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Chinese Automation Congress (CAC)

作者： Yu Zhang Zhuo Wang Chunjie Chen Tao Fang Ruimei Sun Yanjie Li School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Shenzhen China ShenZhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen China BeiJing Aerospace Wanyuan Science Technology Co. Ltd. Beijing China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

The soft exoskeleton is a wearable robot which is functioned to improve the capacity of human walking or loading. The metabolic of human is increase with the additional load, one integrated design method is used to reduce this effect in this paper. Meanwhile, in order to enhance the convenience and decrease the disturbance to wearer, the wireless module is used to replace the signal line. The nonlinear characteristics and uncertainty of flexible material make the control of soft exoskeleton system be a challenge, a switching controller is proposed to deal with this problem in this paper. It consists of Iterative learning control (ILC) based stable controller and admittance control based unstable controller, functioned with wearers walking stable and not. An experiment of force tracking is conducted to verify the controller performance in this paper, and the result demonstrate that the tracking is well after 20 iteration. In order to evaluate the performance of assistance of soft exoskeleton, five health adult male take part in metabolic experiment By compare the metabolic rate between the wear soft exoskeleton and not wear, the metabolic rate are decrease 7.33%, 14.56% and 10.45% with the walking speed of 3km/h, 5km/h and 7km/h, which are corresponding absolute values decrease of 0.46W/kg, 1.60W/kg and 1.21W/kg respectively.

关键词： AC motors Mechanical cables Wireless communication Pulleys Microprocessors Micromechanical devices Germanium

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Music, Computing, and Health: A Roadmap for the Current and Future Roles of Music Technology for Health Care and Well-Being

引用

Music and Science 2021年 4卷

作者： Agres, Kat R. Schaefer, Rebecca S. Volk, Anja van Hooren, Susan Holzapfel, Andre Dalla Bella, Simone Müller, Meinard de Witte, Martina Herremans, Dorien Ramirez Melendez, Rafael Neerincx, Mark Ruiz, Sebastian Meredith, David Dimitriadis, Theo Magee, Wendy L. Yong Siew Toh Conservatory of Music National University of Singapore Singapore Social and Cognitive Computing Department Institute of High Performance Computing A*STAR Singapore Institute for Psychology Health Medical Neuropsychology Unit Leiden University Leiden Netherlands Leiden Institute for Brain and Cognition Leiden University Leiden Netherlands Academy of Creative and Performing Arts Leiden University Leiden Netherlands Department of Information and Computing Sciences Utrecht University Utrecht Netherlands Faculty of Health care Department of Arts Therapies Zuyd University of Applied Sciences Heerlen Netherlands KenVaK Research Centre for the Arts Therapies and Psychomotricity Heerlen Netherlands Faculty of Psychology Open University of The Netherlands Heerlen Netherlands Division of Media Technology and Interaction Design KTH Royal Institute of Technology Stockholm Sweden International Laboratory for Brain Music and Sound Research (BRAMS) Outremont QC Canada Department of Psychology University of Montreal Montreal QC Canada Centre for Research on Brain Language and Music (CRBLM) Montreal QC Canada University of Economics and Human Sciences in Warsaw Warsaw Poland International Audio Laboratories Erlangen Friedrich-Alexander Universität Erlangen-Nürnberg Erlangen Germany HAN University of Applied Sciences Department of Arts Therapies and Psychological Studies Nijmegen Netherlands University of Amsterdam Research Institute of Child Development and Education Amsterdam Netherlands Treatment Centre for People with Mild Intellectual Disabilities and Psychiatric and Behavioral Disorders Gennep Netherlands Information Systems Technology and Design Singapore University of Technology and Design Singapore Music and Machine Learning Lab Music Technology Group Universitat Pompeu Fabra Barcelona Spain Faculty of EEMCS Interactive Intelligence Group Delft University of Technology Delft Netherlands Centre for Digital Music School of Electronic Engineerin

The fields of music, health, and technology have seen significant interactions in recent years in developing music technology for health care and well-being. In an effort to strengthen the collaboration between the involved disciplines, the workshop “Music, Computing, and Health” was held to discuss best practices and state-of-the-art at the intersection of these areas with researchers from music psychology and neuroscience, music therapy, music information retrieval, music technology, medical technology (medtech), and robotics. Following the discussions at the workshop, this article provides an overview of the different methods of the involved disciplines and their potential contributions to developing music technology for health and well-being. Furthermore, the article summarizes the state of the art in music technology that can be applied in various health scenarios and provides a perspective on challenges and opportunities for developing music technology that (1) supports person-centered care and evidence-based treatments, and (2) contributes to developing standardized, large-scale research on music-based interventions in an interdisciplinary manner. The article provides a resource for those seeking to engage in interdisciplinary research using music-based computational methods to develop technology for health care, and aims to inspire future research directions by evaluating the state of the art with respect to the challenges facing each field. © The Author(s) 2021.

