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NASA/DoD Workshop on Evolvable Hardware

作者： Ho-Sik Seok Kwang-Ju Lee Byoung-Tak Zhang Dong-Wook Lee Kwee-Bo Sim Artificial Intelligence Laboratory SCAI School of Computer Science and Engineering Seoul National University Seoul South Korea Robotics and Intelligent Information System Lab Electrical and Electronic Engineering Chung-Ang University Seoul South Korea

Evolvable hardware is able to offer considerably higher performance than general-purpose processors and significantly more flexibility than ASICs. In order to take the advantages of general-purpose processors and ASICs, dividing a complex process into subprocesses is essential. In this paper, we propose a evolutionary method called context switching that splits a task into a set of subtasks whose complexity is manageable on the given hardware. The method is based on genetic programming. Due to its expressive power generic program can represent flexible strategies for decomposing complex tasks. The effectiveness of context switching is demonstrated on the design of adaptive controllers for a team of autonomous mobile robots.

关键词： Genetic programming Hardware Genetic algorithms Artificial intelligence Intelligent robots Mobile robots Programmable control Adaptive control computer architecture Application specific integrated circuits

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A biomimetic compliance control of robot hand by considering structures of human finger

A biomimetic compliance control of robot hand by considering...

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IEEE International Conference on Robotics and Automation (ICRA)

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

For an object grasped by a robot hand to work in the compliance control domain, we first analyze a necessary condition for successful stiffness modulation in the operational space. Next, we propose a compliance control method for robot hands which consist of two steps: the RIFDS (resolved inter-finger decoupling solver) decomposes the desired compliance characteristic specified in the operational space into the compliance characteristic in the fingertip space without inter-finger coupling; and the RIJDS (resolved inter-joint decoupling solver) decomposes the compliance characteristic in the fingertip space into the compliance characteristic in the joint space without inter-joint coupling. According to the analysis results, the finger structure should be biomimetic in the sense that either kinematic redundancy or force redundancy are required to implement the proposed compliance control scheme. Five-bar fingered robot hands are treated as illustrative examples to implement the proposed compliance control method. To show the effectiveness of the proposed compliance control method, simulations are performed for two-fingered and three-fingered robot hands.

关键词： Biomimetics Robot control Humans Fingers Robot kinematics Orbital robotics Force control Manipulator dynamics Intelligent robots Robot sensing systems

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Design of a parallel-type gripper powered by pneumatic actuators

Design of a parallel-type gripper powered by pneumatic actua...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： B.-J. Yi H.Y. Ra J.H. Lee Y.S. Hong J.S. Park S.-R. Oh I.H. Suh W.K. Kim School of Electrical Engineering and Computer Science Hanyang University South Korea Advanced Robotics Research Center KIST South Korea Intelligent System Control Research Center KIST South Korea Department of Control and Instrumentation Engineering Korea University South Korea

A new parallel gripping mechanism is proposed in this work. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular shape or large volume, but also can be utilized as micro-positioning device after grasping the object. Forward position analysis and platform kinematics are investigated to deal with motion tracking and force control. Pneumatic rotator is employed for actuation and a compact sized, 4/3 way proportional pressure valve is also developed to deal with feedback-based dynamic control. The pressure valve also allows indirect force control by measuring the offset pressure occurring due to contact between the grasped object and the parallel platform. In experimental work, performances of the motion tracking and indirect force control are shown satisfactory.

关键词： Grippers Pneumatic actuators Force control Tracking Valves Shape Kinematics Motion analysis Pressure control Size control

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Structure and properties of TiO/sub 2/:Fe thin films prepared by the sol-gel technique

Structure and properties of TiO/sub 2/:Fe thin films prepare...

