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7th International Joint Conference on Computational Intelligence, IJCCI 2015

作者： Fernandes, Carlos M. Laredo, J.L.J. Merelo, J.J. Cotta, C. Rosa, A.C. LARSyS: Laboratory for Robotics and Systems in Engineering and Science University of Lisbon Lisbon Portugal Department of Architecture and Computer Technology University of Granada Granada Spain Departamento de Lenguages y Ciencias de la Computación University of Malaga Malaga Spain

ISBN: (纸本)9783662535240

The Particle Swarm Optimization (PSO) algorithm is a population-based metaheuristics in which the individuals communicate through decentralized networks. The network can be of many forms but traditionally its structure is predetermined and remains fixed during the search. This paper investigates an alternative approach. The particles are positioned on a 2-dimensional grid of nodes. During the run, they move through the network according to simple rules, while interacting with each other using signs that they leave on the nodes. The links between the particles – and consequently the information flow – are then defined at each time step by the position of the particle on the grid. As a result, each particle’s set of neighbors and connectivity degree varies during the search progress. The particles can move randomly or instead track signs left by other particles on the grid. In this paper, after a formal description of the general model, two different strategies (random and sign-based) are tested and compared to standard topologies on unimodal and multimodal functions, including a rotated and a shifted function with noise from the CEC benchmark. The experiments demonstrate that the dynamics provided by the proposed structure results in a more consistent and stable performance throughout the test set. The working mechanisms of the model are simple and easy to implement. © Springer-Verlag Berlin Heidelberg 2016.

关键词： Topology

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Electron beam introduced metallic nanowires growth 16

Electron beam introduced metallic nanowires growth

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16th IEEE International Conference on Nanotechnology - IEEE NANO 2016

作者： Chen, Zhichao Yang, Zhan Chen, Tao Sun, Lining Fukuda, Toshio Jiangsu Provincial Key Laboratory of Advanced Robotics Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou215123 China Department of Micro-Nano Systems Engineering Nagoya University Furo-cho Chikusa-ku464-8603 Japan

ISBN: (纸本)9781509039142

This paper presented a method of growing metallic nanowires by using electron beam technology under scanning electron microscopy (SEM). The metallic nanoparticles were dispersed evenly on Indium-Tin Oxide (ITO) by the spin coater. The ITO sample was experimentally prepared by the spin coating technique. The electron beam was focused on a metallic nano particle inside SEM, which were dispersed on the ITO. The growth of metallic nanowires was controlled by the movement of the electron beam. The method this paper presented can be employed for different kinds of metallic and can be used to fabricate metallic nanowires with different length. © 2016 IEEE.

关键词： Tin oxides

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DAC-h3: A proactive robot cognitive architecture to acquire and express knowledge about the world and the self

arXiv

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arXiv 2017年

作者： Moulin-Frier, Clément Fischer, Tobias Petit, Maxime Pointeau, Grégoire Puigbo, Jordi-Ysard Pattacini, Ugo Low, Sock Ching Camilleri, Daniel Nguyen, Phuong Hoffmann, Matej Chang, Hyung Jin Zambelli, Martina Mealier, Anne-Laure Damianou, Andreas Metta, Giorgio Prescott, Tony J. Demiris, Yiannis Dominey, Peter Ford Verschure, Paul F.M.J. Laboratory for Synthetic Perceptive Emotive and Cognitive Systems Universitat Pompeu Fabra Barcelona08002 Spain Barcelona Spain Personal Robotics Laboratory Department of Electrical and Electronic Engineering Imperial College London SW7 2AZ United Kingdom Robot Cognition Laboratory INSERM U846 Stem Cell and Brain Research Institute Bron69675 France Italian Institute of Technology iCub Facility Via Morego 30 Genova Italy Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Department of Computer Science University of Sheffield United Kingdom

This paper introduces a cognitive architecture for a humanoid robot to engage in a proactive, mixed-initiative exploration and manipulation of its environment, where the initiative can originate from both the human and the robot. The framework, based on a biologically-grounded theory of the brain and mind, integrates a reactive interaction engine, a number of state-of-the art perceptual and motor learning algorithms, as well as planning abilities and an autobiographical memory. The architecture as a whole drives the robot behavior to solve the symbol grounding problem, acquire language capabilities, execute goal-oriented behavior, and express a verbal narrative of its own experience in the world. We validate our approach in human-robot interaction experiments with the iCub humanoid robot, showing that the proposed cognitive architecture can be applied in real time within a realistic scenario and that it can be used with naive users. Copyright © 2017, The Authors. All rights reserved.

关键词： Human robot interaction

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Delay-based numerical stability of the partitioned-solution approach

Delay-based numerical stability of the partitioned-solution ...

