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New Distributed Positioning Algorithm Based on Centroid of Circular Belt for Wireless Sensor Networks

International Journal of Automation and computing 2007年第3期4卷 315-324页

作者： Xu-Zhi Lai Simon X. Yang Gui-Xiu Zeng Jin-Hua She Min Wu School of Information Science ＆ Engineering Central South UniversityChangsha 410083PRC Advanced Robotics and Intelligent Systems Laboratory School of EngineeringUniversity of GuelphGuelphOntario NIG 2W1Canada School of Bionics Tokyo University of Technology1404-1 KatakuraHachiojiTokyo 192-0982Japan

This paper presents a new distributed positioning algorithm for unknown nodes in a wireless sensor network. The algorithm is based exclusively on connectivity. First, assuming that the positions of the anchor nodes are already known, a circular belt containing an unknown node is obtained using information about the anchor nodes that are in radio range of the unknown node, based on the geometric relationships and communication constraints among the unknown node and the anchor nodes. Then, the centroid of the circular belt is taken to be the estimated position of the unknown node. Since the algorithm is very simple and since the only communication needed is between the anchor nodes and the unknown node, the communication and computational loads are very small. Furthermore, the algorithm is robust because neither the failure of old unknown nodes nor the addition of new unknown nodes influences the positioning of unknown nodes to be located. A theoretical analysis and simulation results show that the algorithm does not produce any cumulative error and is insensitive to range error, and that a change in the number of sensor nodes does not affect the communication or computational load. These features make this algorithm suitable for all sizes of low-power wireless sensor networks.

关键词： Positioning wireless sensor networks circular belt algorithm performance.

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Research on automation measurement for the circumstance of ice and water based on the physics characteristic difference of air, ice and water

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Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2007年第SUPPL. 2期28卷 414-419页

作者： Qin, Jianmin Huang, Yue Qin, Mingqi Key Laboratory of Advanced Transducers and Intelligent Control Systems Taiyuan University of Technology Taiyuan 030024 China Taiyuan Electronics Factory Taiyuan 030024 China

Based on the weak conductor characteristics of the ice and the difference of the resistance value and capacity value of air, ice and water with varied temperature, a novel measure method for the circumstance of ice and water is presented, which included resistance mode and capacity mode. The system has been applied to all-climate automation monitor and measurement for the circumstance of ice and water.

关键词： All-climate Capacity Ice Physics characteristics Resistance

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A Study On Iterative Learning control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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Online object search with a humanoid robot

Online object search with a humanoid robot

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2007 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Francois Saidi Olivier Stasse Kazuhito Yokoi Fumio Kanehiro ISRI/AIST-STIC/CNRS Joint Japanese-French Robotics Laboratory Japan ISRI/AIST-STIC/CNRS Joint Japanese-French Robotics Laboratory National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba JAPAN Intelligent Systems Research Institute (ISRI) National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba JAPAN

This paper presents an object active visual search behavior in a 3D environment performed by a HRP-2 humanoid robot. The search is formalized as an optimization problem in which the goal is to maximize the target detection probability while minimizing the energy/distance and time to achieve the task. Natural constraints on the camera parameter space based on the characteristics of the recognition system are used to reduce the dimension of the problem and to speed up the optimization process to achieve a real time behavior. We present simulation and real experimental results using an HRP-2 robot.

关键词： Humanoid robots Robot kinematics Sensor phenomena and characterization intelligent robots Strategic planning Sensor systems Object detection Character recognition Constraint optimization Image recognition

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Teleoperation System of the Internet-based Omnidirectional Mobile Robot with A Mounted Manipulator

Teleoperation System of the Internet-based Omnidirectional M...

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IEEE International Conference on Mechatronics and Automation

作者： Dawei Wang Jianqiang Yi Dongbin Zhao Guosheng Yang Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China Institute of Advanced Control and Intelligent Information Processing College of Computer and Informaion Engineering Henan University Kaifeng China

A platform of the Internet-based teleoperation system with an omni-directional mobile robot which has a five DOFs robot arm is constructed. Remote control of the robot through the Internet is implemented. The system is featured as low-cost and user interface friendly: remote users can control the robot through the Internet just by a client program in a general computer. The client computer can receive the live video and environment information measured by sensors. With the help of the remote video and the local simulation, users can easily communicate with the robot. Different modules are proposed and the implementation method of the system is presented. Related experiments are conducted to test the validity of the proposed system.

关键词： Internet Mobile robots Manipulators Robot sensing systems Robot control User interfaces control systems Computer interfaces Computational modeling System testing

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LANDING AN UNMANNED AIR VEHICLE: VISION BASED MOTION ESTIMATION AND NONLINEAR control

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Asian Journal of control 2008年第3期1卷

作者： Omid Shakernia Yi Ma T. John Koo Shankar Sastry Dept. of Electrical Engineering & Computer Science University of California at Berkeley Berkeley CA94720-1774 U.S.A. Tak-Kuen John Koo received the B.Eng. degree in 1992 in Electronic Engineering and the M.Phil. in 1994 in Information Engineering both from the Chinese University of Hong Kong. From 1994 to 1995 he was a graduate student in Signal and Image Processing Institute at the University of Southern California. He is currently a Ph.D. Candidate in Electrical Engineering and Computer Sciences at the University of California at Berkeley. His research interests include nonlinear control theory hybrid systems inertial navigation systems with applications to unmanned aerial vehicles. He received the Distinguished M.Phil. Thesis Award of the Faculty of Engineering The Chinese University of Hong Kong in 1994. He was a consultant of SRI International in 1998. Currently he is the team leader of the Berkeley AeRobot Team and a delegate of The Graduate Assembly University of California at Berkeley. He is a student member of IEEE and SIAM. S. Shankar Sastry received his Ph.D. degree in 1981 from the University of California Berkeley. He was on the faculty of MIT from 1980-82 and Harvard University as a Gordon McKay professor in 1994. He is currently a Professor of Electrical Engineering and Computer Sciences and Bioengineering and Director of the Electronics Research Laboratory at Berkeley. He has held visiting appointments at the Australian National University Canberra the University of Rome Scuola Normale and University of Pisa the CNRS laboratory LAAS in Toulouse (poste rouge) and as a Vinton Hayes Visiting fellow at the Center for Intelligent Control Systems at MIT. His areas of research are nonlinear and adaptive control robotic telesurgery control of hybrid systems and biological motor control. He is a coauthor (with M. Bodson) of “Adaptive Control: Stability Convergence and Robustness Prentice Hall 1989.” and (with R. Murray and Z. Li) of “A Mathematical Introduction to Robotic Manipulati

