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Strategy system of evolutionary soccer robot

Kongzhi Lilun Yu Yingyong/Control Theory and Applications 2004年第SUPPL.期21卷 29-32页

作者： Xu, Xin-He Xue, Fang-Zheng Key Lab. of Flow Industry Integrated Automation Northeastern University Shenyang 110004 China Institute of Artificial Intelligence and Robotics Northeastern University Shenyang 110004 China

The evolutionary learning is used to improve the intelligence of the soccer robot strategy system. The strategy procedure is composed of four steps: sensor information processing, team behavior decision, actions allocation, robot action. The rules described as if state then action are used in the team behavior decision to determine the team behavior and the evolutionary learning is used to discover new rules. The evolutionary soccer robot strategy system is constructed and experiment results show that it has highly ability.

关键词： Robot applications

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Design of user oriented strategic editing device for robot soccer

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Kongzhi Lilun Yu Yingyong/Control Theory and Applications 2004年第SUPPL.期21卷 109-112页

作者： Cong, De-Hong Feng, Ting Fang, Shuai Key Lab. of Flow Industry Integrated Automation Northeastern University Shenyang 110004 China Institute of Artificial Intelligence and Robotics Northeastern University Shenyang 110004 China

Robot soccer game is a kind of soccer game with robots as its players. It involves the knowledge of robotics and soccer theories to design the decision-making system of robot soccer. A strategic editing device for the robot soccer with graphic user interface is designed with the user oriented. It makes it easy to properly apply the human soccer theories to robot soccer game without too much computer knowledge.

关键词： Mobile robots

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CoaxHaptics-3RRR: A Novel Mechanically Overdetermined Haptic Interaction Device Based on a Spherical Parallel Mechanism

CoaxHaptics-3RRR: A Novel Mechanically Overdetermined Haptic...

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Telepresence, IEEE Conference on

作者： Huseyin Tugcan Dinc Thomas Hulin Michael Rothammer HyeonSeok Seong Bertram Willberg Benedikt Pleintinger Jee-Hwan Ryu Christian Ott IRiS Lab. Korea Advanced Institute of Science and Technology (KAIST) Daejeon South Korea Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany Centre for Tactile Internet with Human-in-the-Loop (CeTI) Hapticslabs GmbH Dresden Germany Automation and Control Institute TU Wien Vienna Austria

ISBN: (数字)9798331528249

ISBN: (纸本)9798331528256

This paper presents the CoaxHaptics-3RRR, a novel concept for haptic interaction devices that is based on a 3-RRR spherical parallel mechanism (SPM). The novelty lies in its mechanical overdetermination through a central hollow shaft, which brings two advantages. First, the device can be built with high rigidity with regard to translational degrees of freedom (DoF). Second, it enables a lighter design with less rotational inertia, as the moving links do not need to withstand translational or gravitational forces. In order to fully exploit these advantages, an optimization process has been conducted that simultaneously optimized for workspace, manipulab.lity, inertia, and structural stiffness. The resulting functional demonstrator provides an unlimited workspace around the shaft axis and +/− 55 degrees in the other two rotational DoF, thus covering a large portion of the human wrist’s rotational range. Tests confirm the validity and superiority of the concept over existing devices, making it a promising solution for the category of mechanically overdetermined haptic devices.

关键词： Shafts Telepresence Haptic interfaces Rigidity Optimization

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Layered Multi-Agent Reactive-Behavior Learning in a Robotic Soccer

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IFAC Proceedings Volumes 2000年第27期33卷 545-550页

作者： Andon V. Topalov Spyros G. Tzafestas Gregor Novak Dept. of Control Systems Technical University of Sofia Plovdiv hranch61 Sankt Petersburg Blvd.4000 Plovdiv BULGARIA tel./fax.: +359- 32- 631103 Intelligent Robotics and Automation Lab. Dept. of Electrical and Computer Eng. National Technical University of Athens Zografou 15773 Athens GREECE tel.: +30- 1- 7722489 fax: +30-1- 7722490 Institute for Handling Devices and Robotics Vienna University of Technology Favoritenstrasse 9-11 A-1040 Vienna AUSTRIA

Robotic soccer is an interesting test bench for the field of self-organizing and cooperating multi-agent systems. This paper deals with learning of two basic low-level behaviors that will enable the robotic player to participate further in higher-level collab.rative and adversarial learning situations. First, a ball interception and obstacle avoidance behavior is learned. Then the acquired skills are incorporated into a next higher-level multi-agent learning scenario, namely the shooting ball behavior. The proposed control scheme for these behaviors consists of a trajectory generator with a layered structure, which supplies data to a trajectory-tracking controller.