关键词： health care interdisciplinarity MedTech music information retrieval (MIR) music neuroscience Music psychology music technology music therapy well-being

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QU-BraTS: MICCAI BraTS 2020 Challenge on Quantifying Uncertainty in Brain Tumor Segmentation - Analysis of Ranking Scores and Benchmarking Results

arXiv

引用

arXiv 2021年

作者： Mehta, Raghav Filos, Angelos Baid, Ujjwal Sako, Chiharu McKinley, Richard Rebsamen, Michael Dätwyler, Katrin Meier, Raphael Radojewski, Piotr Murugesan, Gowtham Krishnan Nalawade, Sahil Ganesh, Chandan Wagner, Ben Yu, Fang F. Fei, Baowei Madhuranthakam, Ananth J. Maldjian, Joseph A. Daza, Laura Gómez, Catalina Arbeláez, Pablo Dai, Chengliang Wang, Shuo Reynaud, Hadrien Mo, Yuanhan Angelini, Elsa Guo, Yike Bai, Wenjia Banerjee, Subhashis Pei, Linmin Murat, A.K. Rosas-González, Sarahi Zemmoura, Ilyess Tauber, Clovis Vu, Minh H. Nyholm, Tufve Löfstedt, Tommy Ballestar, Laura Mora Vilaplana, Veronica McHugh, Hugh Talou, Gonzalo Maso Wang, Alan Patel, Jay Chang, Ken Hoebel, Katharina Gidwani, Mishka Arun, Nishanth Gupta, Sharut Aggarwal, Mehak Singh, Praveer Gerstner, Elizabeth R. Kalpathy-Cramer, Jayashree Boutry, Nicolas Huard, Alexis Vidyaratne, Lasitha Rahman, Md Monibor Iftekharuddin, Khan M. Chazalon, Joseph Puybareau, Elodie Tochon, Guillaume Ma, Jun Cabezas, Mariano Llado, Xavier Oliver, Arnau Valencia, Liliana Valverde, Sergi Amian, Mehdi Soltaninejad, Mohammadreza Myronenko, Andriy Hatamizadeh, Ali Feng, Xue Dou, Quan Tustison, Nicholas Meyer, Craig Shah, Nisarg A. Talbar, Sanjay Weber, Marc-André Mahajan, Abhishek Jakab, Andras Wiest, Roland Fathallah-Shaykh, Hassan M. Nazeri, Arash Milchenko, Mikhail Marcus, Daniel Kotrotsou, Aikaterini Colen, Rivka Freymann, John Kirby, Justin Davatzikos, Christos Menze, Bjoern Bakas, Spyridon Gal, Yarin Arbel, Tal McGill University MontrealQC Canada Group University of Oxford Oxford United Kingdom University of Pennsylvania PhiladelphiaPA United States Department of Radiology Perelman School of Medicine The University of Pennsylvania PhiladelphiaPA United States Department of Pathology and Laboratory Medicine Perelman School of Medicine University of Pennsylvania PhiladelphiaPA United States University Institute of Diagnostic and Interventional Neuroradiology University of Bern Inselspital Bern University Hospital Bern Switzerland Department of Radiology University of Texas Southwestern Medical Center DallasTX United States Department of Bioengineering University of Texas DallasTX United States Advanced Imaging Research Center University of Texas Southwestern Medical Center DallasTX United States Universidad de los Andes Bogotá Colombia Data Science Institute Imperial College London London United Kingdom NIHR Imperial BRC ITMAT Data Science Group Imperial College London London United Kingdom Department of Brain Sciences Imperial College London London United Kingdom Machine Intelligence Unit Indian Statistical Institute Kolkata India Department of CSE University of Calcutta Kolkata India Department of Information Technology Uppsala University Uppsala Sweden Department of Diagnostic Radiology The University of Pittsburgh Medical Center PittsburghPA United States UMR U1253 iBrain Université de Tours Inserm Tours France Department of Radiation Sciences Umeå University Umeå Sweden Department of Computing Science Umeå University Umeå Sweden Signal Theory and Communications Department Universitat Politècnica de Catalunya Barcelona Tech Barcelona Spain Faculty of Medical and Health Sciences University of Auckland Auckland New Zealand Radiology Department Auckland City Hospital Auckland New Zealand Auckland Bioengineering Institute University of Auckland New Zealand Athinoula A. Martinos Center for Biomedical Imaging Department of Radiology