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IEEE General Meeting Power& Energy Society

作者： Federico Milano Dept. of EE-Systems TAU Tel Aviv Israel Laboratory of Robotics and Systems in Engineering and Science (LARSyS) University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering University of Macau Macao China

This paper proposes a technique to evaluate the numerical stability and accuracy of the Partitioned-Solution Method (PSA) for the time domain integration of the Differential Algebraic Equations (DAEs) that are used for power system angle and voltage stability analyses. The partitioned approach consists in solving differential equations and algebraic constraints separately. While efficient, this technique introduces a “mismatch” between state and algebraic variables. The paper states the formal analogy of such a mismatch with a time delay of algebraic variables. Then a Small-signal Stability Analysis (SSSA) for Delay Differential Algebraic Equation (DDAE) is applied to define the numerical stability of the PSA as a function of the integration time step. Results are tested using the IEEE 14-bus system as well as a 1,479-bus model of the all-island Irish system.

关键词： Power system stability Numerical stability Stability analysis Mathematical model Numerical models Delay effects Delays

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Transformers of extreme environments and their integration in a solar power infrastructure

Transformers of extreme environments and their integration i...

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AIAA Space and Astronautics Forum and Exposition, SPACE 2016

作者： Stoica, Adrian Quadrelli, Marco B. Ingham, Michel Tamppari, Leslie Mitchell, Karl Gutt, Gary Robotics and Mobility Systems Section Autonomous Systems Division Jet Propulsion Laboratory California Institute of Technology Mail Stop 198-219 4800 Oak Grove Drive PasadenaCA91109-8099 United States Autonomous Systems Division Jet Propulsion Laboratory California Institute of Technology PasadenaCA91109-8099 United States Systems Engineering and Formulation Division Jet Propulsion Laboratory California Institute of Technology PasadenaCA91109-8099 United States Science Division Jet Propulsion Laboratory California Institute of Technology PasadenaCA91109-8099 United States Optical Section Jet Propulsion Laboratory California Institute of Technology PasadenaCA91109-8099 United States

ISBN: (纸本)9781624104275

TransFormers (TF) are adaptive, shape-changing robotic systems that transform a region of an extreme environment, by projecting energy to it, making it milder at the targeted locale, with less environmental constraints on robots or humans operating there. This paper focuses on TF that project solar energy into dark and cold areas, such as permanently shaded craters, to provide illumination and heat and enable long-duration low-cost missions. Thus, TF offer an attractive solution for operations in ice-harboring craters on polar regions of the Moon or Mercury, and caves on Mars and lava tubes on Moon, of high interest not only for great scientific value, but also as shielded habitats for human bases. We performed high-level analysis of four mission scenarios. For a mission scenario involving operations up to 10km deep into the Moon’s Shackleton crater at below 80K temperatures we performed optical and thermal analyses to provide 300W of power to the solar panels of an MSL-class rover. The area of TFs reflecting sunlight from the rim must be more than ~1000m2. A network of TFs would form the backbone of an integrated Solar Power Infrastructure, in which the combined illumination provided to regions of interest is continuous, even though none of the individual TransFormers is continuously illuminated year-round. A Lunar South Pole Solar Power Infrastructure around Shackleton Crater is briefly introduced. © 2016 California Institute of Technology.

关键词： Solar energy

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Development of Kinect based teleoperation of Nao robot

Development of Kinect based teleoperation of Nao robot

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Chunxu Li Chenguang Yang Peidong Liang Angelo Cangelosi Jian Wan Center for Robotics and Neural Systems Plymouth University UK Zienkiewicz Centre for Computational Engineering Swansea University UK State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Marine Science and Engineering Plymouth University UK

In this paper, an online tracking system has been developed to control the arm and head of a Nao robot using Kinect sensor. The main goal of this work is to achieve that the robot is able to follow the motion of a human user in real time to track. This objective has been achieved using a RGB-D camera (Kinect v2) and a Nao robot, which is a humanoid robot with 5 degree of freedom (DOF) for each arm. The joint motions of the operator's head and arm in the real world captured by a Kinect camera can be transferred into the workspace mathematically via forward and inverse kinematics, realitically through data based UDP connection between the robot and Kinect sensor. The satisfactory performance of the proposed approaches have been achieved, which is shown in experimental results.

关键词： Cameras Robot kinematics Image color analysis Head Robot vision systems

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A Novel Extended Potential Field Controller for Use on Aerial Robots

A Novel Extended Potential Field Controller for Use on Aeria...

