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2010 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Eiichi Yoshida Kazuhito Yokoi Pierre Gergondet UMI3218/CRT CNRS-AIST Joint Robotics Laboratory Japan Humanoid Research Group Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan

We address practical issues to develop reactive motion planning method capable of replanning the path online when the environment changes during the execution. By introducing planning and execution threads running in parallel, the robot can keep moving even during the replanning process as long as the motion is safe. The proposed method can be applied to discontinuous input of environmental changes that may occur due to incomplete perception. We then address a roadmap reuse method for efficient replanning to make use of the increasing knowledge about the environment, by introducing working and learning roadmaps. A general interface with robot motion controller is also defined so that the method can be applied to various types of robots. The proposed method is validated through planning simulations with moving obstacles.

关键词： Planning Collision avoidance Robot sensing systems Trajectory Robot motion Software

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A NEW NEURAL NETWORK-BASED ADAPTIVE ILC FOR NONLINEAR DISCRETE-TIME systems WITH DEAD ZONE SCHEME

引用

Journal of systems Science & Complexity 2009年第3期22卷 435-445页

作者： Ronghu CHI Zhongsheng HOU Institute of Autonomous Navigation and Intelligent Control School of Automation and Electrical EngineeringQingdao University of Science and Technology Qingdao 266042 China. Advanced Control Systems Laboratory School of Electronics and Information Engineering Beijing JiaotongUniversity Beijing 100044 China.

By introducing a deadwzone scheme, a new neural network based adaptive iterative learning control （ILC）（NN-AILC） scheme is presented for nonlinear discrete-time systems, where the NN weights are time-varying. The most distinct contribution of the proposed NN-AILC is the relaxation of the identical conditions of initial state and reference trajectory, which are common requirements in traditional ILC problems. Convergence analysis indicates that the tracking error converges to a bounded ball, whose size is determined by the dead-zone nonlinearity. Computer simulations verify the theoretical results.

关键词： Adaptive control iterative learning control neural network non-identical initial condition,non-identical trajectory.

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Determination of circular waits in multiple-reentrant flowlines based on machine-job incidence matrix 10

Determination of circular waits in multiple-reentrant flowli...

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2009 10th European control Conference, ECC 2009

作者： Petrovic, Tamara Bogdan, Stjepan Sindicic, Ivica Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering University of Zagreb Zagreb Croatia Exor D.o.o Bani 72 Zagreb10000 Croatia

ISBN: (纸本)9783952417393

As the first step in resolving stability of a manufacturing system in the sense of deadlock, calculation of circular waits might involve time and memory consuming calculations. In this paper we propose an efficient method for determination of circular waits in multiple-reentrant flowline class (MRF) of manufacturing systems. We introduce machine-job incidence (MJI) matrix that can be obtained from Steward sequencing matrix and Kusiak machine-part incidence matrix. The method uses index vector and MJI matrix in order to allocate circular wait auxiliary vector. Resources involved in the circular wait are directly computed from the auxiliary vector. Although efficiency of the proposed method has been demonstrated on examples involving single- and multi- part type manufacturing workcells, the method can be used for other discrete event systems as well, as long as the system under study belongs to MRF class. © 2009 EUCA.

关键词： Manufacture

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intelligent Computing Technologies with Applications to Agricultural Engineering

Intelligent Computing Technologies with Applications to Agri...

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亚洲精细农业与计算机农业应用联合大会

作者： Simon X. Yang Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph

Studies of intelligent computation have made significant progress in theoretical development and practical applications to various engineering systems. In this talk, a very brief introduction to intelligent computing approaches will be given. After that, several practical applications in agriculture and agricultural engineering will be presented, including intelligent measurement, monitoring and analysis of live stock odors using wireless e-nose networks, and intelligent computing technologies for harvesting robotic systems and behavior-based agricultural robotic systems.

关键词： intelligent Computing Technologies with Applications to Agricultural Engineering

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A GA-based fuzzy logic approach to mobile robot navigation in unknown dynamic environments with moving obstacles

A GA-based fuzzy logic approach to mobile robot navigation i...

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IEEE International Conference on Granular Computing (GRC)

作者： Sua Tan Anmin Zhu Simon X. Yang Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Canada

A genetic algorithm (GA)-based fuzzy-interference control system with an accelerate/brake (A/B) module is developed for a mobile robot in unknown environments with moving obstacles. The A/B module of the proposed system is to enable the mobile robot to make human-like decisions as it moves toward a target. Under the control of the proposed fuzzy inference model, the robot can perform well in avoiding both static and moving obstacles, like human beings, along a reasonable short path. In addition, a GA module is employed to tune the membership functions, which improves the performance of the fuzzy-inference system. The GA is an effective auto-tuning technique in optimizing systems without suffering from local minima. The effectiveness of the proposed approach is demonstrated by simulation studies.

关键词： Fuzzy logic Mobile robots Navigation

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Design of automated digital eye palpation exam for intraocular pressure measurement

Design of automated digital eye palpation exam for intraocul...

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IEEE/ICME International Conference on Complex Medical Engineering, CME

作者： Alexander V. Luce Eniko T. Enikov Bradley J. Nelson The Advanced Micro and Nanosystems Laboratory University of Arizona Tucson Tucson AZ USA The Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland

Elevated intraocular pressure (IOP) is a major risk factor for the degenerative eye disease glaucoma. Accurate indirect measurements of IOP are essential for glaucoma diagnosis and screening. This work presents an experiment developed to measure IOP in-vitro by simulating the technique of digital palpitation tonometry, a technique in which a trained examiner palpates the eyeball using the fingertips of both index fingers to ldquofeelrdquo the stiffness of the eye. The qualitative nature of this method and errors introduced by the subjectivity of the examiner mean that it is rarely used in comparison with other modern-day tonometry methods. However, this technique offers several potential advantages in that it can be performed outside of a clinical setting without the need for instrument sterilization or local anesthesia and may be less subject to measurement errors occurring in patients who have undergone refractive laser eye surgery. In order to quantify the mechanics of digital palpation tonometry, an automated experiment to measure the intraocular pressure of enucleated porcine eyeballs using mechanized digital palpation was designed and tested. This experiment has direct applications towards the development of a next-generation tonometer for glaucoma treatment.

