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2005 International Symposium on Computational Intelligence in Robotics and Automation最新文献

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The kinematic Hessian and higher derivatives 运动的黑森和更高的导数
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554272
Arjang Hourtash
{"title":"The kinematic Hessian and higher derivatives","authors":"Arjang Hourtash","doi":"10.1109/CIRA.2005.1554272","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554272","url":null,"abstract":"A number of problems in manipulator analysis and control call for the second derivative of the joint-to workspace kinematic mapping of serial or branched manipulators. A derivation of all derivatives of the kinematic mapping is presented, including the second derivative namely the Hessian tensor. A fast formulation for its computation is derived which is based on components of the Jacobian matrix. The resulting formulae are verified symbolically with differentiation, and showcased numerically in Taylor series approximations and in a singularity escapability analysis for the example of the International Space Station's Canadarm2, a.k.a. the Space Station Remote Manipulator System (SSRMS).","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123108012","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: 21
A new rotation invariant similarity measure for trajectories 一种新的轨迹旋转不变相似测度
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554347
H. Fashandi, A. Eftekhari-Moghadam
{"title":"A new rotation invariant similarity measure for trajectories","authors":"H. Fashandi, A. Eftekhari-Moghadam","doi":"10.1109/CIRA.2005.1554347","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554347","url":null,"abstract":"We present a new rotation invariant measure for trajectories of dynamically changing locations of mobile objects (vehicles), which appear naturally in applications such as video-tracking, motion capture etc. Similar motion patterns can also be expressed at different orientations. We have modeled each trajectory by its sequence of angles. The similarity measure is defined based on longest common subsequence (LCS) method. To evaluate a system, we have simulated the database consisting of common trajectories of moving vehicles in the cities. First, clustering based on agglomerative algorithm with new similarity measure is applied on the training dataset. To classify new samples, similarity to the median of the clusters is considered and based on the rates of the similarity to the median, some natural language sentences is produced, these sentences express the behavioural descriptions of the vehicles. Experimental results show the accuracy and efficiency of the technique.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"129 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123327272","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: 11
Mobile robot control based on fuzzy behavior and robot safety body in unknown environment 基于模糊行为和未知环境下机器人安全体的移动机器人控制
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554334
Fu Yili, Xu Hongyan, Wang Shuguo, L. Jianguo, Xu He, L. Han
{"title":"Mobile robot control based on fuzzy behavior and robot safety body in unknown environment","authors":"Fu Yili, Xu Hongyan, Wang Shuguo, L. Jianguo, Xu He, L. Han","doi":"10.1109/CIRA.2005.1554334","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554334","url":null,"abstract":"Based on the analysis of unknown environment for mobile robot, a robot safety body, sensing body and logic body are put forward with the robot physical body together. An open fuzzy behavior-based control architecture is then proposed on the basis of robot safety body for mobile robots in complex and unstructured environments. Many sensors in various kinds are used to localize and navigate with fuzzification on target information, obstacle information and local terrain. Finally, lots of experiments of our mobile robot are carried out in many kinds of man-made complex environments, and the control architecture and the robot safety body with our robot is proved valid, which give a solid support for our further research for mobile robot in unknown environments.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127529163","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
Exploring the world through grasping: a developmental approach 通过抓取来探索世界:一种发展性的方法
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554336
L. Natale, Francesco Orabona, G. Metta, G. Sandini
{"title":"Exploring the world through grasping: a developmental approach","authors":"L. Natale, Francesco Orabona, G. Metta, G. Sandini","doi":"10.1109/CIRA.2005.1554336","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554336","url":null,"abstract":"This paper is about the implementation of grasping skills in a humanoid robot. Following a developmental approach, the robot is initially equipped with little perceptual and motor competencies whose role is to bootstrap learning through the exploration of the external environment. This crude form of sensorimotor coordination consists of a set of control systems and explorative behaviors as well as simple visual routines. The developmental path leads the robot from the exploration of the physics and geometry of its body to the probing of the external environment. The robot experience builds and modifies continuously its internal representations of the environment, being this, its body or the objects it encounters. We discuss the implications of our approach to the study of cognition and our effort to build a cognitive artificial system.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117250837","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: 32
Is structure needed for omnidirectional visual homing? 全向视觉归巢需要结构吗?
