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IEEE International Conference on robotics and Biomimetics

作者： Lutz Winkler Heinz Worn Adrian Friebel Institute for Process Control and Robotics Karlsruhe Institute of Technology - KIT Research Group for Multicellular Systems Biology Interdisciplinary Centre for Bioinformatics (IZBI) University of Leipzig

ISBN: (纸本)9781457721366

In this paper, we present a novel diversity measure for a population of modular robot organisms. Evaluating this diversity we will get a prospect of the fitness of future generations of organisms in an evolutionary process. The degree of the diversity in a population is a measure for the adaptability to the environment. If the diversity is too low, it is necessary to change evolutionary parameters such as mutation probabilities or to start a new evolutionary run in order to get better adapted organisms. The novel measure helps to improve and speed-up the evolutionary process, which is mandatory as the evolution of robot organisms, specially the coevolution of controller and topology of organisms is a very tedious process. In four different experiments using the Robot3D simulator and the Symbricator modular robots, we will show the usefulness of this diversity measure. The goal of the first two experiments will be the evaluation of two different selection strategies: fitness proportionate and rank selection. In the last two experiments we will explore the differences between a restrained evolution, where the type of agent, which controls an element in an organism is predetermined by its parent element, and a free evolution.

关键词： Organism Modular robots Evolutionary health evolution evolution evolution Elements

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control of legged robots with optimal distribution of contact forces

Control of legged robots with optimal distribution of contac...

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2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011

作者： Righetti, Ludovic Buchli, Jonas Mistry, Michael Schaal, Stefan Computational Learning and Motor Control Lab. University of Southern California Los Angeles CA 90089 United States Max Planck Institute for Intelligent Systems Tübingen Germany Dept. of Advanced Robotics Italian Institute of Technology Genoa Italy Disney Research Pittsburgh Pittsburgh PA 15213 United States

ISBN: (纸本)9781612848679

The development of agile and safe humanoid robots require controllers that guarantee both high tracking performance and compliance with the environment. More specifically, the control of contact interaction is of crucial importance for robots that will actively interact with their environment. Model-based controllers such as inverse dynamics or operational space control are very appealing as they offer both high tracking performance and compliance. However, while widely used for fully actuated systems such as manipulators, they are not yet standard controllers for legged robots such as humanoids. Indeed such robots are fundamentally different from manipulators as they are underactuated due to their floating-base and subject to switching contact constraints. In this paper we present an inverse dynamics controller for legged robots that use torque redundancy to create an optimal distribution of contact constraints. The resulting controller is able to minimize, given a desired motion, any quadratic cost of the contact constraints at each instant of time. In particular we show how this can be used to minimize tangential forces during locomotion, therefore significantly improving the locomotion of legged robots on difficult terrains. In addition to the theoretical result, we present simulations of a humanoid and a quadruped robot, as well as experiments on a real quadruped robot that demonstrate the advantages of the controller. © 2011 IEEE.

关键词： controllers

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Editorial Special issue on approximate dynamic programming and reinforcement learning

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控制理论与应用（英文版） 2011年第3期 309-309页

作者： Silvia Ferrari Jagannathan Sarangapani Frank L. Lewis Laboratory for Intelligent Systems and Control(LISC)Department of Mechanical Engineering & Materials Science Box 90300 Duke University Durham NC 27708-0005 Department of Electrical & Computer Engineering University of Missouri-Rolla MO 65401 U.S.A. Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Ft. Worth Texas 76118-7115 U.S.A.

We are extremely pleased to present this special issue of the Journal of control Theory and *** dynamic programming (ADP) is a general and effective approach for solving optimal control and estimation problems by adapting to uncertain environments over *** optimizes the sensing objectives accrued over a future time interval with respect to an adaptive control law,conditioned on prior knowledge of the system,its state,and uncertainties.A numerical search over the present value of the control minimizes a Hamilton-Jacobi-Bellman (HJB) equation providing a basis for real-time,approximate optimal control.

关键词： reinforcement learning dynamic programming optimal control effective approach prior knowledge control Theory real-time control law problems special search future ADP basis

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Efficiency optimisation of an experimental PEM fuel cell system via Super Twisting control

Efficiency optimisation of an experimental PEM fuel cell sys...