In this paper, we use computer vision as a feedback sensor in a control loop for landing an unmanned air vehicle (UAV) on a landing pad. The vision problem we address here is then a special case of the classic ego-motion estimation problem since all feature points lie on a planar surface (the landing pad). We study together the discrete and differential versions of the ego-motion estimation, in order to obtain both position and velocity of the UAV relative to the landing pad. After briefly reviewing existing algorithm for the discrete case, we present, in a unified geometric framework, a new estimation scheme for solving the differential case. We further show how the obtained algorithms enable the vision sensor to be placed in the feedback loop as a state observer for landing control. These algorithms are linear, numerically robust, and computationally inexpensive hence suitable for real-time implementation. We present a thorough performance evaluation of the motion estimation algorithms under varying levels of image measurement noise, altitudes of the camera above the landing pad, and different camera motions relative to the landing pad. A landing controller is then designed for a full dynamic model of the UAV. Using geometric nonlinear control theory, the dynamics of the UAV are decoupled into an inner system and outer system. The proposed control scheme is then based on the differential flatness of the outer system. For the overall closed-loop system, conditions are provided under which exponential stability can be guaranteed. In the closed-loop system, the controller is tightly coupled with the vision based state estimation and the only auxiliary sensor are accelerometers for measuring acceleration of the UAV. Finally, we show through simulation results that the designed vision-in-the-loop controller generates stable landing maneuvers even for large levels of image measurement noise. Experiments on a real UAV will be presented in future work.

关键词： Motion estimation computer vision based control unmanned air vehicle differential flatness

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TRACKING control IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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Belief propagation driven method for facial gestures recognition in presence of occlusions

Belief propagation driven method for facial gestures recogni...

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2006 Conference on Computer Vision and Pattern Recognition Workshops

作者： Liao, Wei-Kai Cohen, Isaac Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA 90089-0273 Honeywell Advanced Technology Laboratory

ISBN: (纸本)0769526462

In this paper, we present a framework for automatic facial gestures recognition in a highly interactive environment. We propose to use a region-based representation of the face, and model the interdependencies of these regions using a graphical model. A parametric modeling of the local facial deformations and the use of a graphical model facilitate the characterization of infra-region dynamic patterns and the inter-region dependencies. We augment this formalism with a belief propagation algorithm to infer missing data, as well as correcting for erroneous estimations of the local deformations. The resulting approach hence handles complete observation and partial occlusion cases in an unified way, and allows for the recognition of facial gestures in presence of head motion and partial occlusions of the face. Experimental results on recognizing facial expression in various real world situations, such as non-frontal views, moving head, and occlusions illustrate the proposed approach. © 2006 IEEE.

关键词： Gesture recognition

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Fuzzy controller Design Based on the Phase Plane Isoclines

Fuzzy Controller Design Based on the Phase Plane Isoclines

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Mediterranean Conference on control and Automation (MED)

作者： Stjepan Bogdan Zdenko Kovacic Larics-Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In this paper we describe a procedure that exploits geometric properties of state space in the investigation of the system stability. Although this method is cumbersome, its practical value becomes clear in the situation when state space is reduced to a phase plane, which is the case in a second-order system. Then phase plane analysis offers well known procedures (especially in case f(.) is linear) for the determination of the system stability. Simulation results, obtained by implementation of the proposed method on the fuzzy controller design, are given at the end of the paper

关键词： Fuzzy control Fuzzy systems control systems Sliding mode control Stability analysis Nonlinear control systems Fuzzy logic State-space methods Stability criteria Lyapunov method

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Calibration of multi-axis MEMS force sensors using the shape from motion method

Calibration of multi-axis MEMS force sensors using the shape...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yu Sun Keekyoung Kim R.M. Voyles B.J. Nelson Advanced Micro and Nanosystems Laboratory University of Toronto Canada ColLaboratoryorative Systems Laboratory University of Minnesota USA Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Switzerland

This paper presents a new design of a two-axis MEMS (microelectromechanical systems) capacitive force sensor with strict linearity and a new sensor calibration method for micro-sensors. Precise calibration of multi-axis micro force sensors is difficult for several reasons, including the need to apply many known force vectors at precise orientations at the micro force scale, and the risk of damaging the small, fragile MEMS device. In this paper the shape from motion method is introduced for micro force sensors resulting in a rapid and effective calibration technique. Structural-electrostatic coupled field simulations are conducted in order to optimize the sensor design, which is calibrated with the shape from motion method as well as the least squares method for comparison purposes. Calibration results demonstrate that the shape from motion method is an effective, practical, and accurate method for calibrating multiaxis micro force sensors

关键词： Calibration Micromechanical devices Force sensors Shape Microelectromechanical systems Linearity Capacitive sensors Sensor systems Microelectromechanical devices Design optimization

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