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

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Contact task by space teleoperation using force reflection of communication time delay 空间遥操作接触任务利用通信时延的力反射
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554276
M. Nohmi, M. Ando, T. Bock
{"title":"Contact task by space teleoperation using force reflection of communication time delay","authors":"M. Nohmi, M. Ando, T. Bock","doi":"10.1109/CIRA.2005.1554276","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554276","url":null,"abstract":"This paper proposes a new strategy for space teleoperation under communication time delay, which makes it possible for an operator to know conditions of a remote manipulator through force reflection of the time delay. Using the proposed strategy, an operator feels as if the manipulator is operated through a virtual spring. Basic algorithm is that difference of command and telemetry data due to the time delay is displayed to an operator by force reflection of a hand controller. Also, the force reflection includes a contact force applied to the manipulator. In operation without contact, force reflection becomes to be zero when the manipulator finishes its motion. Under condition of contact, force reflection continues to be applied even if the manipulator stops its motion. Change of force reflection suggests: occurrence of contact; force release of the manipulator; and manipulator moving. The effectiveness of the proposed approach was confirmed by teleoperation experiment, especially focusing on calculation of force reflection and command input.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"22 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":"126724157","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: 9
Comparison of three change detection algorithms for an electronics manufacturing process 电子制造过程中三种变化检测算法的比较
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554355
M. Ruusunen, M. Paavola, Mika Pirttimaa, K. Leiviskä
{"title":"Comparison of three change detection algorithms for an electronics manufacturing process","authors":"M. Ruusunen, M. Paavola, Mika Pirttimaa, K. Leiviskä","doi":"10.1109/CIRA.2005.1554355","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554355","url":null,"abstract":"In a sequential manufacturing process, a product proceeds through different manufacturing stages. At these stages, sensors monitor the features of the product. In this paper, the information produced by the sensors is employed to detect abrupt changes in process variables. The developed algorithms contribute to an on-line application to a manufacturing system. A literature survey revealed the most common methods utilized in change detection. On-line applicability and transferability to new manufacturing lines are the most important features for real applications. During both on-line and off-line tests, some of the presented methods showed satisfactory results. Real-time, on-line manufacturing environment sets also its requirements for the applications. In the future, the possibility of combining expert knowledge with the aforementioned methods is the crucial point to study. The information thus received has usage in the preventive maintenance and quality control.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"20 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":"126781762","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: 6
A Petri net modelling of an adaptive learning control applied to an electric wheelchair 电动轮椅自适应学习控制的Petri网建模
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554309
A. Abellard, M. Khelifa, M. Bouchouicha
{"title":"A Petri net modelling of an adaptive learning control applied to an electric wheelchair","authors":"A. Abellard, M. Khelifa, M. Bouchouicha","doi":"10.1109/CIRA.2005.1554309","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554309","url":null,"abstract":"The aim of this paper is to present a Petri net based approach of a codesign methodology, in order to obtain optimized hardware/software solutions. An example of application is given for a neural control lever of a wheelchair. The research of solutions to the problem of hardware/software codesign, is a major task in the definition of a unique, structured and automatic methodology, providing the acceleration of design process and the dynamic evaluation of different compromises. data flow Petri nets are an efficient solution to make it possible and the use of a hardware description language, allows their implementation on programmable chips. The example described in this paper deals with a wheelchair whose commands can adapt to handicap. For some handicapped people, the use of a wheelchair can be difficult, due to weak physical capacities or cognitive troubles. So, the human-machine interface must be modular, configurable and easy to implement. It must bring reliability and use non specific material as often as possible. Therefore, the FRACAH project (Fauteuil Roulant A Commande Adaptee au Handicap) has been developed in order to proceed to evaluations. For example, its lever is handled by an artificial neural network that records functional limitations of the hand, and then compensates them. Some experiments have been done with hand disabled students.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"19 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":"128456245","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
Data-based modeling and control of a biped robot 基于数据的双足机器人建模与控制
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554314
O. Haavisto, H. Hyötyniemi
{"title":"Data-based modeling and control of a biped robot","authors":"O. Haavisto, H. Hyötyniemi","doi":"10.1109/CIRA.2005.1554314","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554314","url":null,"abstract":"This paper describes a novel data-based modeling and control method for dynamic systems. The model structure consists of locally linear, clustered principal component regression modules. This scheme is motivated by a novel neuro-cognitive theory; the goal in this paper is to assess the plausibility of the scheme. As an application example, a complex dynamical system, that is, a simulation model of a walking biped robot, is used. For the data collection, the robot is first controlled by simple separate PD controllers; it turns out that the clustered regression model is accurate enough to replace the original controller and to reproduce the example gait very well. The optimization of the behavior by updating the regression structure, however, appears to be quite difficult. It turns out that the robustness that is necessary for optimizing the model cannot be reached.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"31 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":"129760409","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
Genetic algorithm for a fuzzy spiking neural network of a mobile robot 移动机器人模糊脉冲神经网络的遗传算法
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554297
N. Kubota, H. Sasaki
