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International Conference on Internet Computing in science and Engineering (ICICSE)

作者： Maohai Li Lining Sun Qingcheng Huang Zesu Cai Songhao Piao School of Computer Science and Technology Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper presents a practical approach to design guard robot alarm system using GPRS technology. GPRS offers an interesting communications infrastructure for remotely accessing, controlling and interacting with robots in an integrated and highly portable manner, particularly in recent years the GPRS network provides wireless access of internet for mobile phone which becomes the most important and common terminal equipment. Therefore, in this paper the alarm information is designed to send to the user's mobile phone, and add man-made intervention to the system, thus achieves a more convenient and reliable alarm system. The system mainly consists of two parts: detection of abnormal and dangerous situation in domestic environment and sending the alarm information as MMS form to the user's phone via GPRS networks. Finally experiments show that the alarm system can accurately send alarm information to the user's mobile phone. The system is low-cost, flexible, reliable, and can be widely used.

关键词： Ground penetrating radar Alarm systems Intelligent robots Orbital robotics Intelligent sensors Mobile handsets robotics and automation GSM Mobile robots Robot sensing systems

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On generalized separation and the speedup of local operators on multi-dimensional signals

On generalized separation and the speedup of local operators...

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International Workshop on Multidimensional (nD) Systems

作者： Sebastian Pfeiffer Michael Mai Wolfgang Globke Jan Calliess Institute of Applied Computer Science Karlsruhe Institute of Technology Germany Institute of Interactive Real-Time Systems Karlsruhe Institute of Technology Germany Institute of Algebra and Geometry Karlsruhe Institute of Technology Germany School of Computer Science Carnegie Mellon University USA

Along with the boom of computer vision- and other signal processing-based applications, the question of fast local operator application has become increasingly important over the past decade. For two-dimensional signals, such as images, local operator separation has proven to ameliorate the computational effort incurred by prominent operators such as mean filter, binomial filter or Sobel filter. However, many modern days' applications involve higher-dimensional input signals including tomography, functional magnetic resonance imaging (fMRI), selective plane illumination microscopy (SPIM), confocal laser scanning microscopy (CLSM), special image fusion. In this work, we generalize previous separation methods in order to make them applicable to input spaces of arbitrary (but finite) dimensionality. We show how this approach renders the computational effort of the dominant multiplicative part of local filter application linear both in size and dimension. Thus, filtering can become feasible for input signals whose dimensionality and size complexity would otherwise be prohibitively high. Finally, we present experiments that demonstrate our approach to be highly beneficial not only in theory but also in practice.

关键词： Filters Magnetic separation Application software Magnetic force microscopy computer vision Signal processing Tomography Magnetic resonance imaging Lighting Laser fusion

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High stiffness pneumatic actuating scheme and improved position control strategy realization of a pneumatic climbing robot

High stiffness pneumatic actuating scheme and improved posit...

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IEEE International Conference on robotics and Biomimetics

作者： H. X. Zhang W. Wang J. W. Zhang Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Shenzhen Institute of Advanced Technology Shenzhen China

The improved full pneumatic climbing robot Sky Cleaner IV has recently been developed as an intelligent demonstrator and test bed for the implementation of nonlinear locomotion control. Pneumatic actuators control the robot's movement, reducing its weight and increasing its dexterity. The pneumatic system of the robot includes X, Y and Z cylinders, a waist cylinder, brush cylinders and vacuum suckers. The major challenge of the pneumatic system is to achieve precise position control of the two rodless linear X and Y cylinders since the system is nonlinear. Two novel ideas are introduced to the pneumatic actuating system. Firstly, the X and Y cylinders feature an improved pneumatic scheme that drives two groups of four 2-position-2-port high speed on-off valves to adjust the pressure in the two chambers of each cylinder. This improves the pneumatic stiffness of the cylinders remarkably. Secondly, considering the effects of friction and movement acceleration of the cylinder, a compensating variable bang-bang controller is presented to control the cylinders' movement and keep the merits while eliminating the oscillation. The experimental results prove that the two approaches can effectively improve the system's stiffness and control its quality.