Deep learning (DL) models have provided state-of-the-art performance in various medical imaging benchmarking challenges, including the Brain Tumor Segmentation (BraTS) challenges. However, the task of focal pathology multi-compartment segmentation (e.g., tumor and lesion sub-regions) is particularly challenging, and potential errors hinder translating DL models into clinical workflows. Quantifying the reliability of DL model predictions in the form of uncertainties could enable clinical review of the most uncertain regions, thereby building trust and paving the way toward clinical translation. Several uncertainty estimation methods have recently been introduced for DL medical image segmentation tasks. Developing scores to evaluate and compare the performance of uncertainty measures will assist the end-user in making more informed decisions. In this study, we explore and evaluate a score developed during the BraTS 2019 and BraTS 2020 task on uncertainty quantification (QU-BraTS) and designed to assess and rank uncertainty estimates for brain tumor multi-compartment segmentation. This score (1) rewards uncertainty estimates that produce high confidence in correct assertions and those that assign low confidence levels at incorrect assertions, and (2) penalizes uncertainty measures that lead to a higher percentage of under-confident correct assertions. We further benchmark the segmentation uncertainties generated by 14 independent participating teams of QU-BraTS 2020, all of which also participated in the main BraTS segmentation task. Overall, our findings confirm the importance and complementary value that uncertainty estimates provide to segmentation algorithms, highlighting the need for uncertainty quantification in medical image analyses. Finally, in favor of transparency and reproducibility, our evaluation code is made publicly available at https://***/RagMeh11/QU-BraTS. © 2021, CC BY.

关键词： Benchmarking

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Unsupervised domain adaptation for medical imaging segmentation with self-ensembling

arXiv

引用

arXiv 2018年

作者： Perone, Christian S. Ballester, Pedro Barros, Rodrigo C. Cohen-Adad, Julien NeuroPoly Lab Institute of Biomedical Engineering Polytechnique Montreal MontrealQC Canada Machine Intelligence and Robotics Research Group School of Technology Pontifícia Universidade Católica do Rio Grande do Sul Porto Alegre RS Brazil Functional Neuroimaging Unit CRIUGM Universite de Montreal MontrealQC Canada

Recent advances in deep learning methods have come to define the state-of-the-art for many medical imaging applications, surpassing even human judgment in several tasks. Those models, however, when trained to reduce the empirical risk on a single domain, fail to generalize when applied to other domains, a very common scenario in medical imaging due to the variability of images and anatomical structures, even across the same imaging modality. In this work, we extend the method of unsupervised domain adaptation using self-ensembling for the semantic segmentation task and explore multiple facets of the method on a small and realistic publicly-available magnetic resonance (MRI) dataset. Through an extensive evaluation, we show that self-ensembling can indeed improve the generalization of the models even when using a small amount of unlabelled data. Copyright © 2018, The Authors. All rights reserved.

关键词： Magnetic resonance

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Identifying the best machine learning algorithms for brain tumor segmentation, progression assessment, and overall survival prediction in the BRATS challenge

