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检索条件"机构=School of Robotics and Automation Engineering"

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Collision avoidance with obstacles in flocking for multi agent systems

Collision avoidance with obstacles in flocking for multi age...

引用

International Conference on Industrial Electronics, Control & robotics (IECR)

作者： Mir Saman Rahimi Mousavi Mehran Khaghani Gholamreza Vossoughi Center of Excellence in Design Robotics and Automation (CEDRA) School of Mechanical Engineering Sharif University of Technology Tehran Iran

Multi agent system is a system consist of multiple interacting agents. These systems tend to select the best solution for their problems. They can be used in different tasks which are hard for an individual or even a complex system to do. One of the most common algorithms which are used in multi agent systems is flocking. Here we introduce a theorem that multi agent systems could flock in environments with fixed obstacles without any collision between agents and obstacles. We use Lyapunov theory and prior algorithms on flocking to extract a theorem which under those conditions in the theorem, collision never occurs between agents and obstacles. Results show that the theorem insures collision avoidance between agents and obstacles.

关键词： Collision avoidance Lattices Potential energy automation Shape Educational institutions Service robots

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Cutting graphene using an atomic force microscope based nanorobot

Cutting graphene using an atomic force microscope based nano...

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2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Zhang, Yu Liu, Lianqing Xi, Ning Wang, Yuechao Dong, Zaili State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States Graduate School Chinese Academy of Sciences Beijing100001 China

ISBN: (纸本)9781424470334

Rapid progress in graphene-based applications is calling for an inexpensive technique for creating mass graphene components with specialized shapes, sizes, and edge structures. In this paper, an Atomic Force Microscopy (AFM) based mechanical cutting method is developed to approach this goal, through which we are able to structure trenches into multilayer graphene flakes with different directions, and generate different graphene shapes: graphene nanoribbons and triangles. Combining parallel multi-tip technology, this method makes it possible to fabricate large-scale graphene-based device at low cost and high efficiency. This research also reveals that the cutting force of graphene varies with different cutting directions, based on which a close-loop fabrication method with interaction force as real-time feedback may be developed for tailoring graphene into desired edge structures and shapes in a controllable high-precise way. ©2010 IEEE.

关键词： Graphene

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The effects of vacancies on the transport properties of zigzag graphene nanoribbons

The effects of vacancies on the transport properties of zigz...

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2010 4th IEEE Nanotechnology Materials and Devices Conference, NMDC2010

作者： Zhang, Yu Liu, Lianqing Jiao, Niandong Xi, Ning Wang, Yuechao Dong, Zaili State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States Graduate School of Chinese Academy of Sciences Beijing 100001 China

ISBN: (纸本)9781424488964

The transport properties of zigzag graphene nanoribbons (ZGNRs) with different patterns of vacancies are investigated by using density functional theory and nonequilibrium Green's function (NEGF) formalism. It is found that the transport properties are different with a different lattice type vacancy (A-type or B-type vacancy). The conductance of ZGNRs is more sensitive to an interior vacancy than an edge vacancy. More importantly, the pattern of interior vacancies has enormous influence on the electron transport around the Femi energy. As hexagon carbons are removed, the ZGNRs transform from metallic to semiconducting. Thus one can tune the electron properties of ZGNRs by patterning vacancies. © 2010 IEEE.

关键词： Vacancies

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Analytical and experimental frequency response analysis of microcantilevers subject to tip-sample interaction

Analytical and experimental frequency response analysis of m...