关键词： mobile robots agents learning obstacle avoidance trajectory planning tracking control

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Simulation and control of a multi-DOF laparoscopic tele-surgery system in virtual reality

Simulation and control of a multi-DOF laparoscopic tele-surg...

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International Conference on Control, Instrumentation, and automation

作者： Farshid Alambeigi Saeed Behzadipour Gholamreza Vossoughi Farzam Farahmand Sharif University of Technology and a research assistant at Robotic Surgery lab. Research Center for Science and Technology In Medicine (RCSTIM) Tehran University of Medical Sciences Tehran Iran Center of Excellence in Design Robotics and Automation (CEDRA) at Sharif University of Technology Tehran Iran Robotic Surgery Lab at Research Center for Science and Technology in Medicine (RCSTIM) Tehran University of Medical Sciences Tehran Iran

A tele-surgery system with force feedback is completely modeled in the MATlab.Simulink software. The virtual rapid robot prototyping is used to import the SolidWorks models of the master and slave robots to MATlab.SimMechanics. This method provides us with the 3D vision of the robot performance in the virtual reality environment. Each robot has 4- DOF in motion and is equipped with a 6-DOF force/torque sensor. A proper damping controller is designed in order to provide the sense of real surgery. This method uses the differences between the measured forces in master and slave sensors in order to generate the velocity command for the master actuators. To model the behavior of the surgeon hand in the real operation, a variable force/torque is applied to the tool handle and the reaction of the system is studied in the virtual reality environment. It can be claimed from the results that this method acceptably provides the situation of a real surgery for a multi-DOF robotic surgery system.

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Application of a genetic algorithm in triangulation of a 3-D object surface

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International Journal of Computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

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Revisiting Marr in Face: The Building of 2D-2.5D-3D Representations in Deep Neural Networks

arXiv

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arXiv 2024年

作者： Zhu, Xiangyu Yu, Chang Zhao, Jiankuo Zhang, Zhaoxiang Li, Stan Z. Lei, Zhen State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences China School of Artificial Intelligence University of Chinese Academy of Sciences China AI Lab. Research Center for Industries of the Future Westlake University China Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation Chinese Academy of Sciences Hong Kong

David Marr’s seminal theory of vision proposes that the human visual system operates through a sequence of three stages, known as the 2D sketch, the 2.5D sketch, and the 3D model. In recent years, Deep Neural Networks (DNN) have been widely thought to have reached a level comparable to human vision. However, the mechanisms by which DNNs accomplish this and whether they adhere to Marr’s 2D–2.5D–3D construction theory remain unexplored. In this paper, we delve into the face perception task to explore these questions and find evidence supporting Marr’s theory. We introduce a graphics probe, a sub-network crafted to reconstruct the original face image from the network’s intermediate layers. The key to the graphics probe is its flexible architecture that supports image reconstruction in both 2D and 3D formats, as well as in a transitional state between them. By injecting graphics probes into neural networks, and analyzing their behavior in reconstructing images, we find that DNNs initially encode images as 2D representations in low-level layers, and finally construct 3D representations in high-level layers. Intriguingly, in mid-level layers, DNNs exhibit a hybrid state, building a geometric representation that captures surface normals within a narrow depth range, akin to the appearance of a low-relief sculpture. This stage resembles the 2.5D representations, providing a view of how DNNs evolve from 2D to 3D in the perception process. The graphics probe therefore serves as a tool for peering into the mechanisms of DNN, providing empirical support for Marr’s theory. Copyright © 2024, The Authors. All rights reserved.

