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International Conference on Multisensor Fusion and Integration for intelligent systems (MFI)

作者： Felix Sawo Thomas C. Henderson Christopher Sikorski Uwe D. Hanebeck Intelligent Sensor-Actuator-Systems Laboratory (ISAS) Institute of Computer Science and Engineering University of Karlsruhe Germany School of Computing University of Utah USA

This paper addresses the model-based localization of sensor networks based on local observations of a distributed phenomenon. For the localization process, we propose the rigorous exploitation of strong mathematical models of distributed phenomena. By unobtrusively exploiting background phenomena, the individual sensor nodes can be localized by only observing its local surrounding without the necessity of heavy infrastructure. In this paper, we introduce two novel approaches: (a) the polynomial system localization method (PSL-method) and (b) the simultaneous reconstruction and localization method (SRL-method). The first approach (PSL-method) is based on restating the mathematical model of the distributed phenomenon in terms of a polynomial system. These equations depend on both the state of the phenomenon and the node locations. Solving the system of polynomials for each individual sensor node directly leads to the desired locations. The second approach (SRL-method) basically regards the localization problem as a simultaneous state and parameter estimation problem with the node locations as parameters. By this means, the distributed phenomenon is reconstructed and the individual nodes are localized in a simultaneous fashion. In addition, within this framework the uncertainties in the mathematical model and the measurements are considered. The performance of the two different localization approaches is demonstrated by means of simulation results.

关键词： Mathematical model Equations Polynomials Uncertainty Shape Measurement uncertainty Estimation

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Evolutionary multiobjective optimization based control strategies for an inverted pendulum on a cart

Evolutionary multiobjective optimization based control strat...

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Congress on Evolutionary Computation

作者： Awhan Patnaik L. Behera Department of Electrical Engineering Indian Institute of Technology Kanpur Uttar Pradesh India School of computing and Intelligent systems University of Ulster Londonderry UK

We report the design and implementation of three different multiobjective optimization based control strategies for the cart pole system: l) a multiobjective version of the classic quadratic regulator problem, 2) a multiobjective formulation of a standard H infin controller and 3) a mixed norm H 2 /H infin controller design problem in a multiobjective setting. The optimization problems have been solved using an elitist Pareto dominance based multiobjective genetic algorithm developed by the authors. Input saturation and bounds on state variables have been incorporated in the problem. It is shown by way of an example that the solution to the scalarized version of multiobjective linear regulator design problem is contained in the set of solutions of the vector objective formulation of the same multiobjective design problem. Finally the validity of the solutions was tested on a real cart pole regulator system.

关键词： Regulators Optimization Gallium Nonlinear dynamical systems Transfer functions State feedback Evolutionary computation

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Implementation of a neural network based visual motor control algorithm for A 7 DOF redundant manipulator

Implementation of a neural network based visual motor contro...

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International Joint Conference on Neural Networks (IJCNN)

作者： S. Kumar L. Behera Department of Electrical Engineering Indian Institute of Technology Kanpur Uttar Pradesh India School of computing and Intelligent systems University of Ulster Londonderry UK

This paper deals with visual-motor coordination of a 7 dof robot manipulator for pick and place applications. Three issues are dealt with in this paper - finding a feasible inverse kinematic solution without using any orientation information, resolving redundancy at position level and finally maintaining the fidelity of information during clustering process thereby increasing accuracy of inverse kinematic solution. A 3-dimensional KSOM lattice is used to locally linearize the inverse kinematic relationship. The joint angle vector is divided into two groups and their effect on end-effector position is decoupled using a concept called function decomposition. It is shown that function decomposition leads to significant improvement in accuracy of inverse kinematic solution. However, this method yields a unique inverse kinematic solution for a given target point. A concept called sub-clustering in configuration space is suggested to preserve redundancy during learning process and redundancy is resolved at position level using several criteria. Even though the training is carried out off-line, the trained network is used online to compute the required joint angle vector in only one step. The accuracy attained is better than the current state of art. The experiment is implemented in real-time and the results are found to corroborate theoretical findings.

