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World Automation Congress 2010

作者： DAOLIANG LI SIMON X.YANG EU-China Centre for Information and Communication Technologies China Agricultural University Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph

The global must pay more attention on agriculture to support the huge population on the earth and to promote sustainable *** the development of computing and information technologies such as 3S,computer,mathematics,communication,and their application in agriculture,'Informatized Agriculture'has been chased by many countries to scientifically manage agriculture and achieve low input high outcome.

关键词： Automation A Spedal Issue of Intelligent Automation and Soft Computing GUEST EDITORIAL:COMPUTING AND INFORMATION TECHNOLOGIES FOR AGRICULTURE

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A survey on intelligent interaction and cooperative control of multi-robot systems

A survey on intelligent interaction and cooperative control ...

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International Conference on Control and Automation (ICCA)

作者： Anmin Zhu Simon X. Yang School of Computer Science and Software Engineering Shenzhen University China Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

Multi-robot systems have drawn the attention of many different research communities, such as physics, electronics, control, computer science, mathematics, and biology. Motivated by the growing popularity of multi-robot system and related coordination approaches, this paper surveys and analyzes the relevant literature, including six classification dimensions: system architectures, communication and robotic sensor networks, swarm intelligence and swarm robotics, cooperation among robots, applications, and research projects.

关键词： Control systems Multirobot systems Robot sensing systems Robot kinematics Intelligent robots Physics Communication system control Biological control systems Computer science Mathematics

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Variance Analysis of Randomized Consensus in Switching Directed Networks

Variance Analysis of Randomized Consensus in Switching Direc...

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American Control Conference

作者： Victor M. Preciado Alireza Tahbaz-Salehi Ali Jadbabaie Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia PA 19104 Laboratory for Information and Decision Systems Massachusetts Institute of Technology Cambridge MA 02139 General Robotics Automation Sensing and Perception (GRASP) Laboratory Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia PA 19104

ISBN: (纸本)9781424474264

In this paper, we study the asymptotic properties of distributed consensus algorithms over switching directed random networks. More specifically, we focus on consensus algorithms over independent and identically distributed, directed Erdos-Renyi random graphs, where each agent can communicate with any other agent with some exogenously specified probability p. While it is well-known that consensus algorithms over Erdos-Renyi random networks result in an asymptotic agreement over the network, an analytical characterization of the distribution of the asymptotic consensus value remains an open question. In this paper, we provide closed-form expressions for the mean and variance of the asymptotic random consensus value, in terms of the size of the network and the probability of communication p. We also provide numerical simulations that illustrate our results.

关键词： Analysis of variance Algorithm design and analysis Closed-form solution systems engineering and theory Laboratories robotics and automation Convergence Numerical simulation Computer networks Concurrent computing

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Modified Mecanum Wheels for Traversing Rough Terrains

Modified Mecanum Wheels for Traversing Rough Terrains

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International Conference on Autonomic and Autonomous systems (ICAS)

作者： A. Ramirez-Serrano R. Kuzyk Autonomous Reconfigurable Robotics Systems Laboratory (AR2S-Lab) Department of Mechanical & Manufacturing Engineering University of Calgary Calgary AB Canada

Mecanum wheels give vehicles and robots autonomous omni-directional capabilities, while regular wheels don't. The omni-directionality that such wheels provide makes the vehicle extremely maneuverable, which could be very helpful in different indoor and outdoor applications. However, current Mecanum wheel designs can only operate on flat hard surfaces, and perform very poorly on rough terrains. This paper presents two modified Mecanum wheel designs targeted for complex rough terrains and discusses their advantages and disadvantages in comparison to regular Mecanum wheels. The wheels proposed here are particularly advantageous for overcoming obstacles up to 75% of the overall wheel diameter in lateral motion which significantly facilitates the lateral motion of vehicles on hard rough surfaces and soft soils such as sand which cannot be achieved using other types of wheels. The paper also presents control aspects that need to be considered when controlling autonomous vehicles/robots using the proposed wheels.

关键词： Wheels Mobile robots Remotely operated vehicles Rough surfaces Surface roughness Laboratories Manufacturing Soil Robot control Testing

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Assessment of human response to robot facial expressions through visual evoked potentials

Assessment of human response to robot facial expressions thr...

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IEEE-RAS International Conference on Humanoid Robots

作者： Richard Craig Ravi Vaidyanathan Christopher James Chris Melhuish Bristol Robotics Laboratory Department of Mechanical Engineering University of Bristol Bristol UK Department of Systems Engineering US Naval Postgraduate School Monterrey CA USA Digital Medicine Laboratory University of Warwick Warwick UK

The focus of this work is to investigate and quantify the ability of a humanoid `hybrid face' robot to effectively convey emotion to a human observer by mapping their physiological (EEG) response to perceived emotional information. Specifically, we examine the event related response during two implicit emotion recognition experiments to determine the modulation of the face-specific N170 brain response component to robot facial expressions. EEG recordings were taken from a range of test subjects observing the BERT2 robot cycle through a range of facial emotions in each emotion recognition experiment. Results from both experiments demonstrate that the stimuli evoke the N170 component and that digital facial expressions with high correlations can be discriminated. Emotional expressions evoke a larger response relative to neutral stimuli, with negative evoking an increased amplitude and latency to positive emotions, and demonstrate that the response to robot facial expressions evoke similar brain activity to that of a human emotions. This study is the first of its nature to investigate and quantify the human physiological response to digital facial expressions as conveyed in real-time by a humanoid robot.

