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A novel swarm intelligence algorithm and its application in solving wireless sensor networks coverage problems

Journal of Networks 2012年第12期7卷 2037-2043页

作者： Mo, Yuanbin Liu, Jizhong Wang, Baolei Jonathan Wu, Q.M. College of Mathematics and Computer Science Guangxi University for Nationalities Nanning 530006 China School of Mechanical and Electrical Engineering Institute of Robotics of Nanchang University Nanchang University Nanchang 330031 China Department of Electrical and Computer Engineering Computer Vision and Sensing Systems Laboratory University of Windsor Windsor N9B3P4 Canada

Wireless sensor networks (WSNs) have attracted a great deal of research due to their wide-range of potential applications. Sensor deployment and coverage problems are their important issues. This article briefly introduces the principle of swarm intelligence (SI). A novel SI algorithm based on information sharing of Particle Swarm Optimization (PSO) and diversity maintenance mechanism of Artificial Immune System (AIS) is designed and the model of coverage problems is given. Its applications in solving different deterministic and random coverage problems are given. The algorithm used in obtaining maximum coverage probability with given number of sensor nodes and minimum number of sensor nodes with required coverage probability of WSNs deterministic coverage, and determining the selected sensor nodes with coverage probability and connectivity requirement of WSNs random coverage, are analyzed in detail. The simulation results show the algorithm is practical. The applications of SI on K- coverage and connectivity problems in the future are also projected in the article. © 2012 ACADEMY PUBLISHER.

关键词： Swarm intelligence

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Overcoming Occlusions in Eye-in-Hand Visual Search

Overcoming Occlusions in Eye-in-Hand Visual Search

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American Control Conference

作者： Sina Radmard David Meger Elizabeth A. Croft James J. Little Collaborative Advanced Robotics and Intelligent Systems Laboratory Mechanical Engineering Department University of British Columbia V6T1Z4 Canada Laboratory for Computational Intelligence Department of Computer Science University of British Columbia V6T1Z4 Canada

ISBN: (纸本)9781457710957

In this paper we propose a method for handling persistent visual occlusions that disrupt visual tracking for eye-in-hand systems. This approach provides an efficient strategy for the robot to "look behind" the occlusion while respecting the robot's physical constraints. Specifically, we propose a decoupled search strategy combining a naive pan tilt search with a sensor placement approach, to reduce the strategy's computational cost. We proceed by mapping limited environmental data into the robot configuration space and then planning within a constrained region. We use a particle filter to continuously estimate the target location, while our configuration-based cost function plans a goal location for the camera frame, taking into account robot singularity, self-collision and joint limit constraints. To validate our algorithm, we implemented it on an eye-in-hand robot system. Experimental results for various situations support the feasibility of our approach for quickly recovering fully occluded moving targets. Finally we discuss the implications of this approach to mobile robot platforms.

关键词： Joints Cameras Robot vision systems Target tracking Planning

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Triangular formation control using range measurements: An application to marine robotic vehicles

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IFAC Proceedings Volumes 2012年第5期45卷 112-117页

作者： Jorge M. Soares A. Pedro Aguiar António M. Pascoal Marco Gallieri Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico Technical University of Lisbon Av. Rovisco Pais 1049-001 Lisboa Portugal School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne (EPFL) CH-1015 Lausanne Switzerland Control Group Engineering Department Sidney Sussex College University of Cambridge CB21PZ Cambridge UK

This paper addresses the problem of maintaining an autonomous robotic vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The robotic vehicle has no a priori knowledge of the path described by the leaders and its goal is to follow them by constantly regulating the inter-vehicle distances to a desired fixed value, using range-only measurements. To solve this station keeping problem, we propose a control strategy that estimates the formation speed and heading from the ranges obtained to the two leading vehicles, and uses simple feedback laws for speed and heading commands to drive suitably defined common and differential errors to zero. For straight-line motion, we provide guaranteed conditions under which the proposed control strategy achieves local convergence of the distance errors to zero. We also indicate how our design procedure can be extended to full dynamic models of marine robotic vehicles equipped with inner loops for yaw and speed control. Simulation results using realistic models are described and discussed.

