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IEEE International Conference on Mechatronics and automation

作者： Yangjie Wei Zaili Dong Chengdong Wu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang Liaoning China School of Information Science & Engineering Northeast University Shenyang Liaoning China

Reconstruction depth from 2D images is an important research issue in computer vision, and depth from defocus (DFD) is an effective way which takes the blurred degree of the region images whose depth of field is limit as the tool of computing depth. Now though there are many DFD methods, they all need to change camera parameters in order to attain blurred images, such as the focal length of the lens, the radius of the lens. If cameras with high level of amplification are used, it is inhibitory to change camera parameters. Therefore, in this paper a novel DFD method is proposed. First, two different blurred images are captured through changing depth. Second, the blurred imaging model is constructed with the relative blurring and the diffusion equation, and the relation between depth and blurring is discussed from two aspects. Finally, the problem of computing depth is transformed into an optimization issue. The method proposed in this paper does not need to change camera parameters, so the process is very simple and can be used in some special applications. The simulation results show that this method can attain depth with high precision.

关键词： Cameras Design for disassembly Robot vision systems Image reconstruction Computer vision Equations Focusing Layout robotics and automation Laboratories

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The Research of A-Priori Algorithm Candidates Based on Support Counts

The Research of A-Priori Algorithm Candidates Based on Suppo...

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International Conference on Information Technology and Computer Science, ITCS

作者： Huanyin Zhou Jinsheng Liu East China Institute of Technology State Key laboratory of Robotics Shenyang Institute of Automation Fuzhou China School of Environment Engineering East China University of Science and Technology Fuzhou China

Apriori algorithm is one of the most standard, popular way among associational rule mining algorithms. Its famous character dasiaall the sub-frequent itemsets are frequent itemsets, and no one itemset is frequent if its sub-frequent is infrequent itemsetspsila has been reduction the number of candidate itemsets, but the number of candidate itemsets is still large. Moreover, the ratio is so small between frequent itemsets and candidate itemsets that the largest time is wasted in checking the candidate itemsets. According to the character of apriori, this paper sums up three regularities to improve the ratio of useful candidates. At the same time the independent support count is cited to prune the frequent itemsets who are independent their father itemsets. The optimize algorithm has been proved and realized by one database. This paper is arranged as the following: section 2 presents some key definitions on these rules such as support count, attenuation to support count, constant support count on fixed itemsets and three rules will be introduced shortly. Demonstrations and applications on these rules will be detailed in section 3. Section 4 introduces the algorithm of rules and an example is introduced to test the efficiency of these rules. The last section draws some conclusions and future works.

关键词： Itemsets Association rules Transaction databases robotics and automation Attenuation Data mining Information technology Computer science Laboratories Testing

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A fast frequency estimation method for balanced three-phase systems with harmonic distortion

A fast frequency estimation method for balanced three-phase ...

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European Conference on Power Electronics and Applications

作者： Pedro Roncero-Sanchez Xavier del Toro Garcia Alfonso Parreno Vicente Feliu Batlle School of Industrial Engineering University of Castilla-La Mancha Campus Universitario S/N Ciudad Real Spain Albacete Science and Technology Park Robotics and Automation Centre Albacete Spain

ISBN: (纸本)9781424444328

The continuous monitoring of voltage characteristics in electric power systems, such as in grid-connected power converters, is required for power quality assessment and control purposes. This paper presents a fast method to estimate the fundamental frequency of the grid voltage in balanced three-phase systems containing harmonic distortion. The proposed solution is based on a fast algebraic method, which is able to calculate the frequency of a pure sinusoidal signal. Due to the presence of harmonic distortion in the grid voltage some processing is previously carried out, involving coordinate transformations and several repetitive filters. Simulation and experimental results prove the validity of the method in balanced three-phase systems containing harmonic distortion. Furthermore, a fast and accurate estimation of the frequency is obtained even in the presence of amplitude and frequency variations. The response time achieved is around half the period of the fundamental voltage component.

关键词： Frequency estimation Harmonic distortion Monitoring Power systems Power quality Voltage control Control systems Filters Amplitude estimation Delay

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The Adaptive Path Planning Research for a Shape-Shifting Robot Using Particle Swarm Optimization

The Adaptive Path Planning Research for a Shape-Shifting Rob...