关键词： Joints Kinematics Manipulators Jacobian matrices Robots Cameras Robot kinematics

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Development of High Speed and High Sensitivity Slip Sensor

Development of High Speed and High Sensitivity Slip Sensor

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2008 IEEE/RSJ International Conference on intelligent Robots and systems (IROS 2008), vol.1

作者： Seiichi Teshigawara Masatoshi Ishikawa Makoto Shimojo Mechanical Engineering and Intelligent Systems University of Electro-Communications Chofu Japan Department of Information Physics and Computing Graduate School of Information Science and Technology University of Tokyo Bunkyo Tokyo Japan

Slip detecting tactile sensors is essential to achieving a human-like gripping motion with a robot hand. Up until now, we have developed flexible, thin and lightweight center of pressure (CoP) sensor. The sensor, constructed of pressure conductive rubber sandwiched between two sheets of conductive film, is able to detect the center position of the load distribution and the total load. Recently, detection of initial slip has been shown to be possible. However the detection principles are unclear. Therefore, we carried out verification experiments of the slip detection properties of the CoP sensor and the detection principle. In the results, we found a change in electrical conductivity produced with a shear deformation of the pressure conductive rubber. In this paper, we will discuss the slip detection properties of the CoP sensor and detection principle.

关键词： Rubber Robot sensing systems Force Lasers Electrodes Carbon Measurement by laser beam

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Sonar based Autonomous Automatic Guided Vehicle (AGV) navigation

Sonar based Autonomous Automatic Guided Vehicle (AGV) naviga...

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IEEE International Conference on System of systems engineering (SoSE)

作者： Anjan Kumar Ray Meenakshi Gupta Laxmidhar Behera Mo Jamshidi Department of Electrical Engineering Indian Institute of Technology Kanpur Uttar Pradesh India School of Computing and Intelligent Systems University of Ulster UK University of Technology San Antonio TX USA

In this paper, a sonar based navigation scheme for autonomous automatic guided vehicle (AGV) is proposed considering the physical placement, ranging limits and beam opening angles of sonars. A geometrical modeling of navigation path in an unknown environment is presented. A simple 2D axis transformation is proposed to relate local robot frame with the actual environment. Forward safe path (FSP) and target switching approach (TSA) are proposed for efficient obstacle avoidance and target tracking. FSP simplifies the environment conditions and provides minimum turning path during obstacle avoidance. TSA gives highest priority on the target location during obstacle avoidance and generates minimum distance path towards the target, removing unnecessary turning of the AGV. A scheme for target directional motion is proposed to get minimum turning path towards the target. These methods ensure the avoidance of dasiadead cyclepsila problem and generate dasiaoscillationpsila free navigation. These schemes are successfully implemented on a model of PatrolBottrade from ActivMedia Robotics.

关键词： Sonar navigation Remotely operated vehicles Mobile robots Turning Robot kinematics Target tracking Robotics and automation Robot sensing systems intelligent systems intelligent vehicles

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Multi-domain robotic swarm communication system

2008 IEEE International Conference on System of Systems Engi...

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2008 IEEE International Conference on System of systems engineering, SoSE 2008 2008年

作者： Benavidez, Patrick Nagothu, Kranthimanoj Ray, Anjan Kumar Shaneyfelt, Ted Kota, Srinath Behera, Laxmidhar Jamshidi, Mo ACE Center Dept. of Electrical and Computer Engineering University of Texas San Antonio United States Department of Electrical Engineering Indian Institute of Technology Kanpur India School of Computing and Intelligent Systems University of Ulster Magee Campus United Kingdom

ISBN: (纸本)9781424421732

As swarm of robots from different domains works together in a System of systems, the need arises for interswarm communication. This paper presents a viable solution for robotic swarm communication and navigation for different autonomous applications. Communication is achieved through ZigBee Radio Modems and an expandable protocol to accommodate different types of data. This proposed communication system also allows dynamic swarm expansion, where a new member can be added to the swarm family. It is a complementary approach for task coordination and navigation. Navigation is an important issue to accomplish the coordination of tasks in a swarm of robots. Different environmental issues, related to navigation, have been discussed and are presented through simulation results and the real-time communication test is presented through the experimental result. © 2008 IEEE.

关键词： Swarm intelligence

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Multi-domain robotic swarm communication system

Multi-domain robotic swarm communication system

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IEEE International Conference on System of systems engineering (SoSE)

作者： Patrick Benavidez Kranthimanoj Nagothu Anjan Kumar Ray Ted Shaneyfelt Srinath Kota Laxmidhar Behera Mo Jamshidi ACE Center University of Texas San Antonio USA Department of Electrical Engineering Indian Institute of Technology Kanpur India School of Computing and Intelligent Systems University of Ulster Magee Campus UK

As swarm of robots from different domains works together in a system of systems, the need arises for inter-swarm communication. This paper presents a viable solution for robotic swarm communication and navigation for different autonomous applications. Communication is achieved through ZigBee radio modems and an expandable protocol to accommodate different types of data. This proposed communication system also allows dynamic swarm expansion, where a new member can be added to the swarm family. It is a complementary approach for task coordination and navigation. Navigation is an important issue to accomplish the coordination of tasks in a swarm of robots. Different environmental issues, related to navigation, have been discussed and are presented through simulation results and the real-time communication test is presented through the experimental result.

