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Advances in Intelligent Systems and Computing 2015年 307卷 167-187页

作者： Zamojski, Wojciech Sugier, Jaroslaw Wroclaw University of Technology Poland Institute of Computer Engineering Control and Robotics Wroclaw Poland

In this work we analyse operation of a services network which is built from processing nodes serving dedicated services and communication links transmitting required information resources. For task executions specific subsets of network resources – so called communication paths – are allocated. Execution of a task in communication paths is disrupted by occurring faults which are eliminated by renewal procedures leading to delays in task completion time or even to task cancellation. One of the method for overcoming the negative effects of the faults is to apply a path reconfiguration mechanism i.e. a redirection of the communication traffic which bypasses the damaged link. We propose a functional-reliability dependability model of the services network which takes into account possible path reconfigurations. We also define a network dependability parameter which evaluates network efficiency by finding the degree of task losses among all the jobs being executed in the network. © Springer International Publishing Switzerland 2015

关键词： computers

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Ensemble Kalman filter and PID controller implementation on self balancing robot

Ensemble Kalman filter and PID controller implementation on ...

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International Electronics Symposium (IES)

作者： Barlian Henryranu Prasetio Computer Engineering and Robotics Lab Faculty of Computer Science University of Brawijaya Malang Indonesia

One technique that is commonly used for mobile robots is an inverted pendulum based model. This research has been implementing a mobile robot technique in an unstable environment. The goal is to design and implementing a discrete digital control system that will provide robot stability. The PID controller algorithm and Ensemble Kalman filter (EnKF) implementation would be an ideal test model of this robot. Both of these algorithms are able to improve the performance of control systems. This robot already tested the performance of the PID control system and the EnKF algorithm. The performance of the PID controller algorithm and EnKF is tested by software. The Control system performance is directly dependent on the EnKF algorithm and input parameters of PID controller. Research uses EnKF algorithm and PID controller as a balancing robot. The covariance filter tuned by manually. Experiments carried out by the method of trial and error by varying the process noise covariance matrix. The system overshoot can be reduced by processing noise covariance matrix. The experiment results showed system optimal on Q_accelerometer: 0001, Q_gyroscope: 0.05 R_measurement: 12:03, P = 1790,005, I = 0.129 and D = 96 881.

关键词： Robot sensing systems Covariance matrices Kalman filters Filtering algorithms Software algorithms Mobile robots

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Moth-inspired plume tracing via autonomous underwaer vehicle with only a pair of separated chemical sensors

Moth-inspired plume tracing via autonomous underwaer vehicle...

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MTS/IEEE Washington, OCEANS 2015

作者： Tian, Yu Li, Wei Zhang, Fumin State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Department of Computer and Electrical Engineering and Computer Science California State University BakersfieldCA93311 United States School of Electrical and Computer Engineering Georgia Institute of Technology AtlantaGA30332 United States

ISBN: (纸本)9780933957435

Effective chemical plume tracing strategies are important for autonomous underwater vehicles (AUVs) to perform a variety of missions of searching for underwater targets, such as oil spill sources and deep-sea hydrothermal vents. In such circumstances where fluid flow direction cannot be measured by AUVs or fluid flow direction provides little or wrong information about the distribution of a dynamic chemical plume or its source location, chemical plume tracing strategies that rely on information of fluid flow direction may not work effectively. In this paper, a modified moth-inspired chemical plume tracing strategy is presented, which could trace a turbulent chemical plume without need of information of flow direction. The strategy estimates the direction of plume centerline based on information from a pair of spatially separated chemical sensors symmetrically mounted on an AUV's nose together with the AUV's zigzag plume-tracing trajectory, and employs the estimated direction of plume centerline to implement the plume tracing. The proposed strategy is implemented in a computer simulation environment and the simulation results demonstrate that with the strategy an AUV could track a turbulent chemical plume over a long distance and finally localize the plume source. © 2015 MTS.

