more attention due to its capacity of handling the uncertainties including resource failures, capability degradation, and task changes in discrete event systems. Howev...
详细信息
In this work, we present a new framework for large scale online kernel classification, making kernel methods efficient and scalable for large-scale online learning tasks. Unlike the regular budget kernel online learni...
详细信息
ISBN:
(纸本)9781577356332
In this work, we present a new framework for large scale online kernel classification, making kernel methods efficient and scalable for large-scale online learning tasks. Unlike the regular budget kernel online learning scheme that usually uses different strategies to bound the number of support vectors, our framework explores a functional approximation approach to approximating a kernel function/matrix in order to make the subsequent online learning task efficient and scalable. Specifically, we present two different online kernel machine learning algorithms: (i) the Fourier Online Gradient Descent (FOGD) algorithm that applies the random Fourier features for approximating kernel functions;and (ii) the Nyström Online Gradient Descent (NOGD) algorithm that applies the Nyström method to approximate large kernel matrices. We offer theoretical analysis of the proposed algorithms, and conduct experiments for large-scale online classification tasks with some data set of over 1 million instances. Our encouraging results validate the effectiveness and efficiency of the proposed algorithms, making them potentially more practical than the family of existing budget kernel online learning approaches.
As the rapid development MEMS (micro-electromechanical systems) packaging technology and magnetoresistance material technology, MR (magnetoresistive) sensors based on magnetoresistance effect which can carry out point...
详细信息
A new method based on human-likeness assessment and optimization concept to solve the problem of human-like ma- nipulation planning for articulated robot is proposed in this paper. This method intrinsically formulates...
详细信息
A new method based on human-likeness assessment and optimization concept to solve the problem of human-like ma- nipulation planning for articulated robot is proposed in this paper. This method intrinsically formulates the problem as a con- strained optimization problem in robot configuration space. The robot configuration space is divided into different subregions by human likeness assessment. A widely used strategy, Rapid Upper Limb Assessment （RULA） in applied ergonomics, is adopted here to evaluate the human likeness of robot configuration. A task compatibility measurement of the robot velocity transmission ratio along a specified direction is used as the target function for the optimization problem. Simple illustrative examples of this method applied to a two Degree of Freedom （DOF） planar robot that resembles the upper limb of a human are presented. Further applications to a humanoid industrial robot SDA10D are also presented. The reasonable planning results for these applications assert the effectiveness of our method.
Compared with fossil fuel vehicles, plug-in hybrid electric vehicles (PHEVs) and electric vehicles (EVs) maintain obvious and profound significance for the less city pollutant and operation noise. Moreover, EVs can be...
详细信息
ISBN:
(纸本)9781467327275
Compared with fossil fuel vehicles, plug-in hybrid electric vehicles (PHEVs) and electric vehicles (EVs) maintain obvious and profound significance for the less city pollutant and operation noise. Moreover, EVs can benefit operation of the power systems via friendly feeding back the energy stored in the EV batteries into the grids when needed. The related research about charging of batteries for EVs has been extensively developed, which is one of the main issues for the application of EVs. This paper focuses on the cooperation between the battery demand and the supply curve problems, when the charging of EV is operated in the swapping way. Firstly, the concept of the swapping battery requirement (SBR) adequacy is presented, and then the corresponding mathematical model is established and the algorithm based on the Monte Carlo method is proposed. In addition, some critical factors which have great influence on the SBR and reserved fully charged battery (RFCB) curves are demonstrated, such as EVs driving cycle, battery capacity, average energy-consuming level and charging time. Simulation results are presented to verify the proposed method.
Nonverbal and noncontact behaviors play a significant role in allowing service robots to structure their interactions *** this paper, a novel human-mimic mechanism of robot’s navigational skills was proposed for deve...
详细信息
Nonverbal and noncontact behaviors play a significant role in allowing service robots to structure their interactions *** this paper, a novel human-mimic mechanism of robot’s navigational skills was proposed for developing sociallyacceptable robotic *** on the sociological and physiological concerns of interpersonal interactions in movement,several criteria in navigation were represented by constraints and incorporated into a unified probabilistic cost grid for safemotion planning and control, followed by an emphasis on the prediction of the human’s movement for adjusting the robot’spre-collision navigational *** human motion prediction utilizes a clustering-based algorithm for modeling humans’indoor motion patterns as well as the combination of the long-term and short-term tendency prediction that takes into accountthe uncertainties of both velocity and heading *** simulation and real-world experiments verified the effectivenessand reliability of the method to ensure human’s safety and comfort in navigation.A statistical user trials study was also given tovalidate the users’favorable views of the human-friendly navigational behavior.
Research of job scheduling methods of arc welding robot is focused in this paper. The job scheduling of arc welding robot is considered as a Traveling-salesman-Problem. Welding job scheduling is modeled and relevant j...
详细信息
This paper presents a speed-sensorless control algorithm for induction motors, based on the stator fluxoriented control. The algorithm has the advantage of insensitivity to rotor parameters and load varying, stator fl...
详细信息
暂无评论