关键词： Position control Climbing robots Pneumatic systems Intelligent robots Intelligent actuators Testing Pneumatic actuators Robot control Brushes Vacuum systems

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Tool wear forecast using Singular Value Decomposition for dominant feature identification

Tool wear forecast using Singular Value Decomposition for do...

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

作者： Chee Khiang Pang Jun-Hong Zhou Frank L. Lewis Zhao-Wei Zhong Department of Electrical and Computer Engineering National University of Singapore Singapore Automation & Robotics Research Institute University of Texas Arlington Fort Worth TX USA Institute of Manufacturing Technology Agency for Science Technology and Research (ASTAR) Singapore School of Mechanical and AeroSpace Engineering Nanyang Technological University Singapore Singapore

Identification and prediction of lifetime of industrial cutting tools using minimal sensors is crucial to reduce production costs and down-time in engineering systems. In this paper, we provide a formal decision software tool to extract the dominant features enabling tool wear prediction. This decision tool is based on a formal mathematical approach that selects dominant features using the singular value decomposition (SVD) of real-time measurements from the sensors of an industrial cutting tool. It is shown that the proposed method of dominant feature selection is optimal in the sense that it minimizes the least-squares estimation error. The identified dominant features are used with the recursive least squares (RLS) algorithm to identify parameters in forecasting the time series of cutting tool wear on an industrial high speed milling machine.

关键词： Singular value decomposition Cutting tools Sensor systems Production systems Costs Systems engineering and theory Software tools Feature extraction Sensor phenomena and characterization Estimation error

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Design of fuzzy controller for automatic steering

Design of fuzzy controller for automatic steering

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作者： Ko, Sang-Jin Lee, Jun-Woo Choi, Byoung-Suk Lee, Ju-Jang Graduate School of Automobile Technology KAIST Daejeon Korea Republic of Robotics Program KAIST Daejeon Korea Republic of Department of Electrical Engineering and Computer Science KAIST Daejeon Korea Republic of

ISBN: (纸本)9784990288020

Unmanned vehicle is future vehicle technology. Lateral control technology and longitudinal control technology are needed for unmanned vehicle. Automatic steering system is lateral control technology. A automatic steering system automatically controls the steering to keep the vehicle in its land and also to follow the lane as it curves around. This paper proposes automatic steering system based on fuzzy logic. If the fuzzy rules are set properly, the fuzzy controller can control the objective system nicely. To design an automatic steering system, lateral error dynamics of a vehicle is derived. The proposed automatic steering system is evaluated by SIMULINK in MATLAB. The simulation results show that the proposed automatic steering system works satisfactorily for keeping the vehicle in its land and following the lane. ©ISAROB 2008.

关键词： Fuzzy control

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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Result representation of Rao-Blackwellized particle filtering for SLAM

Result representation of Rao-Blackwellized particle filterin...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Nosan Kwak Beom-Hee Lee Kazuhito Yokoi Joint Japanese-French Robotics Laboratory Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Japan School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea

Recently, particle filters have been applying to many robotic problems including the simultaneous localization and mapping (SLAM). Specifically, SLAM approaches employing Rao-Blackwellized particle filter (RBPF) have shown good results. However, no research is conducted to analyze representation of the results of particle filtering. After finishing the particle filtering, the results such as a map and a path are stored in the separate particles. In most cases, the result of the particle that has the highest importance weight is represented as the result. However, this approach does not give the best result all the time. Thus, We provide the analysis of final representation of particle filtering. In this paper, we compares several methods to derive the final representation of the result after finishing RBPF-SLAM. According to the result, combining data of each particle provides the better result with high probability than using just data of a particle such as the highest weighted particle representation.

关键词： Filtering Simultaneous localization and mapping Particle filters Intelligent robots robotics and automation Service robots Electronic mail Finishing Diversity reception Automatic control

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Implementation of analog controller based on biological nervous system for biomimetics walking robot

Implementation of analog controller based on biological nerv...