关键词： Autonomous underwater vehicles

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User-adapted Web of things for accessibility 15

User-adapted Web of things for accessibility

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26th ACM Conference on Hypertext and Social Media, HT 2015

作者： Torre, Ilaria Celik, Ilknur Department of Computer Science Bioengineering Robotics and Systems Engineering University of Genoa Viale Causa 13 Italy Computer Education and Instructional Technology Middle East Technical University Northern Cyprus Campus Guzelyurt Mersin 10 Turkey

ISBN: (纸本)9781450333955

This paper describes a new wave of the Web that is the user-adapted Web of Things. This is a new step in the evolution of the Web of Things and of adaptive web-based systems. The current proposals for the Web of Things focus on the augmentation of the physical objects in order to provide enhanced services. However, in our view, the Web of Things can also be a means to make physical objects accessible or more usable for people with special needs by exploiting adaptive and semantic techniques. The architecture presented in the paper describes the specific modules and components at the basis of this approach.

关键词： Linked data

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Using the motion perceptibility measure to classify points of interest for visual-based AUV guidance in a reef ecosystem

Using the motion perceptibility measure to classify points o...

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MTS/IEEE Washington, OCEANS 2015

作者： Labastida-Valdes, Lourdes Torres-Mendez, L. Abril Hutchinson, Seth A. Robotics and Advanced Manufacturing Group CINVESTAV Campus Saltillo Ramos Arizpe Coahuila Mexico Dept. of Electrical and Computer Engineering University of Illinois Urbana Champaigne United States

ISBN: (纸本)9780933957435

In this paper we present a novel method for classifying relevant points in a sequence of images of a distant target to autonomously guide an underwater vehicle towards it. Feature points are classified by using a measure called motion perceptibility, which relates the magnitudes of the rate of change between matched feature points at different image frames (in distance), thus inherently considering the change in feature's position. This measure helps to detect which feature points are most likely to leave the field of view of the camera, thus indicating that they do not belong to the target region. By using a visual attention model adapted to underwater images, relevant points are detected and tracked using a visual servoing approach. Preliminary results on sea trials demonstrate the feasibility of our methodology. © 2015 MTS.

关键词： Visual servoing

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Active tactile object exploration with Gaussian processes

Active tactile object exploration with Gaussian processes

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Zhengkun Yi Roberto Calandra Filipe Veiga Herke van Hoof Tucker Hermans Yilei Zhang Jan Peters Intelligent Autonomous Systems Lab Department of Computer Science Technische Universitat Darmstadt Hochschulstr. 10 64289 Germany School of Mechanical and Aerospace Engineering Nanyang Technological University 50 Nanyang Avenue Singapore 639798 University of Utah Robotics Center School of Computing University of Utah USA

ISBN: (纸本)9781509037636

Accurate object shape knowledge provides important information for performing stable grasping and dexterous manipulation. When modeling an object using tactile sensors, touching the object surface at a fixed grid of points can be sample inefficient. In this paper, we present an active touch strategy to efficiently reduce the surface geometry uncertainty by leveraging a probabilistic representation of object surface. In particular, we model the object surface using a Gaussian process and use the associated uncertainty information to efficiently determine the next point to explore. We validate the resulting method for tactile object surface modeling using a real robot to reconstruct multiple, complex object surfaces.

关键词： Gaussian processes Touch tactile sensors grid point

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Image encryption using simple algorithm on FPGA

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Telkomnika (Telecommunication Computing Electronics and Control) 2015年第4期13卷 1153-1161页

作者： Prasetio, Barlian Henryranu Setiawan, Eko Muttaqin, Adharul Computer System and Robotics Lab Faculty of Computer Science University of Brawijaya Jl. Veteran Malang Indonesia Computer System and Robotics Lab Faculty of Engineering University of Brawijaya Jl. Veteran Malang Indonesia

Data security becomes one of the things that need to be considered. The Sum of Product (SOP) Encryption is one of simple algorithm. The SOP encryption is not a public-key system to encrypt data. it is almost unbreakable through brute force method and vulnerable to attack because the encryption models have a fixed pattern. However, this drawback can be avoided through the compression process to remove the pattern file. SOP encryption algorithm can use a Boolean algebra combination functions such as AND gate and OR gate. Simple algorithm in hardware language VHSIC Hardware Description Language (VHDL) is on data bits level. The purpose of this research is implementation of image encryption algorithm to produce a quick image encryption system. From result test, the image processing time without encryption average 4.999ns/px and 13.51ns/px with encryption. © 2015 Universitas Ahmad Dahlan. All rights reserved.

