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检索条件"机构=Laboratory for Advanced Robotics and Intelligent Control Systems"

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Who Moved?! An Investigation into Distribution of Actions and Behaviors in a Multi Agent System

Who Moved?! An Investigation into Distribution of Actions an...

引用

International Conference on Mechatronics (ICM)

作者： Roozbeh Daneshvar Caro Lucas Artificial Intelligence and Robotics Laboratory Faculty of Electrical and Computer Engineering University of Tehran Tehran Iran Center of Excellence for Control and Intelligent Processing Faculty of Electrical and Computer Engineering School of Intelligent Systems IPM University of Tehran Tehran Iran

In this paper we have considered systems in which agents communicate via their environment. In these systems the agents do not have direct and explicit communication with each other and instead they have implicit communication which is performed via the environment they are located in. Different kinds of environment elements are considered to be changed while on the other hand for all of these situations there is a change in the environment and this change means potential stimuli that fires behaviors of agents for future. It is considered that if we can find a track of changes in the environment and find the roots of a movement in an agent that is originally made by another agent of the group

关键词： Artificial intelligence intelligent robots Fires Tracking Process control Communication system control control systems intelligent control Optical computing intelligent systems

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Hybrid Model of WT and ANFIS and Its Application on Time Series Prediction of Ship Roll Motion

Hybrid Model of WT and ANFIS and Its Application on Time Ser...

引用

Computational Engineering in systems Applications, CESA, IMACS Multiconference on FLAGGED

作者： Hui Li Chen Guo Simon X. Yang Hongzhang Jin Automation and Electrical Engineering College Dalian Maritime University Dalian China Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph Canada Automation College Harbin Engineering of Technology Harbin China

Based on the multi time and frequency scale and the nonlinear character of ship roll motion, a hybrid model prediction approach combining wavelet transform (WT) and adaptive neuro-fuzzy inference system (ANFIS) is proposed in this paper. By using multi-resolution nalysis (MRA) of WT, multilevel 1-D wavelet decompositions of roll motion are completed to obtain simple and regular period signals. Then the multiple-input/single-output (MISO) ANFIS model is employed as prediction model for the main decomposed signals above. Finally, a prediction result is given through linear combination. The simulation experiments demonstrate the proposed method can effectively reduce the prediction difficulty and obtain better prediction precision. This method can also be used in ship pitch and heave motion prediction

关键词： Predictive models Marine vehicles Wavelet analysis Wavelet transforms Multiresolution analysis Wavelet domain robotics and automation Educational institutions intelligent robots Frequency

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Design of a Micro-Gripper and an Ultrasonic Manipulator for Handling Micron Sized Objects

Design of a Micro-Gripper and an Ultrasonic Manipulator for ...

引用

2006 IEEE/RSJ International Conference on intelligent Robots and systems

作者： F. Beyeler D.J. Bell B.J. Nelson Y. Sun A. Neild S. Oberti J. Dual Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Switzerland Advanced Micro and Nanosystems Laboratory University of Toronto Toronto ONT Canada Center ofMechanics Swiss Federal Institute of Technology Zurich Switzerland

This work reports on a system consisting of a MEMS (microelectromechanical system) gripper and an ultrasonic manipulator. The gripper is electrostatically actuated and includes an integrated force sensor measuring the gripping force. The device is monolithically fabricated using a silicon-on-insulator (SOI) fabrication process. The resolution of the force sensor is in the sub-micronewton range and, therefore, provides feedback of the forces that dominate the micromanipulation processes. A MEMS ultrasonic device is described which aligns small objects such as biological cells prior to manipulation with the gripper. The concept is demonstrated with polymer spheres, glass spheres and Hela cancer cells, thus providing a useful tool in micro-robotics and biological research

关键词： Grippers Force sensors Micromechanical devices Force measurement Microelectromechanical systems Electrostatic measurements Ultrasonic variables measurement Silicon on insulator technology Fabrication Force feedback

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Stability analysis and control law design for acrobots