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International Workshop on Variable Structure systems, VSS

作者： Cristian Kunusch Paul F. Puleston Miguel A. Mayosky Alejandro Dávila Institute of Robotics and Industrial informatics (IRI) research center Technical University of Catalonia (UPC) Barcelona Spain Barcelona Technology Park research center of the Technical University of Catalonia (UPC) and the Spanish Council for Scientific Research (CSIC) Spain Laboratory of Industrial Electronics Control and Instrumentation (LEICI) Faculty of Engineering National University of La Plata La Plata Argentine Department of Control Engineering Faculty National Autonomous University of Mexico DF Mexico

A robust control solution is proposed to solve the air supply control problem in autonomous polymer electrolyte membrane fuel cells (PEMFC) based systems. Different second order sliding mode (SOSM) controllers are designed using a model of a laboratory test fuel cell generation system. Very good simulation results are obtained using such algorithms, showing the suitability of the SOSM approach to PEMFC stack breathing control. Subsequently, for experimental validation, a controller based on one of the previously assessed SOSM algorithms, namely a Super Twisting, is successfully implemented in the laboratory test bench. Highly satisfactory results are obtained, regarding dynamic behaviour, regulation error and robustness to uncertainties and external disturbances.

关键词： Fuel cells control systems Sliding mode control Laboratories Robust control Polymers Biomembranes System testing Robustness Uncertainty

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Configuration Synthesis and Performance Evaluation Metrics of Lunar Rover Locomotion systems

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Transactions of Tianjin University 2009年第3期15卷 193-200页

作者：邓宗全张朋高海波胡明 State Key Laboratory of Robotics and Systems Harbin Institute of Technology Research Center of Aerospace Mechanism and Control Harbin Institute of Technology

A method of topology synthesis based on graph theory and mechanism combination theory was applied to the configuration design of locomotion systems of lunar exploration rovers(LER).Through topology combination of wheel structural unit,suspension unit,and connecting device unit between suspension and load platform,some new locomotion system configurations were proposed and the metrics and indexes to evaluate the performance of the new locomotion system were *** evaluation and comparison between two LER with locomotion systems of different configurations were *** analysis results indicate that the new locomotion system configuration has good trafficability performance.

关键词： configuration synthesis evaluation metrics locomotion system lunar rover

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LANDMINES RECOGNITION SYSTEM USING THERMOVISION TECHNIQUES

LANDMINES RECOGNITION SYSTEM USING THERMOVISION TECHNIQUES

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16th IEEE International Conference on Image Processing

作者： Mahar, Khaled M. Ibrahim, Mohamed S. Riad, Mary Zarif Arab Academy for Science Technology and Maritime Transport Egypt Knowledge-Based Systems and Robotics Department Informatics Research Institute Mubarak City for Scientific Research Borg ElArab Alexandria Egypt

ISBN: (纸本)9781424456536

Sub-surface and buried landmines, with the surrounding environment constitute a complex system with variable characteristics. Infrared thermography techniques are attractive candidates for this kind of applications. They can be used from a considerable standoff distance to provide information on several mine properties, and they can also rapidly survey large areas. This paper presents a robust method for landmine detection and recognition. It uses the mean-shift algorithm to segment the acquired infrared image. The segmented image retains pixels associated with mines together with background clutters. To determine which pixels represent the mines, a second phase of segmentation is applied to the output of the mean-shift algorithm by using a self-organizing maps (SOM) algorithm. Depending on the resulted cluster intensity variations, the chips extracted from the segmented image are processed to extract mine signatures. After that, the extracted signatures are scanned horizontally. vertically, and diagonally to build a cluster intensity variation profile. This profile is statistically compared with the known mine signature profiles *** proposed system is applied on series of time variant mid-wave infrared images (MWIR), and the test result show that the system can effectively recognize the mines with low false alarm rate.

关键词： Image Classification Mine Detection MWIR Image Clustering Algorithms

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Software for speech signal research in patients with malignant diseases of the throat

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Biomedical Engineering 2009年第4期43卷 183-186页

作者： Bondarenko, V.P. Kvasov, A.N. Konev, A.A. Meshcheryakov, R.V. Choinzonov, E.L. Chizhevskaya, S. Yu. Tomsk State University of Control Systems and Radioelectronics Tomsk Russian Federation Scientific-Research Institute of Oncology Tomsk Scientific Center Siberian Division Russian Academy of Medical Sciences Tomsk Russian Federation

Software for speech signal research in patients with malignant diseases of the throat is considered in this work. Basic windows of this system are discussed. These windows represent voice parameters set by a speech therapist to diagnose the disease and to make a decision concerning therapy and rehabilitation. © 2009 Springer Science+Business Media, Inc.

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Realtime KLT feature point tracking for high definition video

Realtime KLT feature point tracking for high definition vide...