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Conference on Optoelectronic and Microelectronic Materials and Devices

作者： N.D. Chien D.D. Vuong N.H. An W. Wlodarski Y.X. Li Int. Training Inst. for Mater. Sci. Hanoi Vietnam International Training Institute for Materials Science Hanoi Vietnam School of Electrical& Computer System Engineering RMIT University Melbourne Australia

ISBN: (纸本)0780366980

TiO/sub 2/ thin films doped with Fe have been prepared by using the sol-gel process on silicon substrates. A metal-organic precursor solution for coating silicon substrates was synthesized using a Ti alkoxide derivative iron salt and isopropanol as a solvent. Acetylacetone was used as an inhibitor of derivative iron hydrolysis-condensation reactions. The structure of the films was investigated by X-ray diffraction and Raman scattering analysis. The electrical characterization of the films is reported.

关键词： Iron Transistors Coatings Temperature sensors Silicon Titanium Materials science and technology Substrates Solvents Inhibitors

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Disturbance observer-based robust control for underwater robotic systems with passive joints

Disturbance observer-based robust control for underwater rob...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： G.B. Chung K.S. Eom B.-J. Yi I.H. Suh S.-R. Oh Y.J. Cho Sch. of Electr. Eng. & Comput. Sci. Hanyang Univ. Seoul South Korea School of Electrical Engineering and Computer Science Hanyang University Intelligent System Control Research Center KIST Seoul South Korea

Underwater robotic vehicles (URV) have been employed for mobility, and robot manipulators attached to the underwater vehicle play the role of manipulation. URV motions are determined by inherent dynamic couplings between active and passive joints. Furthermore, the control problem becomes complex since there should be considered many hydrodynamic terms as well as intrinsic model uncertainties. To cope with these difficulties, we propose a disturbance observer-based robust control algorithm for underwater manipulators with passive joints. The proposed control algorithm is able to treat an underactuated system as a pseudo-active system in which passive joints are eliminated. Also, to realize a robust control method, a nonlinear feedback disturbance observer is applied to each active joint. A four-jointed underwater robotic system with one passive joint is considered as an illustrative example. Through simulation, it is shown that the proposed control algorithm has good position tracking performances even in the presence of several external disturbances and model uncertainties.

关键词： Robust control Mobile robots Underwater vehicles Manipulator dynamics Uncertainty Vehicle dynamics Hydrodynamics Control systems Feedback Underwater tracking

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The outline of the International Robot Games Festival

The outline of the International Robot Games Festival

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IEEE International Conference on Robotics and Automation (ICRA)

作者： E. Nakano M. Asada S. Tadokoro K. Osuka K. Nagai Y. Masutani H. Kitano The Graduate School of Information Sciences University of Tohoku Sendai Japan The Graduate School of Engineering Osaka University Osaka Japan Department Computer & Systems Engineering Kobe University Kobe Japan Department of System Science Kyoto University Uji Kyoto Japan Department of Robotics Ritsumeikan University Siga Japan The Graduate School of Engineering Sciences Osaka University Osaka Japan Kitano Symbiotic Systems Project JST Shibuya-ku Tokyo Japan

The Japanese Government plans to hold the International Robot Games Festival in 2001, which is called "RoboFesta 2001". The RoboFesta 2001 will be held both in the Osaka area and Kanagawa Prefecture in Japan, and will consist of several authoritative robot games, an international forum, and lots of robot-related exhibitions during the summer and autumn in 2001. The article describes the aims and organisation of the festival, then describes the various games.

关键词： Intelligent robots Symbiosis Government Peace technology Robot control Scheduling Humans Executive Committee

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Three-dimensional facial model reconstruction and plastic surgery simulation

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IEEE Transactions on Information Technology in Biomedicine 1999年第3期3卷 214-220页

作者： Lee, Tong-Yee Sun, Yung-Nien Lin, Yung-Ching Lin, Leewen Lee, Chungnan Visual System Laboratory Department of Computer Science and Information Engineering National Cheng-Kung University Tainan Taiwan Kaohsiung Senior Vocational Commerce School Kaohsiung Taiwan Institute of Computer and Information Engineering National Sun Yat-Sen University Kaohsiung Taiwan