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International Conference on Natural Computation (ICNC)

作者： Tonglin Liu Chengdong Wu Bin Li Jinguo Liu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Graduate School of the Chinese Academy of Sciences Beijing China State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China School of Information Science & Engineering Northeastern University Shenyang China

ISBN: (纸本)9781424445424

A shape-shifting robot with diverse configurations, named "AMOEBA-I" has been developed for search and rescue tasks. The accessibility of this robot to uneven environments was efficiently enlarged by changing its configurations. In this paper, for optimizing the path of the robot through an environment containing static polygonal obstacles, we present an adaptive path planning method for the AMOEBA-I, which integrates the reconfigurable ability of the robot into the particle swarm optimization (PSO). The unique accessibility of the AMOEBA-I is thus fully displayed. The modified PSO method can reduce the computational load and has certain degree of robustness on selecting dimension of particles. It can generate smooth paths by string of cubic splines. Experiment results show that the robot can change its configurations to perform the adaptive path planning corresponding to the environmental variation and current reconfigurable ability of AMOEBA-I. As a result, the path length has been reduced successfully and effectively.

关键词： Path planning Particle swarm optimization robotics and automation Mobile robots Laboratories Information science Optimization methods Robustness Earthquakes Terrorism

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Active modeling based course control of Unmanned Surface Vehicles

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ICIC Express Letters 2009年第3期3卷 579-584页

作者： Peng, Yan Huang, Qingjiu He, Yuqing Han, Jianda State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Nanta street 114 Shenyang 110016 China School of Mechatronics Engineering and Automation Shanghai University Shanghai 200072 China Department of Mechanical and Control Engineering Tokyo Institute of Technology 2-12-1-13-11 O-okayama Meguro-ku Tokyo 152-8552 Japan

Model uncertainties and external disturbances extensively exist in UnmannedSurface Vehicle (USV) systems, which will greatly deteriorate the autonomousability. In this paper, a, new kind, of robust controller design strategy based,on active modeling technique is proposed, to attenuate the uncertaintiespre-described, in the coarse control of USV systems. Firstly, with detailed,analysis, the uncertainties are introduced, into the new-designed, coarsedynamics model by using the concept of modeling errors;Secondly, Kalman filteris used to estimate simultaneously the modeling errors, which is subsequentlyused, to design the robust controller;Finally, the new strategy is tested withrespect to the unmanned trimaran vehicles system-Tri-0601 to show thefeasibility and validity of it. ICIC International © 2009.

关键词： Kalman filters

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Integrating positioning X-Y stage based on bulk micromachining

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Guangxue Jingmi Gongcheng/Optics and Precision engineering 2009年第2期17卷 333-340页

作者： Wang, Jia-Chou Rong, Wei-Bin Li, Xin-Xin Sun, Li-Ning Ma, Li State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai 20050 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechanical and Electronic Engineering and Automation Shanghai University Shanghai 200072 China

In order to realize the miniaturized nano-positioning stage, a novel 2-DOF Single Crystal Silicon (SCS) nano-positioning micro X-Y stage with the function of displacement detection is successfully developed by using silicon bulk-micromachining;the X-Y stage is drived by an electrostatics comb actuator. The theories of electromechanical coupling and energy conservation are used to analyze electrostatic actuated mechanism, X-Y stage static characteristic and X-Ystage dynamic characteristic. Some failure modes of X-Y stage are also presented and the electromechanical side instability and the stable travel range of comb-drive actuators are investigated. The stable travel range depends on the finger gap spacing, the initial finger overlap and the spring stiffness ratio of the compliant suspension. Additionally, by taking into account the effect of the air damping on the X-Ystage dynamic characteristic, the maximum velocity, stable travel range and critical driving voltage are given to an experiment on closed-loop control. The experimental results indicate that the analyzed characteristics are useful in the design and control of the micro X-Ystage. Under 30 V driving voltage, the single-axis displacement output is 10 μm, and the closed-loop step response is only 2.5 ms.

关键词： Electrostatics

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Learning Under Social Influence

Learning Under Social Influence

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Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： Alireza Tahbaz-Salehi Alvaro Sandroni Ali Jadbabaie Department of Economics and Department of Electrical and Systems Engineering University of Pennsylvania Department of Managerial Economics and Decision Sciences Kellogg School of ManagementNorthwestern University the General Robotics AutomationSensing and Perception(GRASP) LaboratoryDepartment of Electrical and Systems EngineeringUniversity of Pennsylvania

In this paper,we study a model of social learning where individuals are under influence of others in their social *** our model,each agent receives private noisy signals about an unobservable,underlying state of the *** the end of each time period,the belief of an individual is equal to the convex combination of her posterior beliefs derived from the signal observed,and the priors of her *** model reduces to the well-known consensus model when private signals are *** show that if the network of social influences is strongly connected,then all agents will have asymptotically correct *** other words,all individuals will be able to asymptotically learn the true state of the world,as far as their observations are ***,we show that all agents assign asymptotically equal beliefs to the true state of the world.