arXiv

引用

arXiv 2018年

作者： Bakas, Spyridon Reyes, Mauricio Jakab, Andras Bauer, Stefan Rempfler, Markus Crimi, Alessandro Shinohara, Russell Takeshi Berger, Christoph Ha, Sung Min Rozycki, Martin Prastawa, Marcel Alberts, Esther Lipkova, Jana Freymann, John Kirby, Justin Bilello, Michel Fathallah-Shaykh, Hassan M. Wiest, Roland Kirschke, Jan Wiestler, Benedikt Colen, Rivka Kotrotsou, Aikaterini Lamontagne, Pamela Marcus, Daniel Milchenko, Mikhail Nazeri, Arash Weber, Marc-Andr Mahajan, Abhishek Baid, Ujjwal Gerstner, Elizabeth Kwon, Dongjin Acharya, Gagan Agarwal, Manu Alam, Mahbubul Albiol, Alberto Albiol, Antonio Albiol, Francisco J. Alex, Varghese Allinson, Nigel Amorim, Pedro H.A. Amrutkar, Abhijit Anand, Ganesh Andermatt, Simon Arbel, Tal Arbelaez, Pablo Avery, Aaron Azmat, Muneeza Pranjal, B. Bai, Wenjia Banerjee, Subhashis Barth, Bill Batchelder, Thomas Batmanghelich, Kayhan Battistella, Enzo Beers, Andrew Belyaev, Mikhail Bendszus, Martin Benson, Eze Bernal, Jose Bharath, Halandur Nagaraja Biros, George Bisdas, Sotirios Brown, James Cabezas, Mariano Cao, Shilei Cardoso, Jorge M. Carver, Eric N. Casamitjana, Adri Castillo, Laura Silvana Cat, Marcel Cattin, Philippe Cérigues, Albert Chagas, Vinicius S. Chandra, Siddhartha Chang, Yi-Ju Chang, Shiyu Chang, Ken Chazalon, Joseph Chen, Shengcong Chen, Wei Chen, Jefferson W. Chen, Zhaolin Cheng, Kun Choudhury, Ahana Roy Chylla, Roger Clrigues, Albert Colleman, Steven Colmeiro, Ramiro German Rodriguez Combalia, Marc Costa, Anthony Cui, Xiaomeng Dai, Zhenzhen Dai, Lutao Daza, Laura Alexandra Deutsch, Eric Ding, Changxing Dong, Chao Dong, Shidu Dudzik, Wojciech Eaton-Rosen, Zach Egan, Gary Escudero, Guilherme Estienne, Tho Everson, Richard Fabrizio, Jonathan Fan, Yong Fang, Longwei Feng, Xue Ferrante, Enzo Fidon, Lucas Fischer, Martin French, Andrew P. Fridman, Naomi Fu, Huan Fuentes, David Gao, Yaozong Gates, Evan Gering, David Gholami, Amir Gierke, Willi Glocker, Ben Gong, Mingming Gonzlez-Vill, Sandra Grosges, T. Guan, Yuanfang Guo, Sheng Gupta, Sudeep Han, Woo-Sup Han, Il Song Harmuth, Ko Center for Biomedical Image Computing and Analytics University of Pennsylvania PhiladelphiaPA United States Department of Radiology Perelman School of Medicine University of Pennsylvania PhiladelphiaPA United States Department of Pathology and Laboratory Medicine Perelman School of Medicine University of Pennsylvania PhiladelphiaPA United States Institute for Surgical Technology and Biomechanics University of Bern Bern Switzerland Center for MR-Research University Children's Hospital Zurich Zurich Switzerland Support Centre for Advanced Neuroimaging Inselspital Institute for Diagnostic and Interventional Neuroradiology Bern University Hospital Bern Switzerland University Hospital of Zurich Zurich Switzerland Center for Clinical Epidemiology and Biostatistics University of Pennsylvania Philadelphia United States Image-Based Biomedical Modeling Group Technical University of Munich Munich Germany Icahn School of Medicine Mount Sinai Health System New YorkNY United States Leidos Biomedical Research Inc. Frederick National Laboratory for Cancer Research FrederickMD21701 United States Cancer Imaging Program National Cancer Institute National Institutes of Health BethesdaMD20814 United States Department of Neurology University of Alabama at Birmingham BirminghamAL United States Department of Diagnostic Radiology University of Texas MD Anderson Cancer Center HoustonTX United States Department of Psychology Washington University St. LouisMO United States Neuroimaging Informatics and Analysis Center Washington University St. LouisMO United States Department of Radiology Washington University St. LouisMO United States Institute of Diagnostic and Interventional Radiology Pediatric Radiology and Neuroradiology University Medical Center Rostock Ernst-Heydemann-Str. 6 Rostock18057 Germany Tata Memorial Centre Homi Bhabha National Institute Mumbai India Shri Guru Gobind Singhji Institute of Engineering and Technology Nanded India NVIDIA Santa Clara