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2009 ASME International Design engineering Technical Conferences and Computers and Information in engineering Conference, DETC2009

作者： Delnavaz, Aidin Nima Mahmoodi, S. Jalili, Nader Zohoor, Hassan Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran Center for Vehicle Systems and Safety Virginia Tech Blacksburg VA 24061 United States Smart Structures and NEMS Laboratory Clemson University Clemson SC 29634 United States

ISBN: (纸本)9780791849033

Improvement of microcantilever-based sensors and actuators chiefly depends on how comprehensively they are modeled and precisely formulated. Atomic Force Microscopy (AFM) is the most widespread application of microcantilever beam as a sensor, which is usually influenced by the tip-sample interaction force. For this, vibration of AFM microcantilever probe is analyzed in this paper, along with analytical, numerical and experimental investigation of the influence of the sample interaction force on the microcantilever vibration. Nonlinear integro-partial equation of microcantilever vibration subject to the tip-sample interaction is then derived and numerically simulated. Moreover, multiple time scales method is utilized to estimate the tip amplitude while it is vibrating near the sample. An experimental setup is developed using. Copyright © 2009 by ASME.

关键词： Atomic force microscopy

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Design and simulation of a DSP controller for a LARM Hand

Design and simulation of a DSP controller for a LARM Hand

引用

International Asia Conference on Informatics in Control, automation and robotics, CAR

作者： Yao Cai Qiang Zhan Marco Ceccarelli Giuseppe Carbone Shuangji Yao Zhen Lu Robotics Institute Beihang University Beijing China LARM: Laboratory of Robotics and Mechatronics University of Cassino Cassino Italy School of Automation Science and Electrical Engineering Beihang University Beijing China

ISBN: (纸本)9781424451920

To fulfil the principle of low-cost and easy operation features, a new control scheme is proposed for the LARM Hand in this paper. The new controller is composed of a high level PC-based control panel and a low level DSP control card and the two parts communicate with each other through RS-232. The PC-based control panel is software with which an operator can input control parameters, and additionally the operator can observe the changes of the force values and velocities of three motors in real time. The DSP controller is mainly used to control the motion of three motors by PWM signals as based on position control and force control. A position control method based on PID controller and a force control method based on PD controller both have been proposed in this paper. Simulations based on a simplified model are also carried out for these two methods.

关键词： Digital signal processing Force control Motion control Automatic control robotics and automation Position control Prototypes Robots Circuits DC motors

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Human actions recognition using Fuzzy PCA and discriminative hidden model

Human actions recognition using Fuzzy PCA and discriminative...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Xiaofei Ji Honghai Liu Yibo Li Intelligent Systems and Biomedical Robotics Group School of Creative Technologies University of Portsmouth Portsmouth UK School of Automation Shenyang Institute of Aeronautical Engineering Shenyang China

As a temporal classification problem, visual-based human actions recognition is an important component for some potential applications. In this paper, we combine Fuzzy Principle Component Analysis(Fuzzy PCA) and hidden Conditional Random Fields(HCRFs) to achieve a viewpoint insensitive human action recognition. Fuzzy PCA is used to reduce the dimension of the silhouette image features to obtain the compact representation of action space. HCRFs is applied to model the human actions from different actors and different viewpoints. This method can relax the independence assumption of the generative model. Experiment results on a public dataset demonstrate the effectiveness and robustness of our method.

关键词： Humans Hidden Markov models Principal component analysis Cameras Training Eigenvalues and eigenfunctions Feature extraction

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Robust guaranteed cost control of linear systems with norm bounded uncertainties and external disturbance

Robust guaranteed cost control of linear systems with norm b...

引用

International Conference on Information and automation (ICIA)

作者： Fei Zhang Guangjun Liu Hongguang Wang Lijin Fang State Key Laboratory of Robotics CAS Shenyang Institute of Automation Shenyang China Graduate School Chinese Academy and Sciences Beijing China Department of Aerospace Engineering Ryerson University Toronto Canada School of Mechanical Engineering and Automation Northeastern University Shenyang China

ISBN: (纸本)9781424457014

This paper proposes a robust guaranteed cost control method for a linear system with norm bounded time varying parametric uncertainties and external disturbance. Using the Lyapunov stability theory and linear matrix inequality method, a robust guaranteed cost control law is derived to guarantee that the closed loop system is not only stable, but also has adequately quadratic and H ∞ performance levels for all the admissible uncertainties and external disturbance. A convex optimization problem is formulated to obtain the optimal state feedback controller which can minimize the quadratic and H ∞ performance levels. Based on the model of the robot prototype for inspecting power transmission lines, simulation results verify the effectiveness of the proposed method.

