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Research of Extracting Data from HTML Web Pages Automatically

Journal of Beijing Institute of Technology 2003年第S1期12卷 104-108页

作者：王茹宋瀚涛陆玉昌 Department of Computer Science and Engineering School of Information Science and TechnologyBeijing Institute of TechnologyBeijing 100081China State Key Laboratory of Intelligent Technology and System Tsinghua UniversityBeijing 100084China

In order to use data information in the Internet, it is necessary to extract data from web pages. An HTT tree model representing HTML pages is presented. Based on the HTT model, a wrapper generation algorithm AGW is proposed. The AGW algorithm utilizes comparing and correcting technique to generate the wrapper with the native characteristic of the HTT tree structure. The AGW algorithm can not only generate the wrapper automatically, but also rebuild the data schema easily and reduce the complexity of the computing.

关键词： information extraction data transformation wrapper HTML page

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Automated calibration for micro hand using visual information

Automated calibration for micro hand using visual informatio...

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： T. Arai A. Suzuki Y. Kato Y. Mae K. Inoue T. Tanikawa Graduate School of Engineering Science Osaka University Toyonaka Japan Intelligent System Institute National Institute for Advanced Industrial Science and Technology

An automated calibration for micro-hand is proposed to obtain high quality micromanipulation system. The calibration is based on automatic focusing of micro-object and its position detection in the microscope frame using microscope images. The automatic focusing works well even in the tracking of moving target using chromatic aberration. The finger position can be detected automatically by integrating focusing and identification of the micro-hand finger wherever it is in the microscope view. These automated processes are implemented in the actual system. The experiment shows the system can attain around 2[/spl mu/m] in absolute positioning accuracy.

关键词： Calibration Focusing Transmission electron microscopy Fingers Robotics and automation Robotic assembly Optical microscopy Humans Computer vision Micromotors

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Impulse measure based performance analysis of sawing task by dual arm

Impulse measure based performance analysis of sawing task by...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jae Hoon Lee Byung-Ju Yi Sang-Rok Oh Il Hong Suh School of Electrical Engineering and Computer Science Hanyang University South Korea Intelligent System Control Research Center KIST South Korea

ISBN: (纸本)0780372727

Some of manufacturing tasks such as sawing task often requires continuous impulsive motion. In case of sawing task, such impulsive motions can be observed between the teeth of the saw and the object. The amount of the external impulse exerted on the object has been treated as an important control paramete. Also, the internal impulses experienced at the joints should be simultaneously taken into account to avoid serious damage or injury at the joints. The purpose of this work is to improve the efficacy of sawing task by using dual arm. For this, an external impulse model for sawing task is suggested. Also, the closed-form internal impulse models are proposed for both a single and dual arms. Based on these models, a new measure for internal impulse is proposed. A normalized impulse ellipsoid reflecting the velocity direction is employed to visualize the impact geometry. Finally, the optimal sawing region is identified in which the amount of external impulse is maximized and the amount of the internal impulse is minimized. It is demonstrated through simulation that the dual arm exhibits better sawing performance over a single arm in aspects of external and internal impulses.

关键词： Performance analysis Sawing Robot kinematics Arm Humans Manipulators Injuries Manufacturing Robot control Equations

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Optimal design and actuator sizing of redundantly actuated omni-directional mobile robots

Optimal design and actuator sizing of redundantly actuated o...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Tae Bum Park Jae Hoon Lee Byung-Ju Yi Whee Kuk Kim Burn Jae You Sang-Rok Oh School of Electrical Engineering and Computer Science Hanyang South Korea Department of Control & Instrumentation Engineering Korea University South Korea Intelligent System Control Research Center KIST South Korea

ISBN: (纸本)0780372727

Despite that omni-directional mobile robots have been employed popularly in several application areas, effort on optimal design of such mobile robots has been few in literature. Thus, this paper investigates the optimal design of omni-directional mobile robots. Particularly, optimal design parameters such as one or double offset distance of wheel mechanism and the wheel radius are identifed with respect to isotropic characteristic of mobile robots. In addition, the force transmission characteristics and actuator-sizing problem of mobile robots are investigated Analysis has been performed for three actuation sets. It is shown that the redundantly acruated mobile robot with three active caster wheels represents the best performance among them.

关键词： Actuators Mobile robots Wheels Angular velocity Optimal control Control systems Roads Computer science intelligent systems intelligent control

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Wrapped system call in communication and execution fusion OS: CEFOS

Wrapped system call in communication and execution fusion OS...

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International Workshop on Innovative Architecture for Future Generation High-Performance Processors and systems

作者： Nakayama Tanabayashi Amamiya Department of Intelligent System Graduate School of Information Science and Electrical Engineering Kyushu University Fukuoka Japan Department of Intelligent System Kyushu University Fukuoka Japan Division of Intelligent System Graduate School of Information Science and Electrical Engineering Kyushu University Fukuoka Japan

This paper proposes an operating system CEFOS (Communication and Execution Fusion OS), which fuses interprocessor communication and intra processor computation. Fusion of communications and internal executions is achieved both in executions and function interfaces in CEFOS. CEFOS is based on a fine-grain multi-threading approach. In the fine-grain thread control, one of the major problems is how to reduce the frequency of context switching and communication between user process and CEFOS Kernel. The important point to resolve this problem is to design the environment which supports an efficient cooperation environment between user process and CEFOS kernel. We propose a Display Request and Data (DRD) function and Wrapped system Call (WSC) mechanism with DRD function, which provide efficient cooperation between user process and CEFOS Kernel. DRD and WSC reduce the number of invocations from user process threads to the OS kernel and achieve high speeds thread switching.