关键词： Humans Face Electroencephalography Face recognition Humanoid robots Emotion recognition

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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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Light-weight mobile robot for hydrodynamic treatment of concrete and metal surfaces

Light-weight mobile robot for hydrodynamic treatment of conc...

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International Conference on Applied robotics for the Power Industry (CARPI)

作者： Zdenko Kovacic Borislav Balac Stjepan Flegaric Kristijan Brkic Matko Orsag LARICS Laboratory for Robotics and Intelligent Control Systems Faculty of electrical Engineering and Computing University of Zagreb Zagreb Croatia Inteco d o o Zagreb Croatia

The paper presents a modular design of a lightweight mobile robot for hydrodynamic treatment of concrete and metal surfaces. The robot is composed of three fully separable modules: an under-carriage with two tracks, an electric cabinet containing power electronics, communication and control, and a robot arm with various water jet tools. Modularity and smaller robot weight allows easy transportation, operation in ordinary construction conditions and maneuvering in very confined spaces. The on-board PLC controls the following robot axes: two robot tracks, a beam, a rotor tool, lance swing and pitch angles, and tool-to-surface distance deviation. Ultrasound sensors mounted on the robot allow automatic adjustment of a tool towards a treated surface. Experimental results obtained in real exploitation conditions (during a bridge repair) have confirmed all advantages of the described robot design.

关键词： Power industry Service robots Conferences

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Static balance for rescue robot navigation: Losing balance on purpose within random step environment

Static balance for rescue robot navigation: Losing balance o...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Evgeni Magid Takashi Tsubouchi Eiji Koyanagi Tomoaki Yoshida Roboken Intelligent Robot Laboratory Institute of Engineering Mechanics and Systems University of Tsukuba Tsukuba Japan Future Robotics Technology Center Chiba Institute of Technology Japan

The goal of rescue robotics is to extend the capabilities and to increase the safety of human rescue teams. During a rescue mission a mobile robot is deployed on a rescue site and is operated from a safe place by a human operator. The operator can not see the robot and the environment and a decision on the path selection is very complicated. Our goal is to provide a kind of automatic “pilot system” to propose an operator a good direction or several options to traverse the environment, taking into an account the robot's static and dynamic properties. To find a good path we need a special path search algorithm on debris and a proper definition of a search tree, which can ensure smooth exploration. While the main goal of the algorithm is to keep the robot maximally stable at every step of its path, in some cases we need the robot to lose its balance and to change a 3D orientation discontinuously. Losing balance on purpose is an important feature for safe climbing up and going down the debris and it is the central issue of this paper. Exhaustive simulations were used to structure and analyze data and experiments were used to verify our approach to removing unsuitable directions of the search from the search tree.

关键词： Robot sensing systems Humans Crawlers Turning Green products Numerical models

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Investigation of a PDMS based micromixer for heterogeneous immunoassays of insulin

Investigation of a PDMS based micromixer for heterogeneous i...

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IEEE International Conference on Nano/Micro Engineered and Molecular systems

作者： Zhan, Zhikun Qu, Yanli Wang, Shuai Dong, Zaili Srinivasan, Balaji Tung, Steve Li, Wen J. State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate University Chinese Academy of Sciences Beijing China Department of Mechanical Engineering University of Arkansas Fayetteville AR United States Centre for Micro and Nano Systems Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9781424465439

An experimental study was carried out to evaluate the performance of a polydimethylsiloxane (PDMS) based micromixer for heterogeneous immunoassays of insulin. The detection method is based on coupling the highly specific double-antibody sandwich immunoassay with the sensitive chemiluminescence of the Luminol-Hydrogen Peroxide reaction. Both the immune and chemiluminescence reactions are conducted in the micromixer, and the resultant light emission is detected by a highly sensitive photometer. The behavior of the luminol based chemiluminescence is parabolic with respect to time, and the maximum light intensity is used here to represent the output of the reaction. The current results indicate that at an actuation pressure of 15psi, an actuation frequency of 30Hz leads to the best reaction result. At these operating conditions, the detection limit of insulin is about 10-14mol/L while the total reaction time of the insulin immunoassay in the micromixer is less than 5 minutes. ©2010 IEEE.

关键词： Chemiluminescence

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Insulin detection based on a PDMS microfluidic system

Insulin detection based on a PDMS microfluidic system

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4th IEEE International Conference on Nano/Molecular Medicine and engineering, IEEE NANOMED 2010

作者： Zhan, Zhikun Yao, Ping Dong, Zaili Tung, Steve Hohnbaum, Jacob Srinivasan, Balaji Li, Wen J. State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate University Chinese Academy of Sciences Beijing China Department of Mechanical Engineering University of Arkansas Fayetteville AR United States Centre for Micro and Nano Systems Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9781612841533

An integrated polydimethysiloxane (PDMS) microfluidic system which is composed of two pneumatic micropumps and one micromixer is developed for high-accuracy detection of insulin. The detection method is based on coupling the highly specific technique of 'double-antibody sandwich immunoassay' with the sensitive chemiluminescence of Luminol-Hydrogen Peroxide (H2O 2). The immune reactions and other related processes are carried out in the microfluidic system semi automatically. Sample transportation in the microfluidic system is accomplished by two pneumatic PDMS micropumps. Chemiluminescent measurement is conducted in a separate PDMS micromixer using a double-channel syringe pump to inject reagents. Light emitting from this mixer is detected by a highly sensitive photometer when the chemiluminescent regents flow through the mixer chamber. The results indicate that at an actuation pressure of 10psi, a mixer actuation frequency of 5Hz, and an injecting flow rate of 0.5 ml/min, the detection limit of the microfluidic system for insulin is about 10-10 M. © 2010 IEEE.

关键词： Insulin

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