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IEEE International Conference on Automation science and engineering

作者： Alexander C. Woods Hung M. La Quang P. Ha Advanced Robotics and Automation Laboratory Department of Computer Science and Engineering University of Nevada Reno 89557 USA School of Electrical Mechanical and Mechatronic Systems University of Technology Sydney Australia

ISBN: (纸本)9781509024100

Unmanned Aerial Vehicles (UAV), commonly known as drones, have many potential uses in real world applications. Drones require advanced planning and navigation algorithms to enable them to safely move through and interact with the world around them. This paper presents an extended potential field controller (ePFC) which enables an aerial robot, or drone, to safely track a dynamic target location while simultaneously avoiding any obstacles in its path. The ePFC outperforms a traditional potential field controller (PFC) with smoother tracking paths and shorter settling times. The proposed ePFC's stability is evaluated by Lyapunov approach, and its performance is simulated in a Matlab environment. Finally, the controller is implemented on an experimental platform in a laboratory environment which demonstrates the effectiveness of the controller.

关键词： Drones Navigation Robot sensing systems Target tracking Stability analysis

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Whole-body motion retargeting using constrained smoothing and functional principle component analysis

Whole-body motion retargeting using constrained smoothing an...

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IEEE-RAS International Conference on Humanoid Robots

作者： Saori Morishima Ko Ayusawa Eiichi Yoshida Gentiane Venture Department of Mechanical Systems Engineering Tokyo University of Agriculture and Technology CNRS-AIST JRL (Joint Robotics Laboratory) National Institute of Advanced Industrial Science and Technology (IS-AIST) Japan

ISBN: (纸本)9781509047192

This paper presents a novel retargeting framework for humanoid robots that allows flexible motion representation and motion synthesis with smoothing with constraints and functional principle component analysis (Functional PCA). Constrained smoothing consists in computing base functions through optimizations with constraints including mechanical limits and stability conditions. By applying Functional PCA that is a statistic method describing given motions with principal components of functions, a variety of different motions can be expressed with a small number of parameters. We apply the proposed framework to whole-body “squat” motions to reveal that those motions can practically be classified with two components. The effectiveness of the proposed method is verified by dynamic simulations and experiments with the humanoid robot HRP-4.

关键词： Principal component analysis Trajectory Smoothing methods Splines (mathematics) Humanoid robots Optimization Stability analysis

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Dynamics Analysis of Bionic Parallel Joint Mechanism for the Snake Robot

Dynamics Analysis of Bionic Parallel Joint Mechanism for the...

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第35届中国控制会议

作者： Chuncheng Wu Zhengcai Cao Qing Xiao Yili Fu Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University State Key Laboratory of Robotics and Systems Harbin Institute of Technology College of Information Science and Technology Beijing University of Chemical Technology

ISBN: (纸本)9781509009107

Joint mechanism is a key factor for a snake robot adjusting its postures adapted to clutter environments in search and rescue *** joint mechanisms in prior research simply consist of serially connected revolute joints,which are lack of great load carrying *** nature snake structure,a modular bionic parallel joint mechanism(BPJM) is proposed for the rescue snake *** analysis of the BPJM is necessary for its optimal design and control,providing the force and constraint that must be resisted by joints,links and *** reduce the dynamics computation load,Newton equation and Euler equation are combined by synchronizing the inertial force and inertial moment with the aid of screw ***,the dynamics equations for moving platform and links are formulated in a simplified *** friction at the joints and external force acting on BPJM,which actually affect the motion,are both considered in the ***,the virtual prototype is provided in order to visualize the joint mechanism and the numerical results from the dynamics analysis are given.

关键词： Rescue snake robot Dynamics analysis Bionic parallel joint mechanism Screw theory Newton method

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Modeling of a 16-DOF nanorobotics manipulators for multitask inside SEM

Modeling of a 16-DOF nanorobotics manipulators for multitask...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Yaqiong Wang Junjie Cao Zhan Yang Tao Chen Lining Sun Toshio Fukuda Key Laboratory of Advanced Robotics & Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou China Department of Micro-Nano Systems Engineering Nagoya University Nagoya Japan

In this paper, a nanorobotics manipulation system with 16-DOF was constructed for 3D nanomanipulation of nanometer-scale objects inside a specimen chamber of the scanning electronic microscopes (SEM). Nanorobotics manipulators were divided into 4 units. Each unit was comprised of a X, Y, Z stage (Sigma, TSDS-255C), 4 Picomotors and an atomic force microscope (AFM) cantilever (Olympus, OMCL-TR400PB-1). Each manipulator has 4-DOF with 3 linear motions in X, Y, Z directions and a 360-degree rotational one (X-Y-Z-θ stage, θ is along the direction rotating with X or Y axis). Manipulators were actuated with picomotors with better than 30 nm linear resolution and

关键词： Manipulators Scanning electron microscopy Kinematics Numerical analysis Three-dimensional displays Nanoscale devices

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