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Proceedings of IEEE International Conference on Intelligent Engineering Systems最新文献

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Task-level servocontrol in robotics 机器人中的任务级伺服控制
Proceedings of IEEE International Conference on Intelligent Engineering Systems Pub Date : 1997-09-15 DOI: 10.1109/INES.1997.632391
A. Bejczy
{"title":"Task-level servocontrol in robotics","authors":"A. Bejczy","doi":"10.1109/INES.1997.632391","DOIUrl":"https://doi.org/10.1109/INES.1997.632391","url":null,"abstract":"The application of computers permits the design and implementation of several different types of servocontrol schemes for the control of robot arms. This paper focuses on the description of task-space error feedback techniques which can provide excellent performance for tracking position and force trajectories in both manual and automatic modes of control. Model assumptions and computational requirements implied in these techniques are outlined and the outstanding performance capabilities of the techniques are illustrated by numerous experimental results.","PeriodicalId":161975,"journal":{"name":"Proceedings of IEEE International Conference on Intelligent Engineering Systems","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117118118","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
Automatic CAD-based construction of hybrid models for 3-D object recognition and localization 基于cad的三维物体识别与定位混合模型自动构建
Proceedings of IEEE International Conference on Intelligent Engineering Systems Pub Date : 1997-09-15 DOI: 10.1109/INES.1997.632479
A. Ude
{"title":"Automatic CAD-based construction of hybrid models for 3-D object recognition and localization","authors":"A. Ude","doi":"10.1109/INES.1997.632479","DOIUrl":"https://doi.org/10.1109/INES.1997.632479","url":null,"abstract":"An automatic generation of object models from CAD data for object recognition and localization is presented in this paper. The model described here comprises the object's geometry and topology, its photometric properties and viewer-centered information. This information is automatically extracted from a CAD model and transformed into a form suitable for object recognition. Experiments demonstrating the object recognition and localization from stereo images using the developed model are presented.","PeriodicalId":161975,"journal":{"name":"Proceedings of IEEE International Conference on Intelligent Engineering Systems","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116093242","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
On construction of generalized non monotone fuzzy operators 广义非单调模糊算子的构造
Proceedings of IEEE International Conference on Intelligent Engineering Systems Pub Date : 1997-09-15 DOI: 10.1109/INES.1997.632433
Á. Szeghegyi, A. Rudas, J. Tar
{"title":"On construction of generalized non monotone fuzzy operators","authors":"Á. Szeghegyi, A. Rudas, J. Tar","doi":"10.1109/INES.1997.632433","DOIUrl":"https://doi.org/10.1109/INES.1997.632433","url":null,"abstract":"In this paper the concept and two classes of nonmonotone fuzzy operators are introduced. The nonmonotone so called W-operators are constructed from any associated T-norm and T-conorm. Using the concept of elementary entropy function minimum and maximum fuzziness generalized operators are introduced. It is shown by simulation that these 'almost' T-operations are suitable in fuzzy controllers and also that they may provide better performance for some plants.","PeriodicalId":161975,"journal":{"name":"Proceedings of IEEE International Conference on Intelligent Engineering Systems","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116462763","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
Mobile agents and remote operation 移动代理和远程操作
Proceedings of IEEE International Conference on Intelligent Engineering Systems Pub Date : 1997-09-15 DOI: 10.1109/INES.1997.632462
L. Camarinha-Matos, W. Vieira
