2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)最新文献_第3页

Coverage control considering unknown moving obstacles avoidance 考虑未知移动障碍物回避的覆盖控制

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990882

Marzieh Kooshkbaghi, F. Abdollahi

引用次数: 2

Online time-optimal trajectory planning in dynamic workspace of cable suspended robots 悬索机器人动态工作空间在线时间最优轨迹规划

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990907

A. Sharifi, H. Taghirad

引用次数: 3

Robust output feedback control for a class of nonlinear systems 一类非线性系统的鲁棒输出反馈控制

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990992

M. Homayounzade, M. Keshmiri

引用次数: 1

Design and impelmentation of a speaker verification system using i-vector and Support Vector Machines 基于i向量机和支持向量机的说话人验证系统的设计与实现

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990940

A. Barghi, H. Bayani

{"title":"Design and impelmentation of a speaker verification system using i-vector and Support Vector Machines","authors":"A. Barghi, H. Bayani","doi":"10.1109/ICROM.2014.6990940","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990940","url":null,"abstract":"In the recent years, design of robust and effective speaker verification algorithms has attracted significant research effort from academic and commercial institutions. Speaker verification is a procedure that uses voice properties to prove the identity of person. Speaker verification solutions offer a highly accurate and efficient method of authenticating a person's identity by analyzing his/her voice. It is widely believed that speaker verification systems perform better when there is sufficient background training data to deal with nuisance effects of transmission channels. For some applications however, training data from the same type of sound environment is scarce, whereas a considerable amount of data from a different type of environment is available. This paper, presents a new algorithm for text-independent speaker verification systems based on the extraction of parameters (i-vectors) model. Support Vector Machines is used as a classifier and the model is trained and tested using data of 100 human voices. Evaluation of the data shows acceptable performance of the implemented algorithm. Also implementation of this algorithm using HM 2007 board is part this work. All designed circuits for the latter are presented and results of the trained algorithm mentioned.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"2006 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127486230","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

Fast object tracking with long-term occlusions handling in dynamic scenes 快速目标跟踪与长期遮挡处理在动态场景

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6991006

M. A. Bagherzadeh, M. Yazdi

引用次数: 2

Fuzzy supervisory assisted impedance control to reduce collision impact 模糊监督辅助阻抗控制减小碰撞冲击

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6991012

Mostafa Rahimi Dizadji, M. Yazdi, M. A. Shirzi, Ziba Gharehnazifam

{"title":"Fuzzy supervisory assisted impedance control to reduce collision impact","authors":"Mostafa Rahimi Dizadji, M. Yazdi, M. A. Shirzi, Ziba Gharehnazifam","doi":"10.1109/ICROM.2014.6991012","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6991012","url":null,"abstract":"Under any abnormal loading on the manipulator end-effector, instability in motion and secondary damages are to be expected. We study a novel approach for active control of the robot manipulator trajectory within and after the impulsive loading caused by collision. Here we have adopted the position-based impedance controller as a force control strategy, inspiring human reaction against the sudden and impulsive loadings. The approach is to issue a new position command along the impact direction and routing smoothed trajectory just after the impact loading. Due to variant properties of impact and to translate human reactions amid impact interval, fuzzy logic-based supervisory system is utilized to modify impedance parameters. Fuzzy rule-based and inference system are defined and resulted control surfaces are illustrated. Finally the response of the system is compared with the case without the proposed controller in the overall scheme. The result shows significant increase in stability and decrease in torque dissipation and therefore, a reasonable reduction in collision impact.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130769422","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

A full bio-inspired bipedal gait locomotion system 全仿生双足步态运动系统

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990897

M. Abedi, M. Moghaddam, S. M. Firoozabadi

{"title":"A full bio-inspired bipedal gait locomotion system","authors":"M. Abedi, M. Moghaddam, S. M. Firoozabadi","doi":"10.1109/ICROM.2014.6990897","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990897","url":null,"abstract":"Modeling the biped gait locomotion is an attractive subject in various fields of study. Thus far, several types of models are proposed in the literature to generate the stable and continuous walking cycles. These methods have a vast application in controlling the limbs of humanoid and bipedal robots. However, these approaches are not suitable for describing the human locomotion. This is for their dissimilarities to the human neuromuscular systems. Due to this deficiency, in this paper a new model is presented for bipedal gait that completely inspires by human neural controlling system. The major challenges of this model have been generation of rhythmic motion and coordination between the legs. The biological researches proved that these issues are accomplished in human central nervous system (CNS) by the central pattern generator (CPG) together with the neural reflexes. Thus, a two level half center CPG is used for producing the periodic movements in the leg. Further, for keeping the coordination, a Ia reflex reversal is employed that biologists confirm that this pathway regularly exist in the human CNS. The simulations showed that this plan well generates the stable gait patterns in addition to have coincidence to the human neuromuscular system.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126349918","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

Automated synthesis of optimal controller using multi-objective genetic programming for two-mass-spring system 基于多目标遗传规划的二质量弹簧系统最优控制器自动合成

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990874

I. Gholaminezhad, A. Jamali, Hirad Assimi

{"title":"Automated synthesis of optimal controller using multi-objective genetic programming for two-mass-spring system","authors":"I. Gholaminezhad, A. Jamali, Hirad Assimi","doi":"10.1109/ICROM.2014.6990874","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990874","url":null,"abstract":"There are much research effort in the literature using genetic programming as an efficient tool for design of controllers for industrial systems. In this paper, multi-objective uniform-diversity genetic programming (MUGP) is used for automated synthesis of both structure and parameter tuning of optimal controllers as a many-objective optimization problem. In the proposed evolutionary design methodology, each candidate controller illustrated by a transfer function, whose optimal structure and parameters, obtained based on performance optimization of each candidate controller. The performance indices of each controller are treated as separate objective functions, and thus solved using the multi-objective method of this work. A two-mass-spring system is considered to show the efficiency of the proposed method using performance optimization of open loop and closed loop control system characteristics. The results show that the proposed method is a computationally efficient framework compared to other methods in the literature for automatically designing both structure and parameter tuning of optimal controllers.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121179105","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: 10

Adaptive position/force control of robot manipulators with force estimation 基于力估计的机器人机械手自适应位置/力控制

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990991

M. Homayounzade, M. Keshmiri

引用次数: 4

Gait analysis of walking with Scottish Rite orthosis 苏格兰礼式矫形器行走步态分析

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6991016

Mahboubeh Keyvanara, M. Sadigh, M. Karimi

{"title":"Gait analysis of walking with Scottish Rite orthosis","authors":"Mahboubeh Keyvanara, M. Sadigh, M. Karimi","doi":"10.1109/ICROM.2014.6991016","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6991016","url":null,"abstract":"Legg-Calve-Perthes Disease is a disorder involving the closure of the blood supply of the femoral head, resulting in the hip bone turning black. The deformity of femoral head occurs as a result of hip joint irritability and this depends on the severity of the disease. Treatment methods for Perthes disease are divided into operative and non-operative fields, where in the non-operative field different orthosis are prescribed. These orthosis are designed based on the idea of reducing the stress applied on the hip joint; the most famous one called Scottish Rite orthosis. To facilitate study of effect of different orthosis and their design parameters on the forces applied to the hip joint, a mathematical model of such patients during walking would be useful. The prerequisite of such model is the knowledge of gait performance of the patients using it and also the perception of the effects this orthosis has on the walking pattern of these patients. To this end, an analysis of the gait performance is given here. This analysis will then be useful in a path planning procedure. For the analysis to take place a Gait Analyzing System that uses QTM software to capture motions and also a Visual 3D software is used.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"73 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116675288","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