2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems最新文献_第2页

Event-based bipartite consensus on signed networks 签名网络上基于事件的二部共识

2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems Pub Date : 2013-05-26 DOI: 10.1109/CYBER.2013.6705467

Yulong Zhou, Jiangping Hu

引用次数: 11

POMDP based robot teaching for high precision assembly in manufacturing automation 基于POMDP的制造自动化高精度装配机器人教学

2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems Pub Date : 2013-05-26 DOI: 10.1109/CYBER.2013.6705438

Hongtai Cheng, Heping Chen, Yong Liu

{"title":"POMDP based robot teaching for high precision assembly in manufacturing automation","authors":"Hongtai Cheng, Heping Chen, Yong Liu","doi":"10.1109/CYBER.2013.6705438","DOIUrl":"https://doi.org/10.1109/CYBER.2013.6705438","url":null,"abstract":"Robot teaching is a necessary process for setting up a robot for a new task from a simulation environment to real environment or improving the robot performance with new batch of workpieces. Typically robot teaching process is performed by human beings with a teach pendant. This will increase the operational cost and reduce the efficiency. In this paper we present a framework for autonomous robot teaching using one camera without hand-eye calibration. A mobile robot with a camera is an “adult” performing teaching tasks in a production line. To overcome the problem brought by single uncalibrated vision sensor, the concept of “View Cone” is utilized to provide an effective observations of the underlying metric information. Geometrical model of the “View Cone” is built to describe the relationship between block property and the underlying metric information. The robot teaching process is modeled as a Partial Observable Markov Decision Process(POMDP) and solved by the Successive Approximation of the Reachable Space under Optimal Policies (SARSOP) algorithm. Simulations were performed and the results verify the effectiveness of the proposed method.","PeriodicalId":146993,"journal":{"name":"2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124641817","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Sports biomechanics infomation acquisition and analysis based on Miniature Inertial Measurement 基于微型惯性测量的运动生物力学信息采集与分析

2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems Pub Date : 2013-05-26 DOI: 10.1109/CYBER.2013.6705435

Zeyuan Lu, Su Benyue, Wang Guangjun, Cao Huibin, Man Tingting, Shuang Feng, Ge Yunjian

引用次数: 1

Global adaptive disturbance rejection for nonlinear multi-stationed control systems 非线性多驻扎控制系统的全局自适应抗干扰

2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems Pub Date : 2013-05-26 DOI: 10.1109/CYBER.2013.6705412

Dabo Xu

引用次数: 0

Design and implementation for image reconstruction of CompressiveSensing using FPGA 基于FPGA的压缩感知图像重构设计与实现

2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems Pub Date : 2013-05-26 DOI: 10.1109/CYBER.2013.6705466

Sheng Bi, Ning Xi, K. Lai, Xuwei Pan

{"title":"Design and implementation for image reconstruction of CompressiveSensing using FPGA","authors":"Sheng Bi, Ning Xi, K. Lai, Xuwei Pan","doi":"10.1109/CYBER.2013.6705466","DOIUrl":"https://doi.org/10.1109/CYBER.2013.6705466","url":null,"abstract":"A novel single pixel camera system has been introduced to overcome the current limitation and challenges of traditional focal plane arrays. This new hardware system mainly employs one photo-sensing element/pixel and a digital micromirror device (DMD). By consideration of a new mathematical theory and algorithms of compressive sampling, we can reconstruct images based on the measurement results of the photo-sensing element. However, the development reminds challenge. Since large amount of data is accessed and the inherent delay of instruction cycle within transporting data on the DMD, it makes real-time processing of image recovery difficult. Conventionally, the pattern data was transported to DMD from PC through USB interface. Since the USB interface limited the data transfer speed, the total time of signal collection and image reconstruction was about 30 minutes. In this paper, FPGA is used to transport data from SDRAM to control the DMD, and at the same time, the signal of the photo-sensing element is acquired. As a result the control of the DMD can be improved and imaging processing time can be reduced. The development includes various components such as SDRAM interface, FIFO Data buffer, ADC interface, USB interface and DMD control interface. Comparing with the method of transporting data through PC, the time for image recovery is greatly reduced.","PeriodicalId":146993,"journal":{"name":"2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122952660","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