{"title":"Mobile agents and remote operation","authors":"L. Camarinha-Matos, W. Vieira","doi":"10.1109/INES.1997.632462","DOIUrl":"https://doi.org/10.1109/INES.1997.632462","url":null,"abstract":"The Internet has been opening new opportunities for remote operation. In fact its universal infrastructure of communications allows an easy and economic way of interaction between different sites despite the distance separating them. However, the traditional client-server architecture is becoming a drawback for those applications which require the processing of large amounts of data coming from one server but which, comparatively, produce a small amount of data as a result of their work. In this paper the mobile agents philosophy, as a mean to reduce the communication load in such applications, is discussed and several important factors related to this approach are considered. Another advantage of the mobile agents philosophy is related to the ability to simplify the evolution of the applications without the need to change the servers. For remote operation, a way for the agents to self adapt to the local environments they encounter in each remote site is mandatory. These issues are discussed here within the context of an application intended to help elderly staying alone at home. We also emphasize the advantage the platform independent languages have in the context of the applications discussed in this paper.","PeriodicalId":161975,"journal":{"name":"Proceedings of IEEE International Conference on Intelligent Engineering Systems","volume":"131 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122331740","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: 3
An intelligent variable structure controller for robotic arms 机械臂智能变结构控制器
Proceedings of IEEE International Conference on Intelligent Engineering Systems Pub Date : 1997-09-15 DOI: 10.1109/INES.1997.632395
M. Corradini, T. Leo, E. Canelli
{"title":"An intelligent variable structure controller for robotic arms","authors":"M. Corradini, T. Leo, E. Canelli","doi":"10.1109/INES.1997.632395","DOIUrl":"https://doi.org/10.1109/INES.1997.632395","url":null,"abstract":"In this paper a novel control scheme is presented where a MIMO variable structure controller has been coupled with a neural network state observer. The proposed control system has been tested in simulation on the trajectory control problem for a SCARA robot. The results reported show very satisfactory performance under both parameter variations and the abrupt intervention of a payload.","PeriodicalId":161975,"journal":{"name":"Proceedings of IEEE International Conference on Intelligent Engineering Systems","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122064643","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
Temporal application of weighted knowledge base revision 加权知识库修正的时态应用
Proceedings of IEEE International Conference on Intelligent Engineering Systems Pub Date : 1997-09-15 DOI: 10.1109/INES.1997.632421
A. Benczúr, Á. B. Novák, P. Revesz
{"title":"Temporal application of weighted knowledge base revision","authors":"A. Benczúr, Á. B. Novák, P. Revesz","doi":"10.1109/INES.1997.632421","DOIUrl":"https://doi.org/10.1109/INES.1997.632421","url":null,"abstract":"The propositional revision operator is a special theory change operator. In this paper we give examples for the generalized propositional revision operator in the weighted case. The examples are new not only from the point of view of the technique of the construction of a concrete revision operator for weighted knowledge bases, but also in their semantics. Furthermore, the application shows that under the given semantic the usage of a revision operator for weighted knowledge bases can solve also the update problem in some cases.","PeriodicalId":161975,"journal":{"name":"Proceedings of IEEE International Conference on Intelligent Engineering Systems","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128416644","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
Multi-model based gain-scheduling sliding mode control design for an intelligent railway vehicle system 基于多模型的智能轨道车辆系统增益调度滑模控制设计
Proceedings of IEEE International Conference on Intelligent Engineering Systems Pub Date : 1997-09-15 DOI: 10.1109/INES.1997.632478
T. Gajdár, P. Korondi, Y. Suda
{"title":"Multi-model based gain-scheduling sliding mode control design for an intelligent railway vehicle system","authors":"T. Gajdár, P. Korondi, Y. Suda","doi":"10.1109/INES.1997.632478","DOIUrl":"https://doi.org/10.1109/INES.1997.632478","url":null,"abstract":"This paper deals with an intelligent railway vehicle system subjected to changing conditions of operation, embodied as vehicle velocity and track curvature parameter variations. The main purpose of control design, therefore is to achieve robustness against parameter changes and at the same time to reject track disturbances. Generally such big parameter variations can not be handled properly by a fixed gain controller, therefore the applicability of gain-scheduling control technics are examined. To handle the problem a brand new method, the multi-model based gain-scheduling sliding mode control approach is proposed.","PeriodicalId":161975,"journal":{"name":"Proceedings of IEEE International Conference on Intelligent Engineering Systems","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121384820","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: 3