Stability analysis and control law design for acrobots

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Xu-Zhi Lai Jin-Hua She S.X. Yang Min Wu School of Information Science and Engineering Central South University Changsha Hunan China School of Bionics Tokyo University of Technology Hachioji Tokyo Japan Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

This paper presents a novel control strategy based on a non-smooth Lyapunov function to guarantee the stability of the system in the whole motion space. Three control laws that are derived based on three Lyapunov functions are applied successively in three stages of motion control to achieve a suitable posture and increase the energy so as to make the acrobot move into the area around the unstable inverted equilibrium position, and to stabilize it at that position. These three Lyapunov functions are combined into one non-smooth function, which theoretically guarantees the stability of the acrobot in the whole motion space. Simulation results have demonstrated the validity of this strategy

关键词： Stability analysis Motion control Lyapunov method control systems Information science intelligent robots Actuators Fuzzy control intelligent systems Centralized control

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Optical flow-based tracking of deformable objects using a non-prior training active feature model 5th

Optical flow-based tracking of deformable objects using a no...

引用

5th Pacific Rim Conference on Multimedia, PCM 2004

作者： Kim, Sangjin Kang, Jinyoung Shin, Jeongho Lee, Seongwon Paik, Joonki Kang, Sangkyu Abidi, Besma Abidi, Mongi Image Processing and Intelligent Systems Laboratory Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University 221 Huksuk-Dong Tongjak-Ku Seoul156-756 Korea Republic of Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering The University of Tennessee KnoxvilleTN37996-2100 United States

ISBN: (纸本)9783540239857

This paper presents a feature point tracking algorithm using optical flow under the non-prior training active feature model (NPT-AFM) framework. The proposed algorithm mainly focuses on analysis of deformable objects, and provides real-time, robust tracking. The proposed object tracking procedure can be divided into two steps: (i) optical flow-based tracking of feature points and (ii) NPT-AFM for robust tracking. In order to handle occlusion problems in object tracking, feature points inside an object are estimated instead of its shape boundary of the conventional active contour model (ACM) or active shape model (ASM), and are updated as an element of the training set for the AFM. The proposed NPT-AFM framework enables the tracking of occluded objects in complicated background. Experimental results show that the proposed NPT-AFM-based algorithm can track deformable objects in real-time. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Optical flows

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The ice thickness sensor based on electric conduction characteristic of air, ice and water

The ice thickness sensor based on electric conduction charac...

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9th World Multi-Conference on Systemics, Cybernetics and Informatics, WMSCI 2005

作者： Qin, Jianmin Han, Zhennan Dou, Yinke Cui, Huaibei Chi, Huanying Key Laboratory of Advanced Transducers and Intelligent Control Systems Ministry of Education Taiyuan University of Technology Taiyuan 030024 Shanxi China Shanxi Institute of Comprehensive Professional Technic Taiyuan 030006 Shanxi China

ISBN: (纸本)9806560612

It is a new testing technology that ice thickness is measured by making use of electric conductivity in water and in ice. The electric conductivity in water gradually decrease from strong to weak during the state of water changing from liquid into solid. Bases on this characteristics, a new sensor structure for measuring thickness of ice layer and its testing method are developed in the paper, and its application to hydrologic gauging is also briefly introduced.

关键词： Electric conductivity

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Pivoting Manipulation of a Large Object: A Study of Application using Humanoid Platform

Pivoting Manipulation of a Large Object: A Study of Applicat...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： E. Yoshida P. Blazevic V. Hugel AIST/IS-CNRS/STIC Joint French-Japanese Robotics Laboratory (JRL) Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan AIST/IS-CNRS/STIC Joint French-Japanese Robotics Laboratory (JRL) LRV-Versailles Robotics Laboratory Velizy-Villacoublay France

Pivoting manipulation can be an alternative to pushing operation when the floor is not flat enough, or when the object to manipulate is too heavy. The technique of pivoting is used by humans to move large and bulky furniture from one place to another. The decomposition of the task of pivoting has already been studied, in particular with the use of two fingers of a robotic arm. This work intends to apply the technique of pivoting using an humanoid platform. The robot should be able to pivot the object and to walk with it to displace it to a specific remote location. The research achievements proposed here take place in a more long term objective aimed at improving the dexterity and the autonomy of humanoid robots. As a matter of fact, such robots should be able to handle objects and move around in the environment in an autonomous way. This paper describes the algorithm designed to perform the displacement of a large object using the pivoting technique. It also presents the results of the dynamic simulation and the results of the real hardware experiment of the HRP-2 platform performing the task.