关键词： Autonomous Vehicles Marine systems Control Laws Lyapunov Stability Formation Control Station Keeping Triangular Formations

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Reports of the AAAI 2011 conference workshops

Reports of the AAAI 2011 conference workshops

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作者： Agmon, Noa Agrawal, Vikas Aha, David W. Aloimonos, Yiannis Buckley, Donagh Doshi, Prashant Geib, Christopher Grasso, Floriana Green, Nancy Johnston, Benjamin Kaliski, Burt Kiekintveld, Christopher Law, Edith Lieberman, Henry Mengshoel, Ole J. Metzler, Ted Modayil, Joseph Oard, Douglas W. Onder, Nilufer O'Sullivan, Barry Pastra, Katerina Precup, Doina Ramachandran, Sowmya Reed, Chris Sariel-Talay, Sanem Selker, Ted Shastri, Lokendra Singh, Satinder Smith, Stephen F. Srivastava, Siddharth Sukthankar, Gita Uthus, David C. Williams, Mary-Anne Department of Computer Science University of Texas at Austin United States Center for Knowledge Driven Information Systems Infosys Labs India Adaptive Systems Section Naval Research Laboratory Washington DC United States Department of Computer Science University of Maryland College Park United States EMC's Center of Excellence in Ireland Research Europe at EMC Ireland Department of Computer Science University of Georgia United States School of Informatics University of Edinburgh United Kingdom Department of Computer Science University of Liverpool United Kingdom Department of Computer Science University of North Carolina Greensboro United States Faculty of Engineering and Information Technology University of Technology Sydney Australia VeriSign Inc. United States Department of Computer Science University of Texas at El Paso United States Machine Learning Department Carnegie Mellon University United States Massachusetts Institute of Technology Media Laboratory United States Carnegie Mellon University's Silicon Valley Campus United States Darrell W. Hughes Program for Religion and Science Dialogue Oklahoma City University United States Department of Computing Science University of Alberta Canada College of Information Studies Institute for Advanced Computer Studies University of Maryland College Park United States Department of Computer Science Michigan Technological University United States Department of Computer Science University College Cork Ireland Cognitive Systems Research Insitute Athens Greece School of Computer Science McGill University Canada Stottler Henke Inc. United States School of Computing University of Dundee United Kingdom Department of Computer Engineering Istanbul Technical University Turkey Convergence Lab Infosys Technologies Ltd. United States Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor United States Robotics Institute Carnegie Mellon University United States University of Wisconsin

The AAAI-11 workshop program was held Sunday and Monday, August 7-18, 2011, at the Hyatt Regency San Francisco in San Francisco, California USA. The AAAI-11 workshop program included 15 workshops covering a wide range of topics in artificial intelligence. The titles of the workshops were Activity Context Representation: Techniques and Languages;Analyzing Microtext;Applied Adversarial Reasoning and Risk Modeling;Artificial Intelligence and Smarter Living: The Conquest of Complexity;Artifiicial Intelligence for Data Center Management and Cloud Computing;Automated Action Planning for Autonomous Mobile Robots;Computational Models of Natural Argument;Generalized Planning;Human Computation;Human-Robot Interaction in Elder Care;Interactive Decision Theory and Game Theory, 2010;Language-Action Tools for Cognitive Artificial Agents: Integrating Vision, Action, and Language;Lifelong Learning from Sensorimotor Experience;Plan, Activity, and Intent Recognition;and Scalable Integration of Analytics and Visualization. This article presents short summaries of those events. Copyright © 2012, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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Complementary Terrain/Single Beacon-Based AUV Navigation

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IFAC Proceedings Volumes 2012年第5期45卷 76-83页

作者： Pramod Maurya Francisco Curado Teixeira António Pascoal Laboratory for Robotics and Systems in Engineering and Science Instituto Superior Técnico Av. Rovisco Pais 1 1049-001 Lisboa Portugal National Institute of Oceanography Marine Instrumentation Division Dona Paula Goa - 403004 India Center for Environmental and Marine Studies and Dept. GeoSciences University of Aveiro Campus Universitário de Santiago 3810-193 Aveiro Portugal