Fuzzy inversion and rule base reduction 模糊反演与规则库约简
Proceedings of IEEE International Conference on Intelligent Engineering Systems Pub Date : 1997-09-15 DOI: 10.1109/INES.1997.632435
P. Baranyi, P. Korondi, H. Hashimoto, M. Wada
{"title":"Fuzzy inversion and rule base reduction","authors":"P. Baranyi, P. Korondi, H. Hashimoto, M. Wada","doi":"10.1109/INES.1997.632435","DOIUrl":"https://doi.org/10.1109/INES.1997.632435","url":null,"abstract":"This paper proposes a new design method based on linguistic model inversion and fuzzy rule reduction using singular value decomposition. Firstly, a piecewise linear fuzzy approximation of the controlled plant is identified by measurement. Secondly, the linear cells of the fuzzy model is inverted to achieve a controller. The inversion increases the fuzzy rule base. Thirdly, the redundant or small weighted information are removed from the fuzzy rule base. Experimental results of a transputer controlled single-degree-of-freedom motion control system are presented. The experimental system consists of a conventional DC servo gear motor with encoder feedback and variable inertia load coupled by a relatively rigid shaft.","PeriodicalId":161975,"journal":{"name":"Proceedings of IEEE International Conference on Intelligent Engineering Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125531127","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: 36
Reducing motion inaccuracies due to actuation-system quantisation-errors on a Khepera mobile robot 减少Khepera移动机器人由于驱动系统量化误差引起的运动不准确性
Proceedings of IEEE International Conference on Intelligent Engineering Systems Pub Date : 1997-09-15 DOI: 10.1109/INES.1997.632441
R. Araújo, A. de Almeida
{"title":"Reducing motion inaccuracies due to actuation-system quantisation-errors on a Khepera mobile robot","authors":"R. Araújo, A. de Almeida","doi":"10.1109/INES.1997.632441","DOIUrl":"https://doi.org/10.1109/INES.1997.632441","url":null,"abstract":"We present two algorithms, that can be used for minimising the effects of mobile robot control-space quantisation errors. The first algorithm can be used to perform pure rotations (no translation) of the mobile robot while minimising the effects of these errors. The second algorithm can be used to perform straight-line motions, between the mobile robot current position, and a predefined goal position in its working environment. Simulation results demonstrating the effectiveness of the algorithm are presented.","PeriodicalId":161975,"journal":{"name":"Proceedings of IEEE International Conference on Intelligent Engineering Systems","volume":"54 80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124706912","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
Intelligent control system of a robot with dextrous hand 灵巧手机器人的智能控制系统
Proceedings of IEEE International Conference on Intelligent Engineering Systems Pub Date : 1997-09-15 DOI: 10.1109/INES.1997.632405
B. Lantos, P. Klatsmányi, L. Ludvig, F. Tél
{"title":"Intelligent control system of a robot with dextrous hand","authors":"B. Lantos, P. Klatsmányi, L. Ludvig, F. Tél","doi":"10.1109/INES.1997.632405","DOIUrl":"https://doi.org/10.1109/INES.1997.632405","url":null,"abstract":"The paper deals with the control architecture and algorithms of a system consisting of a Puma 560 robot and a three-fingered (9 degree-of-freedom) robot hand. The whole control system is divided into three subsystems. The first subsystem is the robot control system consisting of a host PC with power electronics and three special boards containing DSPs. The ARPS robot programming language runs on the host PC. The second subsystem is the control system of the tendon-driven TUB dextrous hand based on a PC with special analog cards. The control programs are running under QNX real-time operation system. The third subsystem is a low-cost stereo vision system consisting of a PC with Windows NT, a video blaster card and three CCD matrix cameras. Different types of intelligence (expert knowledge, graphic simulation, stereo image processing, advanced control algorithms) are distributed in the components of the whole control system.","PeriodicalId":161975,"journal":{"name":"Proceedings of IEEE International Conference on Intelligent Engineering Systems","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115120904","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: 5
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