A closed-loop home energy automation system via power provisioning 一个通过电力供应的闭环家庭能源自动化系统

2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems Pub Date : 2013-05-26 DOI: 10.1109/CYBER.2013.6705483

Naveen Nalajala, Heping Chen, T. Jin

引用次数: 2

Adaptive block-fusion multiple feature tracking in a particle filter framework 粒子滤波框架中的自适应块融合多特征跟踪

2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems Pub Date : 2013-05-26 DOI: 10.1109/CYBER.2013.6705479

Ying Mingfeng, Bo Yuming, Zhao Gao-peng, Zou Weijun

引用次数: 5

Configuration of mobile routers to support reliable communications 配置移动路由器，支持可靠通信

2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems Pub Date : 2013-05-26 DOI: 10.1109/CYBER.2013.6705447

Xiangpeng Li, Jianjun Wang, Dong Sun

{"title":"Configuration of mobile routers to support reliable communications","authors":"Xiangpeng Li, Jianjun Wang, Dong Sun","doi":"10.1109/CYBER.2013.6705447","DOIUrl":"https://doi.org/10.1109/CYBER.2013.6705447","url":null,"abstract":"In mobile ad hoc networks (MANET), mobile routers should adjust their positions adaptively to support the connectivity of a communication link. In this paper, we propose a unique and decentralized controller that can feasibly deploy mobile routers to guarantee the communication connectivity of an exploring robot to a base station while avoiding obstacles in environment. A new concept of connectivity robustness is introduced in the evaluating the connectivity quality of communication links. Connectivity constraint and continuous model for obstacle avoidance is utilized in building the navigation function. The designed potential field integrates exploring requirement, router configuration, connectivity maintenance, and obstacle avoidance simultaneously, based on which a bounded control input is designed for multirobot control. The proposed controller is shown to be capable of driving the exploring robot to the goal position while maintaining the communication connectivity with the base station all the time. Experiments are performed to demonstrate the effectiveness of the proposed controller.","PeriodicalId":146993,"journal":{"name":"2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122779013","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Dynamic grouping strategy for active power control of wind farm 风电场有功控制的动态分组策略

2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems Pub Date : 2013-05-26 DOI: 10.1109/CYBER.2013.6705433

L. Xiang, Yaxin Xie, Bolin Zhang, Maosheng Ding, Zheng Fu, Yi Tang

引用次数: 3

Balance control strategy of humanoid robot based on stiffness control 基于刚度控制的仿人机器人平衡控制策略

2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems Pub Date : 2013-05-26 DOI: 10.1109/CYBER.2013.6705445

Fei Wang, Shuying Zhao, Y. Lu, Jing Xu

{"title":"Balance control strategy of humanoid robot based on stiffness control","authors":"Fei Wang, Shuying Zhao, Y. Lu, Jing Xu","doi":"10.1109/CYBER.2013.6705445","DOIUrl":"https://doi.org/10.1109/CYBER.2013.6705445","url":null,"abstract":"For the control system of humanoid robot, a fundamental function should be able to keep its balance under a certain disturbance, which is also one of the most important topics in the study of bipedal robotics. In this paper, a novel scheme of the ankle and hip balance control strategies for humanoid robot stability are proposed. Firstly, the external disturbance force is estimated from kinematics of robot by using angular momentum theorem. For small disturbance force, the angular acceleration for ankle rotation is calculated using inverted pendulum model combining with ZMP criterion. By controlling the stiffness of DC motor, the ankle strategy is achieved. For large disturbance force, the maximum stable region is deduced using flywheel inverted pendulum model combining with ZMP criterion, then the relationship for balance state between angular velocities of ankle and hip is established by using reaction null-space theory. Moreover, to recovery initial status of robot, PD feedback control method is applied on both strategies. Experimental results with a NAO humanoid robot indicate that the proposed scheme for balance control is correct and effective..","PeriodicalId":146993,"journal":{"name":"2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127745075","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2