2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)最新文献_第5页

Autonomous flexible snake robot for 3D motion 用于三维运动的自主柔性蛇形机器人

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451595

M. Billah, Md. Raisuddin Khan, A. Shafie

引用次数: 6

A mapping mobile robot using RP Lidar scanner 一种使用RP激光雷达扫描仪的测绘移动机器人

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451592

M. Markom, A. H. Adom, E. Tan, S. Shukor, N. A. Rahim, A. Shakaff

{"title":"A mapping mobile robot using RP Lidar scanner","authors":"M. Markom, A. H. Adom, E. Tan, S. Shukor, N. A. Rahim, A. Shakaff","doi":"10.1109/IRIS.2015.7451592","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451592","url":null,"abstract":"The environment mapping in one of the necessary aspects in mobile robotics studies when dealing with localization, positioning, autonomous navigation, as well as search and rescue. Its success depends on the accuracy and reliability of its implementation and may depend on sensors which are used to acquire the environment data. This paper presents work on mapping which uses a low cost laser rangefinder, developed by Robopeak, RP Lidar. This work will be implemented on an autonomous mobile robot for indoor environment applications. Initially, a mobile robot incorporated with the sensor was developed after which a wireless monitoring and control station was established in order to perform data collection of the environments. A research laboratory with tables and equipment is used as a testbed. The collected data were analysed using three methods of pre-processing; i. raw filter, ii. a moving average of smooth filter, and iii. the combination of the raw filter and the moving average. The results show the environment map based on the raw data and the pre-processing performances. The combination of the raw filter and the moving average performs the best result. Besides, the scanning accuracy of the developed system is successful with more than 90% of correctness. As a conclusion, the laser rangefinder and the pre-processing used is capable to map the environment with clear image and hence can be used for a variety of applications.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123791033","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: 22

Optimal light power consumption using LDR sensor 采用LDR传感器实现最佳光功耗

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451601

G. M. Salim, Hashimah Ismail, Niranjan Debnath, A. Nadya

引用次数: 30

Therapists response towards using Android app to control NAO robot during intervention program for children with autism 在自闭症儿童干预项目中，治疗师对使用Android应用程序控制NAO机器人的反应

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451603

M. Miskam, S. Shamsuddin, H. Yussof, A. R. Omar

引用次数: 5

Mathematical modeling and development of intelligent controllers for ameliorating the performance of Single Fluid Heat Transfer System using LabVIEW 利用 LabVIEW 建立数学模型并开发智能控制器，以改善单流体传热系统的性能

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451620

S. Pranavanand, A. Raghuram

{"title":"Mathematical modeling and development of intelligent controllers for ameliorating the performance of Single Fluid Heat Transfer System using LabVIEW","authors":"S. Pranavanand, A. Raghuram","doi":"10.1109/IRIS.2015.7451620","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451620","url":null,"abstract":"To optimize cost and space in the pharmaceutical industry, it is desirable to heat and cool the utility fluid from the same equipment. The heat transfer for both heating and cooling is done using a single liquid. The system implemented with this concept is called Single Fluid Heat Transfer System (SFHTS). In this paper an actual SFHTS used by a pharmaceutical major company is considered. The essential objective is to eliminate overshoot and achieve set point in the shortest time possible for both thermal transfer unit and level control unit of SFHTS. Mathematical model of the real time SFHTS was developed and simulated using LabVIEW software. Tuned PI, PID and Sliding Mode Control were applied to the heating and cooling module (Thermal Transfer Module) and semi-automated level control module of the SFHTS. The results showed that all the controllers considered here aided in reaching the set point. However, the quantified results also denote that the swiftness and accuracy of the Sliding Mode Controller, the attributes required for faster settling time and overshoot elimination, was better than that of PI and PID Controllers. Hence Sliding Mode Controller was recommended for the thermal transfer module and semi-automated level control module of SFHTS.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"189 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125845405","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

Improving performance of 2D SLAM methods by complementing Kinect with laser scanner 用激光扫描仪补充Kinect，提高2D SLAM方法的性能

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451625

K. Kamarudin, S. M. Mamduh, A. Yeon, R. Visvanathan, A. Shakaff, A. Zakaria, L. Kamarudin, N. A. Rahim

引用次数: 15

The influence of the swaying arm angle range to the torso torque of the humanoid robot during walking 仿人机器人行走时摆动臂角范围对躯干力矩的影响

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451593

Muhammad Razmi Bin Razali, M. F. Miskon, Mohd Bazli bin Bahar

引用次数: 1

Heading control of UWV and performance analysis subject to hydrodynamic disturbances 水动力扰动下UWV航向控制及性能分析

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451581

Ting Nguong Seng, S. Ali, M. Saada, W. Naeem, Lim Sheng Soon

引用次数: 2

Minimal jerk trajectory for quadrotor VTOL procedure 四旋翼垂直起降程序的最小震动轨迹

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451626

T. Rakgowa, E. K. Wong, K. Sim, M. E. Nia

引用次数: 3

Development of two DOF mutli-link automated pedestrian crowd control barriers 二自由度多链路行人人群自动控制护栏的研制

2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451605

Shady S. Shorrab, A. Shafie, Nk Alang-Rashid

{"title":"Development of two DOF mutli-link automated pedestrian crowd control barriers","authors":"Shady S. Shorrab, A. Shafie, Nk Alang-Rashid","doi":"10.1109/IRIS.2015.7451605","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451605","url":null,"abstract":"This paper describes the development of a two degree of freedom (DOF) design for automated pedestrian crowd control barrier based on a closed-loop feedback control system. Since most of the barriers existing immobile, static and not adaptable to changing crowd condition, so this work provides an adaptive system that can assume strictly the role of the security man by sensing the crowd and move away to provide a safe area between crowd people and events area without collision. Kinematic and dynamic analysis to build the system is proposed, while planning trajectory is provided by suggesting some cases to control a specific current crowd situation using Computed Torque Controller (CTC), which identifies the difference between the input desired trajectory with the newly collected data of the equation of motion and dynamic equation analysis of the actual system to achieve a good and accuracy results by reducing the error and minimize the disturbances. Simulation studies for a straightforward range of motion exercise were carried out, and experimental validation for the automated barrier with two DOF is performed to move the system forward and backward and avoid any obstacle on its path. The results obtained shows that the controller can track the desired position and trajectories for the barriers system motion, and adequately adapt the control parameters to the crowd conditions and the sensor and motor control performance.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122303923","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