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Path planning for robot using Population-Based Incremental Learning 基于群体增量学习的机器人路径规划
The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917510
Miao Xu, Jaesung Lee, Sang-kyu Bahn, Bo-Yeong Kang
{"title":"Path planning for robot using Population-Based Incremental Learning","authors":"Miao Xu, Jaesung Lee, Sang-kyu Bahn, Bo-Yeong Kang","doi":"10.1109/CYBER.2014.6917510","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917510","url":null,"abstract":"Recently, genetic algorithms (GAs) have attracted great interest owing to efficiency and flexibility against complex robot path planning problems. To accelerate the convergence speed, preceding researches adapted conventional GAs by using problem-specific techniques. However, such approaches increase computational burden and algorithmic complexity, resulting in subsequent additional problems. In this paper, we used Population-Based Incremental Learning (PBIL) algorithm for robot path planning as a probabilistic evolutionary approach. In addition to PBIL, we also proposed the probabilistic model of nodes and the edge bank to generate promising paths. The experimental results demonstrate that the proposed method gave markedly better performance than its conventional counter-parts(GA,kGA,fGA) in terms of success rates and the quality of obtained paths.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123619462","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
Estimation of a feasible dynamic caging zone for multirobot object transportation 多机器人物体运输可行动态笼区估计
The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917516
S. Magariyama, Hidenori Matsumoto, Luis Ruiz, Zhidong Wang
{"title":"Estimation of a feasible dynamic caging zone for multirobot object transportation","authors":"S. Magariyama, Hidenori Matsumoto, Luis Ruiz, Zhidong Wang","doi":"10.1109/CYBER.2014.6917516","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917516","url":null,"abstract":"Object closure using a robot team can be used as a suitable transportation method which does not rely on contact force control to perform this task. Previously, the conditions to achieve object closure and dynamic object closure were defined. In this paper it is introduced the estimation of a feasible dynamic caging zone, as the range within an object which allows for a robot to move freely without losing manipulation of the object and/or the transportation requirements. Each robot performs search and update tasks of the surroundings. Then, it is estimated a distance and velocity so robots can move within a range of the object being transported. The research considers the basic approach when the initial and final velocities are equal and in the same direction and the one when they differ. The proposed algorithms are supported with numerical calculations using circular omnidirectional robots to perform the transportation task.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129867259","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
A cooperative multi-camera system for tracking a fast moving object 一种用于跟踪快速运动物体的协作多摄像机系统
The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917450
Sujeong You, P. H. Truong, S. Ji, S. M. Lee, Chang-Eun Lee, Young-Jo Cho
{"title":"A cooperative multi-camera system for tracking a fast moving object","authors":"Sujeong You, P. H. Truong, S. Ji, S. M. Lee, Chang-Eun Lee, Young-Jo Cho","doi":"10.1109/CYBER.2014.6917450","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917450","url":null,"abstract":"This paper presents an economic real-time system for tracking a fast moving object using adjacent inexpensive multiple web cameras. Our experimental system includes three cameras that integrated into three client computers, and an acquisition sever computer that receives information from the clients and estimates the object speed in real-time. In this system, the three client computers play the role of monitor stations that detect the object, calculate the object position and capture the moment of a successful detection. From information of clients, the server estimates the relative positions of the object in each detection event to calculate the instantaneous velocities of the object. Finally, the speed of the object is determined by its average velocity in its all trajectory. The experimental results perform an accurate measurement on the setup environment.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127976523","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
Robustness-guided temporal logic testing and verification for Stochastic Cyber-Physical Systems 随机信息物理系统的鲁棒性引导时间逻辑测试与验证
The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917426
Houssam Abbas, Bardh Hoxha, Georgios Fainekos, Koichi Ueda
{"title":"Robustness-guided temporal logic testing and verification for Stochastic Cyber-Physical Systems","authors":"Houssam Abbas, Bardh Hoxha, Georgios Fainekos, Koichi Ueda","doi":"10.1109/CYBER.2014.6917426","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917426","url":null,"abstract":"We present a framework for automatic specification-guided testing for Stochastic Cyber-Physical Systems (SCPS). The framework utilizes the theory of robustness of Metric Temporal Logic (MTL) specifications to quantify how robustly an SCPS satisfies a specification in MTL. The goal of the testing framework is to detect system operating conditions that cause the system to exhibit the worst expected specification robustness. The resulting expected robustness minimization problem is solved using Markov chain Monte Carlo algorithms. This also allows us to use finite-time guarantees, which quantify the quality of the solution after a finite number of simulations. In a Model-Based Design (MBD) process, our framework can be combined with Statistical Model Checking (SMC). Finally, we present a case study on a high fidelity engine model where the goal is to verify the air-to-fuel ratio problem.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123771389","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: 39
Nonlinear optimal stochastic regulator using finite-horizon state dependent riccati equation 基于有限视界状态依赖riccati方程的非线性最优随机调节器
The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917440
Ahmed Khamis, D. Naidu
{"title":"Nonlinear optimal stochastic regulator using finite-horizon state dependent riccati equation","authors":"Ahmed Khamis, D. Naidu","doi":"10.1109/CYBER.2014.6917440","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917440","url":null,"abstract":"A number of computational techniques have been offered for estimation of unmeasured states in nonlinear systems. Most of these techniques rely on applying the linear estimation techniques to the linearized systems, which can be effective only in the neighborhood of the operating point. This paper presents a new efficient approximate online technique used for finite-horizon nonlinear stochastic regulator problems. This technique based on change of variables that converts the differential Riccati equation to a linear Lyapunov differential equation. Illustrative examples are given to illustrate the effectiveness of the proposed technique.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122474330","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