关键词： Operating systems

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A PARALLEL DECOUPLING TECHNIQUE TO ACCELERATE CONVERGENCE OF RELAXATION SOLUTION OF INTEGRAL-DIFFERENTIAL-ALGEBRAIC EQUATIONS

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Journal of Interconnection Networks 2001年第3期2卷 295-304页

作者： ZU-LAN HUANG RICHARD M. M. CHEN YAO-LIN JIANG School of Creative Media City University of Hong Kong Hong Kong China Dept of Computer Science & Engineering Harbin Institute of Technology Harbin China Institute of Information & System Sciences Xi'an Jiaotong University Xi'an China

In this paper, we first study the covergence performance of relaxatio-based algorithms for linear integral differential-algebraic equations (IDAEs), then a parallel decoupling technique to speed up the convergence of the relaxation-based algorithms is derived. This novel technique is suitable for implementation of parallel processing for complicated systems of IDAEs. Factors taking effect on the performance of parallel processing are discussed in detail. Large numerical examples running on a network of IBM RS/6000 SP2 system are given to illustrate how judicious partitionings of matrices can help improve convergence in parallel processing.

关键词： Linear integral-differential-algebraic equations relaxation-based algorithms decoupling techniques parallel processing

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Optimal grasping based on non-dimensionalized performance indices

Optimal grasping based on non-dimensionalized performance in...

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： Byoung-Ho Kim Sang-Rok Oh Byung-Ju Yi Il Hong Suh School of Electrical Engineering and Computer Science Hanyang University Seoul South Korea INtelligent System Control Research Center KIST Seoul South Korea

For a multi-fingered hand to grasp an object, there are numerous ways to grasp it stably, and thus an optimal grasp planning is necessary to find the optimal grasp point for achieving the objective of the given task. First, we define several grasp indices to evaluate the quality of each feasible grasp. Since the physical meanings of the defined grasp induces are different from each other, it is not easy to combine those indices to identify the optimal grasping. In this paper, we propose a new generalized grasping performance index to represent all of the grasp indices as one measure based on a non-dimensional technique. Through simulations, we show that the proposed optimal grasp planning is resemblant to the physical sense of human grasping.

关键词： Grasping Uncertainty Fingers Computer science intelligent systems intelligent control Control systems Humans Performance analysis Ellipsoids

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Kinematic modeling of mobile robots by transfer method of augmented generalized coordinates

Kinematic modeling of mobile robots by transfer method of au...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Wheekuk Kim Do Hyung Kim Byung-Ju Yi Bum Jae You Department of Control and Instrumentation Engineering Korea University South Korea School of Electrical Engineering and Computer Science Hanyang University South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea

ISBN: (纸本)0780365763

A kinematic modeling method is proposed which uses augmenting variables to match the dimensions of the input vector and output vector of each serial subchain of the mobile robots. Firstly, kinematic models of various type of wheels are derived including skidding and sliding velocities. Then the method of augmented generalized coordinates is applied to obtain inverse and forward kinematic models. The kinematic models derived by the direct inverse of the augmented matrices provide an accurate solution, which was not achievable by the modeling method based on the pseudo-inverse method which provides an approximate solution. Lastly, two kinematic models for typical, differential-driven mobile robots are presented to show the effectiveness of the proposed modeling method.

关键词： Mobile robots Wheels Electric variables control intelligent robots Robot kinematics Instruments Computer science intelligent systems intelligent control Control system synthesis

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Task-based compliance planning for multifingered hands

Task-based compliance planning for multifingered hands

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Byoung-Ho Kim Byung-Ju Yi Sang-Rok Oh Il Hong Suh School of Electrical Engineering and Computer Science Hanyang University Seoul South Korea Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea

ISBN: (纸本)0780365763

Based on the analysis of the stiffness relation between the operational space and the fingertip space of multifingered hands, this paper provides a guideline of task-based compliance planning for multifingered hands. 2D and 3D examples are illustrated to show the characteristics of the task-based stiffness matrix. It is shown that some of coupling stiffness elements cannot be planned arbitrarily due to grasping geometry. Through the analytical results, it is concluded that the operational stiffness matrix should be carefully specified by considering the location of compliance center and the grasp geometry of multifingered hands for successful grasping and manipulation tasks.

关键词： Fingers Grasping Force sensors Computational geometry Force control Guidelines Robot sensing systems Robot control Orbital robotics Computer science

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A modulator neural network architecture for inverse kinematics model learning

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Neurocomputing 2001年 38-40卷 797-805页

作者： Oyama, Eimei Agah, Arvin MacDorman, Karl F. Maeda, Taro Tachi, Susumu Intelligent System Institute National Institute of Advanced Industrial Science and Technology 1-2 Namiki Ibaraki 305-8564 Japan Department of Electrical Engineering and Computer Science. University of Kansas United States Artificial Intelligence Laboratory and Filonet Corporation Wakayama University Canada School of Engineering University of Tokyo Japan

In order to reach an object, we need to solve the inverse kinematics problem, i.e., the coordinate transformation from the visual coordinates to the joint angle vector of the arm. The learning of the inverse kinematics model for calculating every joint angle that would result in a specific hand position is important. However, the inverse kinematics function of the human arm is a multi-valued and discontinuous function. It is difficult for a well-known continuous neural network to approximate such a function. In order to overcome the discontinuity of the inverse kinematics function, a novel modular neural network architecture is proposed in this paper. © 2001 Published by Elsevier science B.V.

关键词： Neural networks

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