关键词： Cryptography

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Optimal search strategies for pollutant source localization

Optimal search strategies for pollutant source localization

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Behzad Bayat Naveena Crasta Howard Li Auke Ijspeert BioRobotics Laboratory Ecole Polytechnique Federale de Lausanne (EPFL) Switzerland Institute for Systems and Robotics (ISR) Instituto Superior Tecnico (IST) University of Lisbon Portugal COBRA Department of Electrical and Computer Engineering University of New Brunswick Fredericton E3B 5A3 Canada

ISBN: (纸本)9781509037636

This paper is aimed at developing optimal motion planning for a single autonomous surface vehicle (ASV) equipped with an on-board pollutant sensor that will maximize the sensor-related information available for source seeking. The ASV uses a nonlinear diffusion model of the pollutant source to estimate the intensity/level of the pollution at the present ASV location. The rate of detection of particles depends on the relative distance between the ASV and the source. First, we use a probabilistic map of the source location built through the sensor information for a dynamic motion planning of source seeking based on an entropy reduction formulation, where an appropriately defined Fisher information matrix (FIM) is used for entropy reduction or information gain. We derive the FIM for the set-up and investigate optimal trajectories. Next, we present an online nonlinear Monte Carlo algorithm that uses the obtained sensor information about pollutant at different vehicle locations to update a probabilistic uncertainty map of pollutant source location. As the mission unfolds the ASV motion is computed by considering a moving-horizon interval of decision, which will allow for the inclusion of new information available for optimal motion planning. The proposed motion planning approach is extended to take into account external disturbances and it is able to minimize the uncertainty in the pollutant source. Finally, we provide two case studies to demonstrate efficacy of the proposed motion planning algorithm.

关键词： Position measurement Pollution measurement Uncertainty Planning Probabilistic logic Robot sensing systems Pollution

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Context-aware tracking of moving objects for distance keeping

Context-aware tracking of moving objects for distance keepin...

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IEEE Symposium on Intelligent Vehicle

作者： Wenda Xu Jarrod Snider Junqing Wei John M. Dolan Department of Electrical and Computer Engineering Robotics Institute Pittsburgh PA USA

We propose a robust object tracking algorithm for distance keeping. Taking advantage of a context-based region of interest, we are able to maximize the performance of each sensor, and reduce the computation time since we only focus on the targets inside the region. Tracking targets in road coordinates enables finding the distance-keeping target on any curved road, while a commercial Adaptive Cruise Control (ACC) system works best on straight roads. We demonstrate that the overall performance of the proposed algorithm is better than that of a commercial ACC system. The distance-keeping target can either be used for lane following for a standalone ACC system or an autonomous vehicle. Our object tracking algorithm can also be extended to find the target of interest for lane changing or ramp merging for an autonomous vehicle.

关键词： Radar tracking Target tracking Roads Mobile robots Vehicles Laser radar Context

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Powered Upper-Limb Control using Passivity-Based Nonlinear Disturbance Observer for Unknown Payload Carrying Applications

Powered Upper-Limb Control using Passivity-Based Nonlinear D...

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IEEE International Conference on robotics and Automation

作者： Min Jun Kim Woongyong Lee Jae Yeon Choi Yong Sik Park Sung Ho Park Goobong Chung Kyung-Lyong Han I1 Seop Choi I1 Hong Suh Youngjin Choi Wan Kyun Chung the Robotics Laboratory School of Mechanical Engineering Pohang University of Science and Technology (POSTECH) Pohang 790-784 Gyung-buk Korea the Korea Institute of Robot and Convergence (KIRO) Pohang 790-784 Gyung-buk Korea the POSCO Technical Research Laboratories Pohang 790-300 Gyung-buk Korea the Department of Electronics and Computer Engineering Hanyang University Seoul Korea the Department of Electronic Systems Engineering Hanyang University Ansan Korea

ISBN: (纸本)9781467380270

This paper proposes a passivity-based nonlinear disturbance observer (DOB) design for a powered upper-limb robot control. The proposed DOB allows for the nonlinearities of the robot dynamics, whereas the typical DOB designs cannot. Moreover, by virtue of the passivity property, human operator and environmental interactions can be embedded in the control loop. As a DOB, the proposed approach has a disturbance observation property that makes the actual robot behave like a nominal model selected by the user. Performance analysis proposes a gain tuning rule. In experimental validation, actual powered upper-limb robot is used to perform unknown payload carrying applications.

关键词： Observer Unknown DOB

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