The trajectory prediction and analysis of spinning ball for a table tennis robot application 乒乓球机器人旋转球轨迹预测与分析
The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917514
Qizhi Wang, Kangjie Zhang, Dengdian Wang
{"title":"The trajectory prediction and analysis of spinning ball for a table tennis robot application","authors":"Qizhi Wang, Kangjie Zhang, Dengdian Wang","doi":"10.1109/CYBER.2014.6917514","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917514","url":null,"abstract":"The identification and trajectory prediction of spinning ball has been a problem for years. In order to improve the accuracy of trajectory prediction we take following measures: firstly the kinematics model of the flight spinning ball is analysed; then based on the Unscented Kalman Filter (UKF), the motion equation and observation equation of the ball's movement trajectory is constructed; finally the BP pattern recognition classifier is used to recognize the pattern according to the predicted flight trajectory. Large number of Matlab simulations and experimental results show that, in comparing with that of EKF, UKF can save 99% of the computing time and also get more accurate prediction. BP classifier outperforms other similar classifiers, and is more suitable for the trajectory recognition of spinning ball movement.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122677940","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
Local path planning in a complex environment for self-driving car 复杂环境下自动驾驶汽车局部路径规划
The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917505
Unghui Lee, Sangyol Yoon, H. Shim, P. Vasseur, C. Demonceaux
{"title":"Local path planning in a complex environment for self-driving car","authors":"Unghui Lee, Sangyol Yoon, H. Shim, P. Vasseur, C. Demonceaux","doi":"10.1109/CYBER.2014.6917505","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917505","url":null,"abstract":"This paper introduces an local path planning algorithm for the self-driving car in a complex environment. The proposed algorithm is composed of three parts: the novel path representation, the collision detection and the path modification using a voronoi cell. The novel path representation provides convenience for checking the collision and modifying the path and continuous control input for steering wheel rather than way point navigation. The proposed algorithm were applied to the self-driving car, EureCar(KAIST) and its applicability and feasibility of real time use were validated.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"255 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122844126","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: 54
Smart grid-oriented oil-immersed transformer capacity estimation and early warning mechanism based on self-adapting forecasting model 基于自适应预测模型的智能电网油浸式变压器容量估计及预警机制
The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917540
Zhengxiang Ma, Shuping Dang, Agoro Odonde, A. Gholamzadeh
{"title":"Smart grid-oriented oil-immersed transformer capacity estimation and early warning mechanism based on self-adapting forecasting model","authors":"Zhengxiang Ma, Shuping Dang, Agoro Odonde, A. Gholamzadeh","doi":"10.1109/CYBER.2014.6917540","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917540","url":null,"abstract":"A transformer is a pivotal component over the electrical power grid and provides a series of indispensable functions for the normal operation of the whole power system. Hence once even a transformer in a local substation goes abnormal, it will result in several chain reactions and eventually degrade the power quality and electricity service. Therefore, in the context of smart grid, transformer protection is still a significant and frequent topic. By utilizing the handy tool of information transfer provided by the smart grid, a novel transformer capacity estimation methodology can be established. In addition, its corresponding early warning mechanism based on oil-immersed transformer can also be constructed and provides an optimized protection.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131447025","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
Fuzzy Lyapunov synthesis control design for an underactuated 2-dimensional translational oscillator with rotational actuator 带旋转作动器的欠驱动二维平移振荡器模糊Lyapunov综合控制设计
The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917439
Bingtuan Gao, Fei Ye, Jing Xu, Mingjin Hu
{"title":"Fuzzy Lyapunov synthesis control design for an underactuated 2-dimensional translational oscillator with rotational actuator","authors":"Bingtuan Gao, Fei Ye, Jing Xu, Mingjin Hu","doi":"10.1109/CYBER.2014.6917439","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917439","url":null,"abstract":"The underactuated 2-dimensional translational Oscillator with rotational actuator (2DTORA) system consisting of an rotational proof-mass and two unactuated translational carts is an extension version of the TORA system which is a well-known benchmark for nonlinear control design. In this paper, dynamics of 2DTORA system is normalized and written in general affine form. And we apply fuzzy Lyapunov synthesis to design a state feedback controller to stabilize the system with partial information on dynamics by using only a linguistic description. The designed state feedback controller is nonlinear which can be simplified as the classic linear state feedback controller. Simulation results demonstrate the effectiveness of the designed controller and its advantages in comparison with a previously designed linear controller for the 2DTORA system.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127581289","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
An under-actuated mechanism for a robotic finger 机械手指的欠驱动机制
The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917498
D. Bandara, R. Gopura, G. Kajanthan, M. Brunthavan, H. I. M. M. Abeynayake
{"title":"An under-actuated mechanism for a robotic finger","authors":"D. Bandara, R. Gopura, G. Kajanthan, M. Brunthavan, H. I. M. M. Abeynayake","doi":"10.1109/CYBER.2014.6917498","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917498","url":null,"abstract":"Robotic hands can be applied in different applications such as prosthesis, humanoid robots, industrial robotic manipulators and other kinds of robotic arms. Introduction of robotic technology into the field of prosthesis has resulted a higher quality of life for amputees. In this paper an under-actuated mechanism which has the self-adaptation ability is proposed to be used in the fingers of the hand prosthesis. The mechanism is a modification of the cross bar mechanism and it shows grasping adaptation ability for different geometries. In addition the mechanism is capable to generate dexterous grasping patterns making a paradigm shift from the conventional linkage mechanisms used for fingers which only has the capability for the grasping. Kinematic analysis, mathematical simulation and computer simulations were carried out to evaluate the effectiveness of the mechanism. Furthermore a new parameter, degree of adaptation is introduced to evaluate the performance of the under-actuated finger mechanisms.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127796274","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
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