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554294
T. Goedemé, T. Tuytelaars, L. Gool, D. Vanhooydonck, E. Demeester, M. Nuttin
{"title":"Is structure needed for omnidirectional visual homing?","authors":"T. Goedemé, T. Tuytelaars, L. Gool, D. Vanhooydonck, E. Demeester, M. Nuttin","doi":"10.1109/CIRA.2005.1554294","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554294","url":null,"abstract":"Upcoming fast vision techniques for finding image correspondences enable reliable real-time visual homing, i.e. the guidance of a mobile robot from a arbitrary start pose towards a goal pose defined by an image taken there. Two approaches emerge in the field that differ in the fact that the structure of the scene is estimated or not. In this paper, we compare these two approaches for the general case and especially for our application, being automatic wheelchair navigation.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115768265","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: 14
A sliding mode PID-controller design for robot manipulators 机器人机械手的滑模pid控制器设计
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554346
T. Kuo, Y. J. Huang
{"title":"A sliding mode PID-controller design for robot manipulators","authors":"T. Kuo, Y. J. Huang","doi":"10.1109/CIRA.2005.1554346","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554346","url":null,"abstract":"A robust sliding mode PID-controller is proposed to control a robot manipulator with parameter variations and external disturbances. The work corroborates the utility of a certain sliding mode controller with PID sliding function for tracking control of a robot manipulator. The proposed method is used to take into account the unknown but bounded parameter uncertainties and external disturbances. The stability is demonstrated by Lyapunov theory. The performance of the closed-loop system is visualized through simulation. The input chattering phenomenon is handled by using boundary layer technique.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115789829","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: 16
A simple algorithm of pitch detection by using fast direct transform 一种基于快速直接变换的简单基音检测算法
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554278
Y. Yazama, Y. Mitsukura, M. Fukumi, N. Akamatsu
{"title":"A simple algorithm of pitch detection by using fast direct transform","authors":"Y. Yazama, Y. Mitsukura, M. Fukumi, N. Akamatsu","doi":"10.1109/CIRA.2005.1554278","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554278","url":null,"abstract":"There are some fundamental frequency detection methods for speech processing such as cepstrum analysis. However, the traditional methods need a lot of computing time and arithmetic processing. Moreover, a speech signal is converted into frequency domain by using an analysis section. In this paper, we propose a fast direct transformation (FDT). FDT extracts an amplitude feature of a signal by a simple computation. We perform the fundamental frequency detection of speech signal by using FDT. We compare the FDT algorithm with the conventional fundamental frequency detection methods by using teacher data (fundamental frequency) detected by the inspection. We perform an improvement as compared with an autocorrelation method by using FDT algorithm.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125955447","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
Prediction of diffuse large B-cell lymphoma outcome based on genes' analysis by use of SOM 基于SOM基因分析的弥漫性大b细胞淋巴瘤预后预测
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554267
M. Furukawa, Michiko Watanabe
{"title":"Prediction of diffuse large B-cell lymphoma outcome based on genes' analysis by use of SOM","authors":"M. Furukawa, Michiko Watanabe","doi":"10.1109/CIRA.2005.1554267","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554267","url":null,"abstract":"The cause of death is moving to the life-habit disease from the infectious disease in Japan. Since 1981, the cancer has occupied the first cause of Japanese death. Therefore, it is an urgent matter to tackle the cancer problem. Recently, it is understood that outcome of the cancer disease in a prognosis is related to the special combination of genes. However, it is very difficult to predict outcome of the cancer disease in a prognosis, because a huge number of genes exist and we have to explore the special combination of genes among them. This study aims at finding the special genes combination, which affects on the outcome of the cancer disease in a prognosis. Self-organizing maps (SOM) is applied to accomplish our aim. Namely, SOM is used to cluster genes to predict the outcome of the cancer disease in a prognosis. Some tools are also developed to analyze the SOM results, because it is insufficient for SOM only to specify the combination of genes, which affects on outcome of the cancer disease in a prognosis. Numerical experiments present some useful information on the outcome of the cancer disease in a prognosis.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131687360","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
MiReLa: a musical robot MiReLa:音乐机器人
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554256
Urko Esnaola, T. Smithers
{"title":"MiReLa: a musical robot","authors":"Urko Esnaola, T. Smithers","doi":"10.1109/CIRA.2005.1554256","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554256","url":null,"abstract":"A music based robot-human interaction system is presented. A musical language was developed to make robot-human interaction reliable in noisy environments. This language can be whistled and played on simple instruments. Mobile phones and PDAs can also be used to generate phrases in this language. It was implemented as part of a \"society of agents\" where each agent helps the others, and all of them together make a mass of skills that grow in power and efficiency.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131426163","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
Task-oriented quality measures for dextrous grasping 灵巧抓取的任务导向质量测量
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554357
R. Haschke, Jochen J. Steil, I. Steuwer, H. Ritter
{"title":"Task-oriented quality measures for dextrous grasping","authors":"R. Haschke, Jochen J. Steil, I. Steuwer, H. Ritter","doi":"10.1109/CIRA.2005.1554357","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554357","url":null,"abstract":"We propose a new and efficient approach to compute task oriented quality measures for dextrous grasps. Tasks can be specified as a single wrench to be applied, as a rough direction in form of a wrench cone, or as a complex wrench polytope. Based on the linear matrix inequality formalism to treat the friction cone constraints we formulate respective convex optimization problems, whose solutions give the maximal applicable wrench in the task direction together with the needed contact forces. Numerical experiments show that application to complex grasps with many contacts is possible.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124266815","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: 95
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