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检索条件"机构=Lab. for Automation and Robotics"

共 93 条记录，以下是1-10 订阅

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Two-stage learning algorithm for fuzzy cognitive maps

Two-stage learning algorithm for fuzzy cognitive maps

引用

2004 2nd International IEEE Conference 'Intelligent Systems' - Proceedings

作者： Papageorgiou, Elpiniki I. Groumpos, Peter P. Lab. for Automation and Robotics University of Patras Patras 26500 Greece

ISBN: (纸本)0780382781

A two-stage learning algorithm based on Hebbian learning rule and evolutionary computation technique is presented in this paper for training Fuzzy Cognitive Maps. Fuzzy Cognitive Maps is a soft computing technique for modeling complex systems, which combines the synergistic theories of neural networks and fuzzy logic. The methodology of developing Fuzzy Cognitive Maps (FCMs) relies on human expert experience and knowledge, but still exhibits weaknesses in utilization of learning methods. We investigate in this work a coupling of Differential Evolution algorithm and Unsupervised Hebbian learning algorithm, using both the global search capabilities of Evolutionary techniques and the effectiveness of the Nonlinear Hebbian learning rule. The proposed algorithm applied successfully in a real-world process control problem. Experimental results suggest that the two-stage learning strategy Is capable to train FCMs effectively leading the system to desired steady states and determining the apprpriate weight matrix.

关键词： Learning algorithms

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Steering of drift-free nonholonomic systems under a discrete levels control constraint

Steering of drift-free nonholonomic systems under a discrete...

引用

3rd ASCE Specialty Conference on robotics for Challenging Environments, robotics 1998

作者： Skiadas, Photis G. Koussoulas, Nick T. Lab. for Automation and Robotics Univ. of Patras Rion Patras 26500 Greece

ISBN: (纸本)0784403376

We solve the Motion Planning Problem for nonholonomic systems without drift under a discrete levels constraint, i.e. when it is driven by input that can assume only discrete levels. In particular, we propose an algorithm that steers a drift-free system from a given initial point to a given final point within a finite time interval and we prove that the proposed algorithm provides an exact steering when the system is nilpotentizable. For a general system without drift, i.e., for a drift-free system that is neither nilpotent nor feedback nilpotentizable, the discrete levels control can be computed by an iterative algorithm. Finally, we explore the details of the proposed methods through a specific example. © 1998 American Society of Civil Engineers.

关键词： Automobile steering equipment

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Robust position control of an autonomous underwater vehicle: A comparative study

Robust position control of an autonomous underwater vehicle:...

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2013 IEEE International Conference on automation Science and Engineering, CASE 2013

作者： Roy, Spandan Nandy, Sambhunath Shome, Sankar Nath Ray, Ranjit Robotics and Automation Lab. CSIR-Central Mechanical Engineering Research Institute Durgapur India

ISBN: (纸本)9781479915156

The highly non-linear and coupled dynamics of Autonomous Underwater Vehicles (AUVs), added with modeling errors, parametric uncertainties and payload variations pose a major challenge towards autonomous control of AUVs for various application requirements. Environmental hazards such as ocean currents sometimes dominate and make the control of underwater systems even more complicated. The proposed control technique addresses the design of a robust controller for reasonably accurate path tracking of AUVs incorporating the effects of above uncertain paradigms within some known bounds. It is well-known that measurement noise, which is associated with the navigational sensors, degrades the performance of the controller leading to substantial deviation from the reference path. Incorporation of sensor fusion technique, which is driven by sensors error characteristics, is necessary to improve the controller performance. Performance of the controller is verified using the real-life parameters an AUV, developed at CSIR-CMERI, Durgapur, India considering a few uncertainties. © 2013 IEEE.

关键词： Autonomous underwater vehicles

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ProCreator: Automating the creation of buffer matrices for protein crystallization

引用

JALA - Journal of the Association for lab.ratory automation 2003年第2期8卷 52-54页

作者： Aguero, Albert Merck and Co. Inc. Research Information Services Lab. Automation and Robotics United States

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Design and realization of control system of humanoid robot

Design and realization of control system of humanoid robot

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2005 IEEE International Conference on robotics and Biomimetics, ROBIO

作者： Hua, Zhong Zhenwei, Wu Chunguang, Bu Robotics Lab. Shenyang Institute of Automation Chinese Academy of Sciences Graduate School Chinese Academy of Sciences Robotics Lab. Shenyang Institute of Automation Chinese Academy of Sciences 114# Nanta Street Shenyang 110016 China

ISBN: (纸本)0780393155

Aimed at structure of Humanoid Robot and requirements for control performance, this paper designs and realizes joint controller based on CAN bus, and structures an effective credible control system by connecting all joint controllers, force sensors, task management computer and upper limbs control computer together;and realizes the transmission of audio and video information by wireless LAN;constitutes whole control system of humanoid robot. Characteristics of the system are simple structure, high reliability, good real-time, and friendly human-machine interface. This paper includes mainly: overall structure of the humanoid robot, design and implement of controller, topology of control system, and bring forward some imaginations to enhance performance of the control system. ©2005 IEEE.