Gliomas are the most common primary brain malignancies, with different degrees of aggressiveness, variable prognosis and various heterogeneous histologic sub-regions, i.e., peritumoral edematous/invaded tissue, necrotic core, active and non-enhancing core. This intrinsic heterogeneity is also portrayed in their radio-phenotype, as their sub-regions are depicted by varying intensity profiles disseminated across multi-parametric magnetic resonance imaging (mpMRI) scans, reflecting varying biological properties. Their heterogeneous shape, extent, and location are some of the factors that make these tumors difficult to resect, and in some cases inoperable. The amount of resected tumor is a factor also considered in longitudinal scans, when evaluating the apparent tumor for potential diagnosis of progression. Furthermore, there is mounting evidence that accurate segmentation of the various tumor sub-regions can offer the basis for quantitative image analysis towards prediction of patient overall survival. This study assesses the state-of-the-art machine learning (ML) methods used for brain tumor image analysis in mpMRI scans, during the last seven instances of the International Brain Tumor Segmentation (BraTS) challenge, i.e., 2012-2018. Specifically, we focus on i) evaluating segmentations of the various glioma sub-regions in pre-operative mpMRI scans, ii) assessing potential tumor progression by virtue of longitudinal growth of tumor sub-regions, beyond use of the RECIST/RANO criteria, and iii) predicting the overall survival from pre-operative mpMRI scans of patients that underwent gross total resection. Finally, we investigate the challenge of identifying the best ML algorithms for each of these tasks, considering that apart from being diverse on each instance of the challenge, the multi-institutional mpMRI BraTS dataset has also been a continuously evolving/growing dataset. Copyright © 2018, The Authors. All rights reserved.

关键词： Tumors

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Impact of Grain Boundary Character on Electrical Property in Polycrystalline Silicon

引用

MRS Online Proceedings Library 2011年第1期586卷 163-168页

作者： Shu Hamada Koichi Kawahara Sadahiro Tsurekawa Tadao Watanabe Takashi Sekiguchi Laboratory of Materials Design and Interface Engineering Department of Machine Intelligence and Systems Engineering Graduate School of Engineering Tohoku University Sendai Japan Institute for Materials Research Tohoku University Sendai Japan

Grain boundaries in polycrystalline silicon are most likely to generate localized states in band gap. The localized states play a dominant role in determining the performance of solar cells by acting as traps or recombination center of carriers. In the present investigation, the scanning electron microscope - electron channeling pattern(SEM/ECP) method and SEM - electron back scattered diffraction pattern(SEM/EBSD) technique were applied to characterize the grain boundaries in p-type polycrystalline silicon with 99.999%(5N) in purity. Thereafter, temperature dependence of electrical activity of individual grain boundaries was measured by an electron beam induced current(EBIC) technique. It has been found that temperature dependence of EBIC contrast at grain boundaries can change, depending on the misorientation angle the orientation of the boundary plane. The results can be explained by the difference in the position of the localized state within the band gap on the basis of the Shockley-Read-Hall statistics. The {111} Σ3 symmetrical tilt boundary has shallow states, while high Σ boundaries have deep states. Low angle boundaries reveal high electrical activities. The EBIC contrast at low angle boundaries was found to increase with increasing misorientation angle up to 2° followed by an almost constant value. High electrical activity at low angle boundaries is probably attributed to a stress field of primary dislocations forming low angle boundaries.

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Development of a Sensor System for Measuring Tactile Sensation

Development of a Sensor System for Measuring Tactile Sensati...

引用

IEEE SENSORS

作者： Yoshihiro Tanaka Mami Tanaka Seiji Chonan Department of Mechanical Engineering Nagoya Institute of Technology Nagoya Japan Department of Bioengineering and Robotics Graduate School of Engineering University of Tohoku Sendai Japan Department of Machine Intelligence and Systems Engineering Akita Prefectural University Yurihonjo Akita Japan

This paper presents the development of a sensor system for measuring tactile sensation. First, various tactile feelings of fabrics are collected through questionnaires and the factor analysis is introduced to classify the feelings. Next, an active sensing system using the piezoelectric effect and the pyroelectric effect of a PVDF (polyvinylidene fluoride) film is assembled. The sensor's surface is heated and two kinds of active sensing, contact and slide, are introduced to collect tactile information. Measurement is done on the sample fabrics and features of the collected data are extracted as the sensor outputs. Comparison with tactile feelings shows that the sensor system well describes human tactile perception.

关键词： Sensor systems Fabrics Piezoelectric effect Pyroelectricity Piezoelectric films Assembly systems Tactile sensors Thermal sensors Data mining Sensor phenomena and characterization

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Pokrovsky-Talapov Critical Behavior and Rough-to-Rough Ridges of the Σ3 Coincidence Tilt Boundary in Mo

引用

Physical Review Letters 2004年第19期92卷 196101-196101页

作者： Boris B. Straumal Valery N. Semenov Olga A. Kogtenkova Tadao Watanabe Institute of Solid State Physics Russian Academy of Sciences 142432 Chernogolovka Moscow district Russia Laboratory of Materials Design and Interface Engineering Department of Machine Intelligence and Systems Engineering Graduate School of Engineering Tohoku University Sendai 980-8579 Japan