Facial model reconstruction and surgical simulation are essential to plastic surgery in today's medicine. Both can help surgeons to design appropriate repair plans and procedures prior to actual surgery. In this paper, we exploit a metamorphosis technique in our new design. First, using metamorphosis and vision techniques, we can establish three-dimensional facial models from a given photo. Second, we design several morphing operators, including augmentation, cutting, and lacerating. Experiments show that the proposed algorithms can successfully create acceptable facial models and generate realistically visual effects of surgical simulation.

关键词： Medical imaging

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A new method on judgement of static stability for the quadruped robot

A new method on judgement of static stability for the quadru...

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IEEE International Conference on systems, Man and Cybernetics

作者： Xuedong Chen K. Watanabe K. Izumi Faculty of Computer Science and System Engineering Graduate School of Science and Engineering USA Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Japan Faculty of Science and Engineering Department of Mechanical Engineering Saga University Honjomachi Saga Japan

A new approach to analysis of robot stability is presented by defining the statically stable area for the foot placement. The proposed approach is applied not only to generate the free gait for a quadruped robot walking in difficult terrain, but also to judge the robot stability. The effectiveness of this method is demonstrated by a practical example.

关键词： Leg Robot kinematics Legged locomotion Foot Stability analysis systems engineering and theory Control engineering Mechanical engineering

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A fuzzy decision tree induction method for fuzzy data

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： Koen-Myung Lee Kyung-Mi Lee Jee-Hyong Lee Hyung Lee-Kwang Department of Computer Science Chungbuk National University Cheonghu South Korea School of Computer Science and System Engineering Kyushu Institute of Technology Fukuoka Japan Department of Computer Science KAIST Daejeon South Korea

ISBN: (纸本)0780354060

Decision tree induction is one of useful approaches for extracting classification knowledge from a set of feature-based examples. Due to observation error, uncertainty, subjective judgement, and so on, many data occurring in real world are obtained in fuzzy description. Although several fuzzy decision tree induction methods have been developed for fuzzy data they are improper to deal with some types of fuzzy data. This paper proposes a fuzzy decision tree induction method for fuzzy data of which numeric attributes are represented by fuzzy number, interval value as well as crisp value, of which nominal attributes are represented by crisp nominal value, and of which class has confidence factor. It presents a tree construction procedure to build a fuzzy decision tree from a collection of fuzzy data and an inference procedure for fuzzy decision tree to classify new fuzzy data. It also presents some experiment results to show the applicability of the proposed method.

关键词： Decision trees Classification tree analysis Uncertainty Training data Network address translation Electronic mail Data mining Decision making

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Frequency domain subspace model identification using the w -operator

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IFAC Proceedings Volumes 1999年第2期32卷 3986-3991页

作者： Zi-Jiang Yang Kiyoshi Wada Faculty of Computer Engineering and System Science Kyushu Institute of Technology Iizuka Fukuoka 820-8502 TEL+81-948-29-7672 FAX+81-948-29-7651 Japan Department of Electrical and Electronic Systems Engineering Graduate School of Information Science and Electrical Engineering Kyushu University Hakozaki Fukuoka 812 Japan

This paper proposes an efficient and convenient approach to frequency domain subspace identification for continuous-time systems. In the case of continuous-time models, the data matrices often become ill-conditioned if we simply rewrite the Laplace operator s as s = jw where w denotes the frequency. To avoid the ill-conditioned problem, the operator w = ( s - b.α)/( s + b.α) is introduced such that the system can be identified based on a state-space model in the w -operator. And then the estimated w -operator state-space model can be transformed back to the common continuous-time state-space model. An instrumental variable matrix in the frequency domain is also proposed to obtain consistent estimate in the presence of measurement noise.

关键词： Subspace model identification frequency domain continuous-time system w -operator Instrumental variable

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