{"title":"Genetic algorithm for a fuzzy spiking neural network of a mobile robot","authors":"N. Kubota, H. Sasaki","doi":"10.1109/CIRA.2005.1554297","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554297","url":null,"abstract":"It is very difficult to design the learning structure of a robot beforehand in an unknown and dynamic environment, because the dynamics of the environment is unknown. Therefore, this paper proposes a fuzzy spiking neural network (FSNN) for behavior learning of a mobile robot. Furthermore, the network structure of the FSNN should be adaptive to the environmental condition. In this paper, we apply a steady-state genetic algorithm for acquiring the suitable network structure through the interaction with the environment. The simulation results show the robot can update the network structure and learn the weights of FSNN according to the spatio-temporal context of the facing environment.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"66 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":"123480687","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
Multi-purpose impedance-based measurement system to automate microinjection of adherent cells 基于阻抗的多用途自动贴壁细胞显微注射测量系统
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554359
M. Lukkari, P. Kallio
{"title":"Multi-purpose impedance-based measurement system to automate microinjection of adherent cells","authors":"M. Lukkari, P. Kallio","doi":"10.1109/CIRA.2005.1554359","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554359","url":null,"abstract":"This paper presents a multi-purpose measurement system developed to automate cellular microinjection. The system is based on measuring impedance between an injection solution in an injection capillary and cell culture medium where cells grow. The system can be used for detecting a contact between a cell and the injection capillary, a broken capillary, a clogged capillary, an aged measurement electrode and faulty injection solution. The measurement system facilitates the development of an expert system for guiding cellular injections, and later a fully automatic microinjection system.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"67 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":"115887802","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: 27
Sensor adaptation and development in robots by entropy maximization of sensory data 基于感知数据熵最大化的机器人传感器自适应与发展
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554340
L. Olsson, Chrystopher L. Nehaniv, D. Polani
{"title":"Sensor adaptation and development in robots by entropy maximization of sensory data","authors":"L. Olsson, Chrystopher L. Nehaniv, D. Polani","doi":"10.1109/CIRA.2005.1554340","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554340","url":null,"abstract":"A method is presented for adapting the sensors of a robot to the statistical structure of its current environment. This enables the robot to compress incoming sensory information and to find informational relationships between sensors. The method is applied to creating sensoritopic maps of the informational relationships of the sensors of a developing robot, where the informational distance between sensors is computed using information theory and adaptive binning. The adaptive binning method constantly estimates the probability distribution of the latest inputs to maximize the entropy in each individual sensor, while conserving the correlations between different sensors. Results from simulations and robotic experiments with visual sensors show how adaptive binning of the sensory data helps the system to discover structure not found by ordinary binning. This enables the developing perceptual system of the robot to be more adapted to the particular embodiment of the robot and the environment.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"35 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":"132819570","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: 23
Pinching at finger tips by humanoid robot hand 人形机器人手捏捏指尖
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554260
K. Hoshino, I. Kawabuchi
{"title":"Pinching at finger tips by humanoid robot hand","authors":"K. Hoshino, I. Kawabuchi","doi":"10.1109/CIRA.2005.1554260","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554260","url":null,"abstract":"It is difficult to generate the action of stably pinching paper or needle, etc. with the finger tips, which is one of the important functions to be realized by humanoid robot hands. In this paper, therefore, the authors firstly propose a small-sized and light-weight robotic hand designed according to the concept of extracting required minimum motor functions and implementing them to the robot, and secondly propose a new robot hand capable of properly realizing a pinching motion with finger tips, by adding the minimum required degree of supplementary freedom which can be realized only with a machine. In the new robot hand, the authors mainly focus on additions of the degrees of freedom of independent motion to the terminal fingers and the degree of freedom of twisting motion to the thumb. Experiments were carried out to investigate force control characteristics of the finger tip joint. The results showed that providing the finger tip with rich force control performance even with weak force is effective for securing delicate control characteristics in a humanoid robot hand.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"2 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":"132127834","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: 17
Programmable self-assembly 可编程的自组装
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554365
J. Alander
{"title":"Programmable self-assembly","authors":"J. Alander","doi":"10.1109/CIRA.2005.1554365","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554365","url":null,"abstract":"Electronics as well as mechanical components are shrinking and becoming cheaper and cheaper, therefore it is more and more important to keep the assembly costs of products as low as possible by efficient automation. One new approach is self-assembly, where components assemble themselves with the help of suitable surface coatings and patterns thereon. In this paper we analyse a new method that we call programmable self-assembly which is based on programmable interactions to perform the assembly process. Genetic algorithm is used to create interaction patterns for the proposed method.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"29 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":"134397123","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
The null-space-based behavioral control for mobile robots 基于空空间的移动机器人行为控制
2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI: 10.1109/CIRA.2005.1554248
G. Antonelli, F. Arrichiello, S. Chiaverini
{"title":"The null-space-based behavioral control for mobile robots","authors":"G. Antonelli, F. Arrichiello, S. Chiaverini","doi":"10.1109/CIRA.2005.1554248","DOIUrl":"https://doi.org/10.1109/CIRA.2005.1554248","url":null,"abstract":"In this paper a new behavior-based control for autonomous mobile robots is proposed and compared with the main behavioral control techniques. The behavioral algorithms share the same approach to the problem: first, the overall motion control problem is decomposed in simple tasks to be achieved by the robot; then the tasks are arranged so that a univocal motion command is given to the robot. The difference among the algorithms is mainly in the way they compose the outputs of the single tasks. Our evaluation is concern in particular in the kinematic aspect of handling those outputs.","PeriodicalId":162553,"journal":{"name":"2005 International Symposium on Computational Intelligence in Robotics and Automation","volume":"12 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":"131800409","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: 29
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