This paper describes work done towards the development of advanced geophysical-based navigation systems for autonomous underwater vehicles (AUVs). The specific problem that we tackle is that of combining terrain-aided navigation (TAN) with single-beacon navigation (SBN) techniques. The resulting complementary TAN/SBN system has the potential to overcome some of the problems that arise with TAN navigation only, when an AUV undergoes motions that lead it temporarily across areas where the terrain below is not sufficiently “rich” in terms of topographic features. The key contribution of this paper is a formal analysis of the benefits of using complementary filtering, in opposition to TAN navigation only. To this effect, we exploit key tools of estimation theory, and in particular the Cramér-Rao lower bound inequality to obtain a lower bound on the minimum covariance of the estimation error that can be obtained with any unbiased estimator. For a real terrain profile we compute and compare the Cramér-Rao lower bounds for TAN only and TA/SB-based navigation. The increase in the expected performance that can be achieved with the second solution is clearly visible. The efficacy of the new solution proposed is illustrated with the help of computer simulations.

关键词： Terrain-aided navigation Single-beacon navigation Cramér-Rao bounds Monte Carlo methods Particle filters

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Accurate Evaluation of a Distance Function for Optimization-based Motion Planning

Accurate Evaluation of a Distance Function for Optimization-...

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IEEE/RSJ International Conference on Intelligent robotics and systems

作者： Youngeun Lee Sébastien Lengagne Abderrahmane Kheddar Young J. Kim Department of Computer Science and Engineering at Ewha Womans University in Seoul Korea Karlsruhe Institute of Technology Institute for Anthropomatics Humanoids and Intelligence Systems Lab Adenauerring 2 76131 Karlsruhe Germany CNRS-AIST Joint Robotics Laboratory (JRL) UMI3218/CRT Tsukuba Japan and also with the CNRS-UM2 LIRMM Interactive Digital Human group Montpellier France.

ISBN: (纸本)9781467317375

We propose three novel methods to evaluate a distance function for robotic motion planning based on semi-infinite programming (SIP) framework;these methods include golden section search (GSS), conservative advancement (CA) and a hybrid of GSS and CA. The distance function can have a positive and a negative value, each of which corresponds to the Euclidean distance and penetration depth, respectively. In our approach, each robot's link is approximated and bounded by a capsule shape, and the distance between some selected link pairs is continuously evaluated along the joint's trajectory, provided by the SIP solver, and the global minimum distance is found. This distance is fed into the SIP solver, which subsequently suggests a new trajectory. This process is iterated until no negative distance is found anywhere in the links of the robot. We have implemented the three distance evaluation methods, and experimentally validated that the proposed methods effectively and accurately find the global minimum distances to generate a self-collision-free motion for the HRP-2 humanoid robot. Moreover, we demonstrate that the hybrid method outperforms other two methods in terms of computational speed and reliability.

关键词： Motion Planning GSS SIP motion planning distance function Aerospace ground services PRNP gene STATE IMPLEMENTATION PLANS TSACC gene Global Minimum Robot Euclidean distance

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Deposition of carbon nanoparticles using optically induced dielectrophoretic force

Deposition of carbon nanoparticles using optically induced d...

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International Solid-State Sensors, Actuators and Microsystems Conference

作者： Wang, S.E. Dong, Z.L. Qu, Y.L. Lee, G.B. Li, W.J. State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang China Graduate University Chinese Academy of Sciences China Department of Engineering Science National Cheng Kung University Taiwan Centre for Micro and Nano Systems Chinese Univerisity of Hong Kong Hong Kong

ISBN: (纸本)9781457701573

A new method which allows assembly of carbon nanoparticles (CNPs) into predesigned patterns by using optically induced dielectrophoretic (ODEP) force is presented in this study. Theoretical analysis of ODEP working principle and operational regimes are investigated. Moreover, experimental parameters including AC frequency and solution conductivity are optimized for manipulating micro/nano particles. Finally, experimental results clearly demonstrate that CNP patterns and arrays with arbitrary geometry (including a 16×16 array covering an area of 0.4×0.4 mm2) can be successfully realized. Our results proved that ODEP is a highly-effective, low-cost, reconfigurable, and parallel manipulating approach for potential applications in fabricating CNPs sensors and micro-printing. © 2011 IEEE.