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1st International Workshop on Computer Graphics, Computer Vision and Mathematics, GraVisMa 2009

作者： Fassold, Hannes Rosner, Jakub Schallauer, Peter Bailer, Werner JOANNEUM RESEARCH Institute of Information Systems Steyrergasse 17 8010 Graz Austria Silesian University of Technology Faculty of Automatic Control and Robotics Ulica Academicka 2 44-100 Gliwice Poland

ISBN: (纸本)9788086943909

Automatic detection and tracking of feature points is an important part of many computer vision methods. A widely used method is the KLT tracker proposed by Kanade, Lucas and Tomasi. This paper reports work done on porting the KLT tracker to the GPU, using the CUDA technology by NVIDIA. For the feature point detection, we propose to do all steps of the detection process, except the final one (enforcing a minimum distance between feature points), on the GPU. The feature point tracking is done on a multi-resolution image representation to allow tracking of large motion. Each feature point is calculated in parallel on the GPU. We compare the CUDA implementation with the corresponding OpenCV (using SSE and OpenMP) routines in terms of quality and speed, noticing a significant speedup of up to factor 10. Some additional experiments are done regarding the influence of different parameterization on the runtime. Our GPU implementation achieves realtime (> 25 fps) performance for High Definition (HD) video sequences, successfully tracking several thousands of points. In summary, the GPU implementation achieves a significant speedup compared with an optimized CPU implementation and allows the analysis of high resolution video sequences in realtime.

关键词： Motion estimation

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LANDMINES RECOGNITION SYSTEM USING THERMOVISION TECHNIQUES

LANDMINES RECOGNITION SYSTEM USING THERMOVISION TECHNIQUES

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International Conference on Image Processing

作者： Khaled M. Mahar Mohamed S. Ibrahim Mary Zarif Riad Arab Academy for Science Technology & Maritime Transport Knowledge-Based Systems and Robotics Department Informatics Research Institute Mubarak City for Scientific Research

ISBN: (纸本)9781424456536;9781424456543

Sub-surface and buried landmines, with the surrounding environment constitute a complex system with variable characteristics. Infrared thermography techniques are attractive candidates for this kind of applications. They can be used from a considerable standoff distance to provide information on several mine properties, and they can also rapidly survey large areas. This paper presents a robust method for landmine detection and recognition. It uses the mean-shift algorithm to segment the acquired infrared image. The segmented image retains pixels associated with mines together with background clutters. To determine which pixels represent the mines, a second phase of segmentation is applied to the output of the mean-shift algorithm by using a self-organizing maps (SOM) algorithm. Depending on the resulted cluster intensity variations, the chips extracted from the segmented image are processed to extract mine signatures. After that, the extracted signatures are scanned horizontally, vertically, and diagonally to build a cluster intensity variation profile. This profile is statistically compared with the known mine signature profiles v. The proposed system is applied on series of time variant mid-wave infrared images (MWIR), and the test result show that the system can effectively recognize the mines with low false alarm rate.

关键词： Image Classification Mine Detection MWIR Image Clustering Algorithms Clustering algorithms Image classification MINE false alarm probability pixel Clinical Test Result landmine detection ANTITANK MINES Infrared imaging Diagonal signatures underground ambient environment Complex systems self-organising feature maps

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A device for automatic measurement of the critical, care patient's urine output

A device for automatic measurement of the critical, care pat...

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IEEE International Symposium on Intelligent Signal Processing

作者： Abraham Otero Teodor Akinfiev Roemi Fernandez Francisco Palacios Department of Information and Communications Systems Engineering University San Pablo CEU Madrid Spain Automatic Control Department Spanish Council of Scientific Research IAI/CSIC-Industrial Automation Institute Madrid Spain Critical Care Unit University Hospital Getafe Madrid Spain

ISBN: (纸本)9781424450572

This paper presents a patent-pending device capable of recording and supervising the urine output of a critical care patient. The device is based on a high precision scale that measures the weight of a commercial urine meter. To isolate the device from the patient's movements, and to guarantee that the urine flows properly through the various tubes of the urine meter, we have designed a support frame made up of Bosch profiles. The scale's readings are captured by an electronic unit and sent to a PC via Bluetooth. A Java application running on the PC records them and supervises the therapeutic goals that the healthcare staff has established for the urine output, and warns of any deviation from these goals. This device does not break the sterility of the commercial urine meter and is easy to build with readily available components. Therefore, this solution is ideal to conduct a series of clinical studies based on a more continuous and accurate monitoring of urine output throughout the stay of a patient in a critical care unit.

关键词： Biomedical monitoring Medical services Patient monitoring Containers Automation Java Computerized monitoring Condition monitoring Signal processing Automatic control

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