关键词： agent Learning Under Social Influence

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Path planning for multiple marine vehicles

Path planning for multiple marine vehicles

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OCEANS - Europe

作者： Andreas J. Hausler Reza Ghabcheloo Isaac Kaminer Antonio M. Pascoal A. Pedro Aguiar Institute of Systems and Robotics and Department of Electrical Engineering Intistitu Superior Técnico Lisboa Portugal Department of Intelligent Hydraulics and Automation Tampere University of Technology Tampere Finland Department of Mechanical and Astronautical Engineering Naval Postgraduate School Monterrey CA USA

Motivated by increasingly complex and challenging missions at sea, there is widespread interest in the development of advanced systems for cooperative control of multiple autonomous marine vehicles. Central to the implementation of these systems is the availability of efficient algorithms for multiple vehicle path planning that can take explicitly into account the capabilities of each vehicle and existing environmental conditions. Examples include path planning to steer a group of marine vehicles and enable them to reach a specific target site simultaneously with a desired formation pattern, while avoiding inter-vehicle collisions, and online path replanning for a vehicle fleet upon detection of episodic events or obstacles. Multiple vehicle path planning methods build necessarily on key concepts and algorithms for single vehicle path following. However, they go one step further in that they must explicitly address such issues as inter-vehicle collision avoidance and simultaneous times of arrival. As such, they pose considerable challenges both from a theoretical and practical implementation standpoint. This paper is a brief survey of multiple vehicle path planning techniques. The exposition is focused on specific algorithms for path planning developed in the scope of research work in which the authors have participated. The algorithms make ample use of direct optimization methods that lead to efficient and fast techniques for path generation. The paper affords the reader a fast paced presentation of key algorithms that had their genesis in the aircraft field, discusses them critically, and suggests problems that warrant further consideration.

关键词： Path planning Marine vehicles Remotely operated vehicles Mobile robots Intelligent robots robotics and automation Automotive engineering Vehicle detection Contracts Intelligent vehicles

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Gait control of modular climbing caterpillar robot

Gait control of modular climbing caterpillar robot

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： W. Wang H. X. Zhang K. Wang J. W. Zhang W. H. Chen Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Dept of Informatics University of Hamburg Beijing Germany Department of Computer Science University of Hamburg Hamburg Germany Robotics Institute Beijing University of Aeronautics and Astronautics Beijing China Center of Electrical and Electronics Engineering Beijing University of Aeronautics and Astronautics Beijing China

The concept of a modular climbing caterpillar robot is inspired by the kinematics of the real caterpillar. Due to the fixed constraints between the suckers and wall, the gait of the caterpillar robot engages a changing kinematic chain which is from an open chain to a closed chain, and then to an open chain orderly. This paper investigates the joint control methods of the gait in detail. During the open chain periods, an Unsymmetrical Phase Method (UPM) is applied to ensure the reliable attachment of the passive suckers to the wall. But in the closed chain state, a four links kinematics model is adopted to fulfill the fixed constraints produced by the attached suckers. By combining the two methods together, we acquire complete joint control trajectories for a modular caterpillar robot with seven joints. At the end of this paper, on-site tests confirm the above principles and the validity of the climbing gait.

关键词： Legged locomotion Kinematics Climbing robots robotics and automation Mobile robots Intelligent robots Mechanical engineering Computer science Joining processes Tail

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Docking manipulator for a reconfigurable mobile robot system

Docking manipulator for a reconfigurable mobile robot system

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Wei Wang Wenpeng Yu Houxiang Zhang Jianwei Zhang Dept of Informatics University of Hamburg Germany Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany

JL-2, as a new version of the JL reconfigurable mobile robot system, features not only a docking and 3D posture adjusting capability between its robots, but also a multi-functional docking gripper. The basic concept of JL is that the robots in the system can simultaneously perform basic tasks in flat terrains, and in the case of rugged terrains, the robots can interconnect to enhance their locomotion capabilities. This paper introduces new designs for JL-2 by which the docking mechanism can be used as a simple gripper with 3 DOFs. Then the technologies of the docking mechanism are discussed in detail, including the workspace of the docking gripper, the docking procedure and analyses of the self-aligning ability. Then the workspaces of the posture adjusting mechanisms between two docked robots are analyzed to clarify the reconfiguration ability of JL-2. At last, a series of real experiments are proposed to test the designs and analyses and the basic performance of JL-2.

关键词： Manipulators Mobile robots robotics and automation Navigation Grippers Intelligent robots Space technology Orbital robotics Mechanical engineering Computer science

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