关键词： Humanoid robots Legged locomotion intelligent robots Humans Hardware intelligent systems Fingers Algorithm design and analysis Prototypes Manipulators

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Remote sensing and teleoperation of a mobile robot via the Internet

Remote sensing and teleoperation of a mobile robot via the I...

引用

International Conference on Information and Automation (ICIA)

作者： X. Xue S.X. Yang M.Q.-H. Meng Advanced Robotics and Intelligent Systems Laboratory University of Guelph Guelph ONT Canada Department of Electronic Engineering Chinese University of Hong Kong New Territories Hong Kong China

Teleoperations are desirable when robots are not able to deal with a certain task autonomously. On the other hand, using mobile robots equipped with sensors provide a way to acquire the information in a hazardous environment. With the mature and universal Internet technology, Internet-based teleoperation of robotic system has created new opportunities in resources sharing, long-distance learning, and remote experimentation. This paper introduces a network-enabled teleoperation system with a wireless mobile robot, which involves TCP/IP, socket and le cache technology. The operator can receive the dynamic sensor information and teleoperate the mobile robot via the Internet through a control panel. Experiments on wall-following in an indoor environment demonstrated the effectiveness of this teleoperation system.

关键词： Remote sensing Mobile robots Internet Robot sensing systems control systems intelligent robots Humans Hardware Telerobotics Vehicle dynamics

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A MEMS micro force sensor for drosophila flight characterization

A MEMS micro force sensor for drosophila flight characteriza...

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IEEE International Conference on robotics and Biomimetics

作者： Yun Sun C.F. Graetzel S.N. Fry B.J. Nelson Advanced Micro and Nanosystems Laboratory University of Toronto Canada Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Switzerland Institute of Neuroinformatics University of Zürich Switzerland

This paper reports a MEMS micro force sensor with a novel configuration of differential tri-plate comb drives suitable for bulk micromachining. A high-yield fabrication process using DRIE on SOI wafers is utilized to construct the high aspect ratio devices. The sensor has a high sensitivity, good linearity, and a large bandwidth, which are required for characterizing flight behavior of fruit flies (Drosophila). The technique allows for the instantaneous measurements of flight forces, which result from a combination of aerodynamic and inertial forces generated by the wings. The potential impact of this research extends beyond gathering flight data on Drosophila melanogaster by demonstrating how MEMS technology can be used to provide valuable tools for biomechanical investigations

关键词： Micromechanical devices Force sensors Force measurement Insects Biological system modeling intelligent robots intelligent systems Turning Organisms Biomechanics

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Real-time Map Building and Area Coverage in Unknown Environments

Real-time Map Building and Area Coverage in Unknown Environm...

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IEEE International Conference on robotics and Automation (ICRA)

作者： C. Luo S.X. Yang M.Q.-H. Meng Advanced Robotics and Intelligent Systems Laboratory University of Guelph Guelph ONT Canada Department of Electronic Engineering Chinese University of Hong Kong New Territories Hong Kong China

Area-covering operation is a special kind of path planning, which requires the robot path to cover every part of the workspace. In this paper, a neural dynamics based algorithm is proposed for real-time map building and area-covering operations. A local map composed of squared cells is built through the proposed neural dynamics during area-covering operations with limited sensory information in unknown environments. The robot is able to dynamically build an accurate map of its immediate limited surroundings for its navigation. The dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation derived from Hodgkin and Huxley’s membrane equation. The robot can only sense a limited measurable range and the obtained sensory information are used for its navigation. The feasibility of the proposed algorithm is validated by simulation studies on cases under unknown environments.

关键词： Robot sensing systems Vehicle dynamics robotics and automation Path planning Navigation Neural networks Cleaning Fuzzy logic intelligent robots Equations

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