关键词： Pressure measurement Degenerative diseases In vitro Fingers Performance evaluation Surgical instruments Anesthesia Measurement errors Optical refraction Laser modes

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3D grid and particle based SLAM for a humanoid robot

3D grid and particle based SLAM for a humanoid robot

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IEEE-RAS International Conference on Humanoid Robots

作者： Nosan Kwak Olivier Stasse Torea Foissotte Kazuhito Yokoi CNRS Joint Robotics Laboratory UMI 3218/CRT Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Japan National Institute for Advanced Industrial Science and Technology Japan

ISBN: (纸本)9781424445875

Necessity to recognize the world like a home environment by a humanoid robot has recently been arisen for daily usages. As an observation sensor, stereo vision is the most common device for a humanoid robot to obtain the environmental data, but it is more erroneous than a laser sensor. To overcome the inaccuracy of stereo vision, we propose a particle-based SLAM technique so that the SLAM posterior is estimated by multiple hypotheses. The major difficulty of the particle-based SLAM with 3D grid maps is the high computational cost. To reduce the computational cost, we also propose a scheduling method for the time when to match and for particles that engage in the matching process. Through experiments with a humanoid robot, HRP-2, it is shown that the proposed approach can reduce the computational cost while preserving estimation accuracy.

关键词： Simultaneous localization and mapping Humanoid robots Stereo vision Computational efficiency Path planning Service robots intelligent robots Tree data structures Processor scheduling Navigation

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Improving ZMP-based control model using system identification techniques

Improving ZMP-based control model using system identificatio...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Wael Suleiman Fumio Kanehiro Kanako Miura Eiichi Yoshida CNRS-AIST (Joint Robotics Laboratory) UMI3218/CRT Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan

ISBN: (纸本)9781424445875

The approximation of humanoid robot by an inverted pendulum is one of the most used model to generate a stable motion using a planned Zero Moment Point (ZMP) trajectory. In this paper, we aim at proposing to improve the reliability of this model using system identification techniques. To achieve this goal, we propose an identification method which is the result of the comprehensive application of system identification to dynamic systems. Moreover, we propose a controlling algorithm for the identified model in oder to track a desired trajectory of ZMP. The efficiency of the method is shown using dynamical simulation and conducting real experiments on the humanoid robot HRP-4C.

关键词： control system synthesis System identification Humanoid robots intelligent robots Trajectory Nonlinear control systems Kinematics Legged locomotion Ground support Shape

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control system for reactor vessel inspection manipulator

Control system for reactor vessel inspection manipulator

引用

IEEE Conference on control Technology and Applications (CCTA)

作者： Alan Mutka Ivica Draganjac Zdenko Kovacic Zeljko Postruzin Ranko Munk Faculty of EE&C Department of Control and Computer Engineering LARICS-Laboratory of Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia Organization of Technology Development and Application HRID Limited Zagreb Croatia

In this paper a system for control and 3D visualization of a manipulator for weld inspection of nuclear reactor vessels is described. Based on client-server TCP/IP software architecture, the presented control system enables an operator to perform the entire inspection procedure remotely over a network, avoiding exposure to dangerous radiation which is commonly present in nuclear reactor environments. The developed graphical user interface provides all necessary tools needed for planning robot scan trajectories, their verification on a virtual 3D model and execution on a remote robot. In addition, the weld inspection process can be observed in parallel on a virtual robot and reactor vessel model and on live video streams captured by two special cameras mounted on the robot.

关键词： control systems Inductors Inspection Welding Parallel robots Visualization TCPIP Software architecture Graphical user interfaces Trajectory

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Interoperability for smart home environment using web services

引用

International Journal of Smart Home 2008年第4期2卷 1-16页

作者： Perumal, Thinagaran Ramli, Abdul Rahman Leong, Chui Yew Mansor, Shattri Samsudin, Khairulmiza Intelligent Systems and Robotics Laboratory Institute of Advanced Technology Universiti Putra Malaysia Serdang Malaysia Faculty of Engineering Universiti Putra Malaysia Serdang Malaysia

Recent advances in computing and communication technologies paved the growth for applications and devices in smart home environment. A typical smart home is highly characterized by heterogeneity elements that need to perform joint execution of tasks in an efficient manner. Although there are huge growth of services, applications and devices in smart home environment, the interoperability elements still seems ambiguous. Being a distributed architecture, smart home environment needs certain degree of interoperability to manage sub-systems comprising of different platforms. Generally, these sub-systems are developed in isolation and consist of different operating system and tier of services. There is need for a cross-platform interoperability that could make the sub-systems 'talk' each other and operate in an interoperable fashion within smart home environment. Web Services seems to be the emerging technology that could lead the way in providing greater interoperability. In this paper we describe the potential of Web Services technology using Simple Object Access Protocol (SOAP) in addressing the interoperability requirements for smart home environment. The SOAP protocol provides data exchange mechanism as well as optimized performance for interoperation among sub-systems residing in smart home environment. The proposed system performance is evaluated to demonstrate a complete, bi-directional realtime management of sub-systems in smart home environment.

关键词： Interoperability

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