关键词： Deep neural networks

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A study on AFM manipulation of single-wall carbon nanotube

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Journal of Physics: Conference Series 2009年第1期188卷

作者： Xiaojun Tian Zaili Dong Peng Yu Zhu Liu State Key Lab. of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 People's Republic of China

As single-wall carbon nanotube (SWCNT) has special electrical and physical property, it can be used as excellent material to construct various nano electronic device. However, in the fabrication process, the modification of size, shape and even the electronic property, especially to the metallic SWCNT, is a key problem to be overcome. Here a modified nanomanipulation technology based on atomic force microscope (AFM) is utilized to perform various kinds of SWCNT manipulation, such as SWCNT separation, catalyst remove, continual nano buckles fabrication and even stretch to break, thus to modify the size, shape and eventually the electrical property of the SWCNT. In addition, the manipulation results are analyzed based on the mechanical mechanism.

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On-line assistance for crane operators

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JOURNAL OF COMPUTING IN CIVIL ENGINEERING 1997年第4期11卷 248-259页

作者： Bernold, LE Lorenc, SJ Luces, E Dept. Civ. Engrg. North Carolina State Univ. Raleigh NC 27695-7908 United States Constr. Automation and Robotics Lab. Dept. Civ. Engrg. North Carolina State Univ. Raleigh NC United States Fluor Daniel Albany GA 31705 United States Dept. of Civ. Engrg. North Carolina State Univ. Raleigh NC United States

Safety is considered to be the most critical issue in the success of any lift operation. However, crane accidents involving tragic deaths of innocent people and destruction of property do occur. The number of accidents has decreased, only after the implementation of strict regulations by the Occupational Safety and Health Administration (OSHA). Repeated boom failure accidents of truck cranes used by the Bridge Maintenance Unit from the North Carolina Department of Transportation (NC DOT) triggered the research study described in this paper. Throughout the summer of 1994, the Bridge Maintenance Division of NC DOT recorded four accidents involving serious damage to their fleet of 64 National Series 446A truck mounted hydraulic cranes. The accidents involved bending of telescopic booms as well as turret drive gear failures. The repair of a bent boom alone can cost up to $16,000 in replacement parts, without considering all the costs of lab.r and overhead. The main objective of this research project was to develop and test an intelligent monitoring system that could be used to retrofit existing crane hardware. It was shown how a set of sensors and special devices were built and electronically integrated using an analog/digital converter and a laptop computer. Experimental work with a fully operational crane provided the necessary data to build a feature-based state identification system. Using a set of data collected during the experiments the paper demonstrates how sensory patterns can be recognized that lead to the identification of dangerous stales.

关键词： Intelligent control

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Tele-Operative System for Bioproduction - Remote Local Image Processing for Object Identification

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IFAC Proceedings Volumes 2000年第29期33卷 191-194页

作者： Si Chan Kim Heon Hwang Jung Eek Son Dong Yup Choi Robotics & Vision Lab. Dept. of Bio-Mechatronic Engineering Faculty of Life Science & Technology Sungkyunkwan University Kyungki-do Suwon-si Changan-gu 440-746 KOREA Dept. of Horticulture College of Agri culture & Life Science Seoul National University Kyungki-do Suwon-si Kwonsun-gu 441-744 KOREA Automation Dept. Daelim college Kyungki-do Anyang-si Dongan-gu 431-715 KOREA

This paper introduces a new concept of automation for bio-production with tele-operative system. The proposed system showed practical and feasible way of automation for the volatile bio-production process. Based on the proposition, recognition of the job environment with object identification was performed using computer vision system. A man-machine interactive hybrid decision-making, which utilized a concept of tele-operation was proposed to overcome limitations of the capability of computer in image processing and feature extraction from the complex environment image. Identifying watermelons from the outdoor scene of the cultivation field was selected to realize the proposed concept. Identifying watermelon from the camera image of the outdoor cultivation field is very difficult because of the ambiguity among stems, leaves, shades, and especially fruits covered partly by leaves or stems. The analog signal of the outdoor image was captured and transmitted wireless to the host computer by R. F module. The localized window was formed from the outdoor image by pointing to the touch screen. And then a sequence of algorithms to identify the location and size of the watermelon was performed with the local window image. The effect of the light reflectance of fruits, stems, ground, and leaves were also investigated.

关键词： Local Image Processing Tele-operation Feature Extraction Bio-production Real Time Control Watermelon

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