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39th International Symposium on robotics, ISR 2008

作者： Kim, Sung Hoon Kang, Tae Hun Won, Min Kyu Cho, Jin-Ho Park, Sangdeok Pohang Institute of Intelligent Robotics San 31 Hyoja-Dong Nam-Gu Pohang Gyeongbuk 790-784 Korea Republic of San 31 Hyoja-Dong Nam-Gu Pohang Gyeongbuk 790-784 Korea Republic of School of Electrical Engineering and Computer Science Kyungpook National University 1370 Sankynk-dong Buk-gu Daegu702-701 Korea Republic of Korea Institute of Industrial Technology 1271-18 Sa 1-Dong Sangrok-Ku Ansan Korea Republic of

In this paper, we proposed an analog neural controller (ANC) that is similar to physical modelling of the nervous system. ANC is composed of sensory neurons, motor neurons, synapses and dendrites. The functions of sensory neurons generate CPG signals and motor neurons change the sensory neuron signal for driving actuators. Synapses connect between neurons and the weigh to be given. Dendrites can accept external signal from the sensor. Because of parallel structure which is one of main characteristic of ANC, it is possible to walk by generating new pattern even though one of the neuron is out of working.

关键词： Neurons

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Neural networks for disturbance and friction compensation in hard disk drives

Neural networks for disturbance and friction compensation in...

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IEEE Conference on Decision and Control

作者： Chow Yin Lai Frank L. Lewis V. Venkataramanan Xuemei Ren Shuzhi Sam Ge Thomas Liew Centre for Life Sciences (CeLS) Graduate School for Integrative Sciences and Engineering (NGS) National University of Singapore Singapore Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Data Storage Institute Engineering Agency for Science Technology and Research Singapore Department of Automatic Control Beijing Institute of Technology Beijing China Department of Electrical and Computer Engineering National University of Singapore Singapore

ISBN: (纸本)9781424431236

In this paper, we show that the tracking performance of a hard disk drive actuator can be improved by using two adaptive neural networks, each of which is tailored for a specific task. The first neural network utilizes accelerometer signal to detect external vibrations, and compensates for its effect on hard disk drive position via feedforward action. In particular, no information on the plant, sensor and disturbance dynamics is needed in the design of this neural network disturbance compensator. The second neural network, designed to compensate for the pivot friction, uses a signum activation function to introduce nonlinearities inherent to pivot friction, thus reducing the neural network¿s burden of expectation. The stability of the proposed scheme is analyzed by the Lyapunov criterion. Simulation results show that the tracking performance of the hard disk drives can be improved significantly with the use of both neural networks compared to the case without compensation, or when only one of the networks is activated.

关键词： Neural networks Friction Hard disks Actuators Adaptive systems Feedforward neural networks Accelerometers Signal detection Stability analysis Stability criteria

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Culture and environment as determinants of women's participation in computing: Revealing the "women-CS fit"

Culture and environment as determinants of women's participa...

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37th SIGCSE Technical Symposium on computer science Education

作者： Frieze, Carol Hazzan, Orit Blum, Lenore Dias, M. Bernardine School of Computer Science Carnegie Mellon University Department of Education in Technology and Science Technion - Israel Institute of Technology Israel Robotics Institute Carnegie Mellon University

ISBN: (纸本)9781595932594

There are some arguments that suggest women need academic handholding, such as a "female friendly" curriculum, in order for them to participate and be successful in computer science and related fields. Then there are other arguments that suggest we need to change the field to suit women or help women adjust to the field. In this paper we present a different perspective that shows none of these may be necessary. The "Women-CS Fit" is already there! Specifically, under certain cultural and environmental conditions we can see that women fit very well into computing fields and what we have been attributing to gender is actually the result of cultural and environmental conditions. The reasons for women participating in - or not participating in - the field of computer science have little to do with gender and a lot to do with culture. In other words, we need to recognize that this is a cultural issue, and an issue that concerns us all. Appropriate local interventions in the micro-culture can have large effect. This argument is illustrated in this paper by three case studies. Copyright 2006 ACM.

关键词： computer science

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