关键词： Robust control Costs Control systems Linear systems Uncertainty Time varying systems Lyapunov method Linear matrix inequalities Robust stability Closed loop systems

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Modeling of a vehicle with continuously variable transmission

Modeling of a vehicle with continuously variable transmissio...

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19th International Workshop on robotics in Alpe-Adria-Danube Region, RAAD 2010

作者： Dragos, C.-A. Preitl, S. Precup, R.-E. Pirlea, D. Nes, C.-S. Petriu, E.M. Pozna, C. Department of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania Department of Strength of Materials Politehnica University of Timisoara Timisoara Romania School of Information Technology and Engineering University of Ottawa Ottawa Canada Department of Product Design and Robotics Transilvania University of Brasov Brasov Romania Faculty of Engineering Széchenyi István University Györ Hungary

ISBN: (纸本)9781424468867

The paper presents aspects concerning the modeling and driving scenarios of a class of vehicular power train systems. The modeling includes an analysis of the system components which include the spark-ignition internal combustion engine, the torque converter, the metal V-belt type continuously variable transmission and the wheels. Four driving scenarios are illustrated by digital simulation results: acceleration, overtaking maneuver, ramp encounter and engine brake. © 2010 IEEE.

关键词： Torque converters

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Research on planet rover robot arm vision localization

Research on planet rover robot arm vision localization

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World Congress on Intelligent Control and automation (WCICA)

作者： Hongwei Gao Yang Yu Li Bin School of Information Science & Engineering Shenyang Ligong University Shenyang China National Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China

According to the application of the planet detection, visual localization of the planet rover was studied in this paper. A corresponding robot arm plane localization simulation system for real rover robot arm based on stereo vision and virtual reality was developed. The system provided motion parameters of virtual robot arm to real arm by means of off-line teaching, which ensured the rover's safety. The visual orientation theory and the simulation system realization based on OpenGL were introduced in detail. The united experiments between real and virtual systems were made and the high orientation precision was gotten, which verified the validity of the scheme inversely.

关键词： Manipulators automation Visualization Robot vision systems Solid modeling Cameras

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A Height Error Compensation Method Based on Contact Mode AFM

A Height Error Compensation Method Based on Contact Mode AFM

引用

The 8th World Congress on Intelligent Control and automation(第八届智能控制与自动化世界大会 WCICA 2010)

作者： Yangjie Wei Chengdong Wu Zaili Dong Graduate School of Chinese Academy of Sciences & the State Key Laboratory of Robotics Shenyang Inst School of Information Science & Engineering Northeast University Shenyang Liaoning Province 110819 the State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences S

Nowadays, atomic force microscope(AFM) has become an important tool in micro/nano research, and its height image even has been taken as an indispensable approach to understand characters of micro/nano samples. However, some preceding researches have shown that the height image scanned by AFM appears to be lower than expected sometime because of the compression force of the tip, and some arguments have also been proposed to try to explain this phenomenon. But until now, there is not a method analyzing it systematically and quantificationally, let alone compensate this error in the height image. Therefore, in this paper, a new error compensation method is proposed. First, since the force curve of AFM has become an effective method to research the elasticity, through analysis on the force curve of different kinds of materials, the error source of the height image is proved in theory based on contact mode AFM. Subsequently an error compensation method based on information fusion and parameters identification is proposed. Finally, extensively experiments are conducted with respect to the height measurement of nano carbon tube. This method not only has an integrated foundation in theory analysis, but also has calculated the error firstly in the height image of AFM numerically, and the results of experiments show its validity and correctness.

关键词： Force Elasticity Equations Silicon Surface topography Force measurement

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