关键词： Nanoparticles

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Observability metric for the relative localization of AUVs based on range and depth measurements: Theory and experiments

Observability metric for the relative localization of AUVs b...

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2011 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Filippo Arrichiello Gianluca Antonelli Antonio Pedro Aguiar Antonio Pascoal Department DAEIMI University of Cassino Cassino Italy Laboratory of Robotics and Systems in Engineering and Science (LARSyS) IST Technical University of Lisbon Lisbon Portugal

This paper addresses the problem of observability of the relative motion of two AUVs equipped with velocity and depth sensors, and inter-vehicle ranging devices. We start by exploiting nonlinear observability concepts to analyze, using observability rank conditions, some types of relative AUV motions. Because rank conditions only provide binary information regarding observability, we then derive a specific observability index (metric) and study its dependence on the types of relative motions executed by the vehicles. In particular, it is shown that the degradation of observability depends on the range and angle between the relative velocity and position vectors. The problem addressed bears affinity with that of single beacon localization. For this reason, the results derived are validated experimentally in a equivalent, single beacon navigation scenario.

关键词： Observability Vehicles Transponders Vectors Sea measurements Acoustic measurements

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System design and implementation of social interactive robot Nancy

System design and implementation of social interactive robot...

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International Conference on Information sciences and Interaction sciences (ICIS)

作者： Shuzhi Sam Ge Chun Fui Liew Yanan Li Institute of Intelligent Systems University of Electronic Science and Technology Chengdu China Social Robotics Laboratory Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore Social Robotics Laboratory Interactive Digital Media Institute and NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore

This paper presents a social interactive robot Nancy that has been developed in Social robotics laboratory, National University of Singapore. Fundamentally different from factory robots, Nancy's design focuses on social interaction and social intelligent system. The design objectives and consideration are examined in the beginning, followed by the description of hardware and software architectures. Contrast to current existing social robots, Nancy has a graphical user interface (GUI), which acts as an additional channel for human-robot interaction. This GUI helps users to have a better understanding of Nancy's internal states and hence make users feel more comfortable during the interaction with Nancy. Visitors' interaction experience with Nancy is discussed together with Nancy's social skills.

关键词： Robots Graphical user interfaces Servomotors Speech Universal Serial Bus Face Hardware

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Persistent Ocean Monitoring with Underwater Gliders: Towards Accurate Reconstruction of Dynamic Ocean Processes

Persistent Ocean Monitoring with Underwater Gliders: Towards...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Ryan N. Smith Mac Schwager Daniela Rus Stephen L. Smith Gaurav S. Sukhatme School of Engineering Systems at the Queensland University of Technology BrisbaneQLD4000 Australia GRASP Lab University of PennsylvaniaPhiladelphiaPA 19104USA Distributed Robotics Lab Computer Science and Artificial Intelligence LaboratoryMassachusetts Insti Robotic Embedded Systems Laboratory Department of Computer ScienceUniversity of Southern California

This paper proposes a path planning algorithm and a velocity control algorithm for underwater gliders to persistently monitor a patch of ocean. The algorithms address a pressing need among ocean scientists to collect high-value data for studying ocean events of scientific and environmental interest, such as the occurrence of harmful algal blooms. The path planner optimizes a cost function that blends two competing factors: it maximizes the information value of the path, while minimizing the deviation from the path due to ocean currents. The speed control algorithm then optimizes the speed along the planned path so that higher resolution samples are collected in areas of higher information value. The resulting paths are closed circuits that can be repeatedly traversed to collect long term ocean data in dynamic environments. The algorithms were tested during sea trials on an underwater glider operating off the coast of southern California over the course of several weeks. The results show significant improvements in data resolution and path reliability compared to a sampling path that is typically used in the region.

关键词： Oceans Heuristic algorithms Vehicles Monitoring Sea measurements Vehicle dynamics Read only memory

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