关键词： Robot kinematics Humans Robot sensing systems Radio navigation intelligent robots Modems Switches Collaborative work Insects Mobile communication

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Sonar based Autonomous Automatic Guided Vehicle (AGV) navigation

2008 IEEE International Conference on System of Systems Engi...

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2008 IEEE International Conference on System of systems engineering, SoSE 2008 2008年

作者： Ray, Anjan Kumar Gupta, Meenakshi Behera, Laxmidhar Jamshidi, Mo Department of Electrical Engineering Indian Institute of Technology Kanpur 208016 UP India School of Computing and Intelligent Systems University of Ulster Magee Campus United Kingdom University of Texas San Antonio and the ACE Center TX 78249 United States

ISBN: (纸本)9781424421732

In this paper, a sonar based navigation scheme for Autonomous Automatic Guided Vehicle (AGV) is proposed considering the physical placement, ranging limits and beam opening angles of sonars. A geometrical modeling of navigation path in an unknown environment is presented. A simple 2-D axis transformation is proposed to relate local robot frame with the actual environment. Forward Safe Path (FSP) and Target Switching Approach (TSA) are proposed for efficient obstacle avoidance and target tracking. FSP simplifies the environment conditions and provides minimum turning path during obstacle avoidance. TSA gives highest priority on the target location during obstacle avoidance and generates minimum distance path towards the target, removing unnecessary turning of the AGV. A scheme for target directional motion is proposed to get minimum turning path towards the target. These methods ensure the avoidance of 'dead cycle' problem and generate 'oscillation' free navigation. These schemes are successfully implemented on a model of PatrolBot from ActivMedia Robotics. © 2008 IEEE.

关键词： Automatic guided vehicles

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Reconfigurable platforms and the challenges for large-scale implementations of spiking neural networks

Reconfigurable platforms and the challenges for large-scale ...

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International Conference on Field Programmable Logic and Applications

作者： Jim Harkin Fearghal Morgan Steve Hall Piotr Dudek Thomas Dowrick Liam McDaid Bio-Inspired Electronics Reconfigurable Computing Group NUI Galway Ireland Intelligent Systems Research Centre University of Ulster UK Institute for Nanoscale Science Engineering & Technology University of Liverpool UK School of Electrical and Electronic Engineering University of Manchester Institute of Science and Technology UK

FPGA devices have witnessed popularity in their use for the rapid prototyping of biological Spiking Neural Network (SNNs) applications, as they offer the key requirement of reconfigurability. However, FPGAs do not efficiently realise the biological neuron/synaptic models. Also their routing structures cannot accommodate the high levels of neuron inter-connectivity inherent in complex SNNs. This paper highlights and discusses the current challenges of implementing large scale SNNs on reconfigurable FPGAs. The paper presents a novel Field Programmable Neural Network (FPNN) architecture incorporating low power analogue synapse and a network on chip architecture for SNN routing and configuration. Initial results are presented.

关键词： Neurons Tiles Computer architecture Field programmable gate arrays Biology Hardware Integrated circuit interconnections

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Securing Information Content using New Encryption Method and Steganography

Securing Information Content using New Encryption Method and...

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International Conference on Digital Information Management (ICDIM)

作者： Abbas Cheddad Joan Condell Kevin Curran Paul Mc Kevitt School of Computing and Intelligent Systems Faculty of Computing and Engineering Londonderry BT48 7JL Northern Ireland United Kingdom

ISBN: (纸本)9781424429165

This paper proposes a novel encryption method with password protection based on an extended version of SHA-1 (Secure Hash Algorithm) that is able to encrypt 2D bulk data such as images. There has been a modest research in the literature on encryption of digital images though. The algorithm benefits also from the conjugate symmetry exhibited in what is termed, herein, an Irreversible Fast Fourier Transform (IrFFT). The proposed encryption method is a preprocessing phase which aims at increasing the robustness of Image Steganography against hackers. This scenario lays down a multi layer of security which forms a strong shield, against eavesdroppers, that is impossible to break. Both Shannon law requirements are met and results show promising results.

关键词： cryptography Steganography Digital images Secure Hashing Algorithm

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