关键词： Intelligent robots

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CAD-based robot vision: From CAD models to vision models

CAD-based robot vision: From CAD models to vision models

引用

1992 IEEE International Symposium on Industrial Electronics, ISIE 1992

作者： Tian, Jie Tai, Juwei Gao, Zhengyu Institute of Automation Academia Sinica Robotics Lab. C.A.S. Beijing100080 China

ISBN: (纸本)0780300424

In this paper, we focus on an open problem in *** area of 3D object recognition-vision model building for 3D objects. We integrating CAD system and robot vision system and led to a third type of vision model building for robot vision system : Adaptation of pre-existing CAD models of objects for recognition. We have developed a CAD system that contain a polyhedral approximation solid modeling and quadratic rational surfaces. We are developing a robot vision system which uses 3D object description created on our CAD system and expressed in both the industry standard PDES ( Product Data Exchange Specification ) from and performs geometric inferencing to obtain vision model which can be stored in a database of models for 3D object recognition. © 1992 IEEE.

关键词： Computer aided design

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Virtual prototyping for conceptual design of a tracked mobile robot

Virtual prototyping for conceptual design of a tracked mobil...

引用

2006 Canadian Conference on Electrical and Computer Engineering, CCECE'06

作者： Malik, Sadath M. Jun, Lin Goldenberg, Andrew A. Robotics and Automation Lab. Dept. of Mech. and Ind. Eng. University of Toronto

ISBN: (纸本)1424400384

Mobile robots equipped with manipulator arms are often required to operate on rough and uneven terrains. During the design stage, the designer needs to verify the robots performance on various test terrains. Physical prototyping although is more desirable, may prove to be expensive and time consuming. Virtual prototyping can be used especially in the conceptual design stage in order to significantly reduce the amount of physical testing that is required. This paper discusses the application of virtual prototyping using ADAMS software for tracked mobile robots. The virtual prototype was created for an existing robot and was validated with tests done on the physical robot. Different types of virtual terrains were created and dynamic simulations of the robot were performed on these terrains. The simulation results helped in many ways including visualization of the robot motion on different terrains and in determining the limiting dimensions of obstacles, stairs, ditches, etc., that the robot can safely negotiate. The described process can be applied to new robot designs, while still in their conceptual design stage.

关键词： Mobile robots

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Motion control of differential wheeled robots with joint limit constraints

Motion control of differential wheeled robots with joint lim...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Gonzalez-Gomez, J. Victores, J.G. Valero-Gomez, A. Abderrahim, M. Robotics Lab. Research Group Department of System Engineering and Automation Universidad Carlos III de Madrid Spain

ISBN: (纸本)9781457721373

The motion of wheeled mobile robots is inherently based on their wheels' rolling capabilities. The assumption is that each wheel can rotate indefinitely, backwards or forward. This is the starting point for all motion control mechanisms of wheeled robots. In this paper, a new motion capability of differential mobile robots with limited wheel rotation capabilities is presented. The robot will be able to travel any distance and change its direction of movement even if its wheels can not rotate within more than a certain range of angles. The proposed solution is based on the bio-inspired controller principles used for modular and legged robots, in which oscillations are generated for achieving motion. A total of two oscillators, one per wheel, are enough to generate well-coordinated rhythms on the wheels to control the robot motion. The kinematics of this new type of mobile robot motion is presented, and the relation between the oscillator's parameters and the trajectory is studied. Experiments with real robots will demonstrate the viability of this new locomotion gait. © 2011 IEEE.

关键词： Wheels

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CMAC toward intelligent robot: Notion and calibration

CMAC toward intelligent robot: Notion and calibration

引用

1990 IEEE International Workshop on Intelligent Robots and Systems, IROS 1990

作者： Hwang, H. Choi, D.Y. Robotics and Automation Lab. Dept. of Agricultural Eng. College of Agriculture Sungkyunkwan Univ. Seoul Korea Republic of Robotics Lab. Automation Eng. Dept Korea Insititute of Machinery and Metals Sangnam-dong-66 Kyungwan Changwon Korea Republic of

Cerebellar Model Arithmetic Controller (CMAC), a kind of neuro-net based adaptive control funotion generator, was suecessfully applied to the problems of inverse kinematic lotion of two d.o.f. manipulator and direct Inverse calibration of threee and six d.o.f. PUMA 560 robot. Since CMAC-net autonomously maps and generalizes a desired systei function via learning. CMAC allows no knowledge in modeling a system and other error sources. In this paper, a mapping structure, learning aspects with algorithms, and convergence of CMAC net analyzed by authors were also briefly stated. © 1990 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Calibration

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An improved Pearson coefficient based literature recommendation system for small research teams 13

An improved Pearson coefficient based literature recommendat...

引用

13th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2021

作者： Cai, Hongxia Wang, Cheng Liu, Zhishu Shanghai University Shanghai Key Lab. of Intelligent Mfg. and Robotics School of Mechatronic Engineering and Automation Shanghai China

ISBN: (纸本)9781665428361

Recommendation technologies can help users to solve the problem of information overload. In the academic and educational fields, the application of intelligent recommendation technology has largely improved the effective use of academic resources, especially for researchers whose research tasks are constantly updated by research teams. In this paper, we propose a recommendation method that takes into account the changing stages of researchers' tasks and the needs of researchers' tasks. The recommendation model first considers user task and demand changes over time, introduces the forgetting function based on the Ebbinghaus forgetting curve into user features to create a dynamic user preference matrix, then uses the improved TF-IDF algorithm to extract article features to correlate user task demands with article features to avoid the problem of irrelevance of literature and user tasks, and finally by linear combination of Finally, the similarity between users and the similarity between users and documents is linked to generate a list of document recommendations. The experimental results show that the proposed method can better take into account the phase change of researchers' tasks and the correlation between research tasks and articles, and it is confirmed through experiments that the method has higher recommendation quality than the traditional collab.rative filtering method. © 2021 IEEE.

关键词： Recommender systems

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