The as-grown shape of the cylindric tilt grain boundary (GB) in Mo bicrystals grown by the floating zone method has been studied with the electron backscattering diffraction method. The seed crystals were misoriented such that the coincidence site lattice (CSL) with lowest possible inverse density of coincidence sites, a Σ=3 was grown. The flat (100)Σ3CSL facets were observed forming smooth edges (no slope discontinuity) with rounded rough GB portions. Rough GBs curve away from the plane of the (100)Σ3CSL facet as xβ with β=1.69±0.07 on one side and β=1.72±0.07 on the other side. Therefore, GB roughening belongs to the Pokrovsky-Talapov universality class. Slope discontinuities between two rounded rough GB portions were also observed. This is the first experimental observation of such first-order rough-to-rough ridges predicted by the Davidson-den-Nijs model.

关键词： .edges coincidence slope facets tilt ridges discontinuity VOLUME NUMBER week Pokrovsky-Talapov Rough-to-Rough GB portions GB roughening

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THE STORY of PINO

引用

International Journal of Humanoid robotics 2004年第3期1卷 449-463页

作者： Kitano, Hiroaki Yamasaki, Fuminori Matsui, Tatsuya Endo, K.E.N. Matsuoka, Yukiko Kaminaga, Hiroshi Kato, Yuichiro ERATO-SORST Kitano Symbiotic Systems Project 6-31-15 Jingumae Shibuya Tokyo150-0001 Japan Emergent Robotics Area Department of Adaptive Machine Systems Graduate School of Engineering Osaka University 2-1 Yamadaoka Suita Osaka565-0871 Japan Flower Robotics Inc. J-House 301 6-8-15 Minami Aoyama Shibuya Tokyo150 Japan Future Robotics Research Center Chiba Institute of Technology 2-17-1 Tsudanuma Narashino Chiba275-0016 Japan Integrated Design Engineering Keio University 3-14-1 Hiyoshi Kohokuku Yokoyama 223-0061 Japan ERATO-SORST Kitano Symbiotic Systems Project 6-31-15 Jingumae Shibuya Tokyo150-0001 Japan ZMP Inc. 7F Katsuta Building 1-3-39 Mita Minato-ku Tokyo108-0073 Japan ZMP Inc. 7F Katsuta Building 1-3-39 Mita Minato-ku Tokyo108-0073 Japan

PINO is a small-sized, low-cost humanoid robot developed for research. The salient feature of PINO is the use of low-cost components, extensive esthetic design, the disclosure of technical information under GNU General Public Licensing, the use of evolutionarly computing methods to generate stable walking patterns, and numerious commerical developments. In fact, PINO is the first biped humanoid robot that was sold as a commercial product. Currently, PINO-II is on the market with various improved aspects of PINO. This article describe ideas behind PINO, and how it was developed and transferred into the industrial sector. © 2004 World Scientific Publishing Company.

关键词： Anthropomorphic robots

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Analysis and optimization of a non-time based motion controller for a nonholonomic mobile robot

Analysis and optimization of a non-time based motion control...

引用

IEEE International Symposium on Computational intelligence in robotics and Automation (CIRA)

作者： Hao Li S.X. Yang F. Karray Advanced Robotics and Intelligent Systems (AFUS) Laboratory School of Engineering University of Guelph Canada Pattem Analysis and Machine Intelligence (PAMI) Laboratory Department of Systems Design Engineering University of Waterloo Canada

In this paper, a non-time based tracking controller of a nonholonomic mobile robot is first analyzed. Non-time based motion controllers have been successfully applied to many areas such as robot motion control, multi-robot coordination, force control, robotic teleoperation and manufacturing automation. However, by the traditional non-time based motion controller many suffer from oscillations in both the linear and angular velocities when there is a large initial tracking error. In this paper, a traditional non-time based tracking controller is optimized using a genetic algorithm, which is used to generate the model parameters that could guarantee the system stability and convergence of tracking error. Simulations using a nonholonomic mobile robot model with a four degree of freedom are conducted to investigate the performance of the proposed controller. The results using the proposed model is compared to those of the conventional model. Generally the proposed model performs better than the conventional model because the genetic algorithm can provide better parameters to minimize tracking error and the oscillation.

关键词： Motion analysis Motion control Mobile robots Automatic control Force control Error correction Genetic algorithms Robot motion Robot control Robot kinematics

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