2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)最新文献_第4页

Nonlinear control of a non-passive bilateral teleoperation in presence of unsymmetric time varying delay 非对称时变时滞下非被动双边遥操作的非线性控制

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990770

F. Koochaki, I. Sharifi, H. Talebi, A. Mohammadi

引用次数: 1

Coverage control in non-convex environment considering unknown non-convex obstacles 考虑未知非凸障碍物的非凸环境覆盖控制

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990887

Hamed F. Parapari, F. Abdollahi, M. Menhaj

引用次数: 8

High precision electro-hydraulic self leveling platform system 高精度电液自流平平台系统

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990772

Behdad Geranmehr, Kamran Vafaee, A. Sadeqi

引用次数: 1

Development of the tuning formula for unstable first order processes with time delay 具有时滞的不稳定一阶过程的整定公式

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6991023

M. Azamfar, A. Amiri, Danial Aghapour Olilo

引用次数: 1

Adaptive robust sliding mode controller design for full control of quadrotor with external disturbances 具有外部扰动的四旋翼飞行器的自适应鲁棒滑模控制器设计

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6991014

Alireza Modirrousta, M. Khodabandeh

引用次数: 18

Effect of utilizing a humanoid robot as a therapy-assistant in reducing anger, anxiety, and depression 使用人形机器人作为治疗助手在减少愤怒、焦虑和抑郁方面的效果

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990993

M. Alemi, A. Meghdari, Ashkan Ghanbarzadeh, Leila Jafari Moghadam, Anooshe Ghanbarzadeh

{"title":"Effect of utilizing a humanoid robot as a therapy-assistant in reducing anger, anxiety, and depression","authors":"M. Alemi, A. Meghdari, Ashkan Ghanbarzadeh, Leila Jafari Moghadam, Anooshe Ghanbarzadeh","doi":"10.1109/ICROM.2014.6990993","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990993","url":null,"abstract":"Treatment of cancer involves many invasive procedures that could be a source of distress in kids suffering from cancer. Distress itself can be an important obstacle in patients' acceptance of treatment and their adaptation to it, consequently reducing its efficiency. Distress symptoms, in a spectrum from mild to critical, are shown to be widespread in children struggling with cancer. In recent years to alleviate this psychological condition, researchers have proposed and examined several methods such as relaxation, hypnosis, desensitization, and distraction. This study presents a new approach to explore the impact of utilizing a humanoid robot as a therapy-assistant in dealing with patients' distress. Ten children, ages 6-10, diagnosed with cancer were randomly assigned into two groups of Social Robot-Assisted Therapy (5 kids) and Psychotherapy (5 kids) at two specialized hospitals in Tehran. A NAO robot was employed as a robotic assistant to a psychologist in the SRAT group to perform various scenarios in eight treatment sessions. The results of this investigation in the level of anger, anxiety, and depression could render utilizing social robots in psychological interventions for pediatric cancer. The implication of this study shall be beneficial to psychologists, oncologists, and robot specialists.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"17 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":"125956836","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

Offset-free adaptive nonlinear model predictive control for pneumatic servo system 气动伺服系统的无偏移自适应非线性模型预测控制

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6991018

Bahareh Vatankhah, M. Farrokhi

引用次数: 3

Coordinated trajectory tracking and collision-avoidance in dynamic environment for robots with double-integrated nonlinear dynamics 双积分非线性动力学机器人动态环境下的协调轨迹跟踪与避碰

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990927

M. Kakavand, A. Alasty

引用次数: 0

Comparison of nearest neighbor and probabilistic data association methods for non-linear target tracking data association 非线性目标跟踪数据关联的最近邻与概率数据关联方法比较

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990875

Laleh Rabiee Kenari, Mohammad Reza Arvan

引用次数: 7

Actor-critic neural network reinforcement learning for walking control of a 5-link bipedal robot 五连杆双足机器人行走控制的Actor-critic神经网络强化学习

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990997

Y. Vaghei, A. Ghanbari, S. Noorani

{"title":"Actor-critic neural network reinforcement learning for walking control of a 5-link bipedal robot","authors":"Y. Vaghei, A. Ghanbari, S. Noorani","doi":"10.1109/ICROM.2014.6990997","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990997","url":null,"abstract":"Today, researches on adaptive control have focused on bio-inspired learning techniques to deal with real-life applications. Reinforcement Learning (RL) is one of these major techniques, which has been widely used in robot control tasks recently. On the other hand, artificial neural networks are an accurate approximation tool in nonlinear robotic dynamic control tasks. In this paper, our main goal was to combine the advantages of the artificial neural networks and the RL to reduce the learning time length and enhance the control accuracy. Therefore, we have implemented one of the promising RL approaches, actor-critic RL to control the actuation torques of a planar five-link bipedal robot and retain the passive torso in the vertical position. Our control agent consists of two three-layered neural network units, known as the critic and the actor for learning prediction and learning control tasks. These units are synchronized by the temporal difference error, which implements the eligibility trace vector to assign credit or blame for the error. Moreover, since the neural networks are implemented in both of the actor and the critic sections, we have added a learning database to reduce the probability of inaccurate approximation of the nonlinear functions. Results of our presented control method reveal its perfect performance in stable walking control of the bipedal robot.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"47 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":"125459663","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: 4