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2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)最新文献

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PEFC: Performance Enhancement Framework for Cloudlet in mobile cloud computing PEFC:移动云计算中的Cloudlet性能增强框架
2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2014-12-01 DOI: 10.1109/ROMA.2014.7295892
Md. Whaiduzzaman, A. Gani, A. Naveed
{"title":"PEFC: Performance Enhancement Framework for Cloudlet in mobile cloud computing","authors":"Md. Whaiduzzaman, A. Gani, A. Naveed","doi":"10.1109/ROMA.2014.7295892","DOIUrl":"https://doi.org/10.1109/ROMA.2014.7295892","url":null,"abstract":"Augmenting the computing capability to the distant cloud help us to envision a new computing era named as mobile cloud computing (MCC). By leveraging the cloud resources mobile user can computation time and energy benefit. However, distant cloud has several limitations such as communication delay and bandwidth make us to think for closer cloud which brings the idea of proximate cloud of cloudlet. Cloudlet has distinct advantages and is free from several limitations of distant cloud. However, limited resources of cloudlet negatively impact the cloudlet performance with the increasing number of substantial users. In this paper, we propose a framework which helps to enhance the finite resource cloudlet performance by increasing cloudlet resources. Our aim is to increase the cloudlet performance with this limited cloudlet resource and make the better user experience for the cloudlet user in mobile cloud computing. We analyze and explain the each section of the proposed framework. In addition, we also list the important features and salient advantages of Performance Enhancement Framework of Cloudlet (PEFC).","PeriodicalId":240232,"journal":{"name":"2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":"455 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133912481","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
Programming platform for NAO robot in cognitive interaction applications NAO机器人认知交互应用的编程平台
2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2014-12-01 DOI: 10.1109/ROMA.2014.7295877
M. Miskam, S. Shamsuddin, H. Yussof, A. R. Omar, Muhammad Zaiyad Muda
{"title":"Programming platform for NAO robot in cognitive interaction applications","authors":"M. Miskam, S. Shamsuddin, H. Yussof, A. R. Omar, Muhammad Zaiyad Muda","doi":"10.1109/ROMA.2014.7295877","DOIUrl":"https://doi.org/10.1109/ROMA.2014.7295877","url":null,"abstract":"The humanoid robot NAO is a ready-made exploration platform that comes with a Choregraphe software to program and animate it. Choregraphe is a powerful tool that allows programming in Python for motion control. In this paper, we explore how Choregraphe can aid users in building basic cognitive interaction modules specifically for the rehabilitation of autistic children. Difficulty to interact with others and impaired social cognition are some of the core symptoms of autism. A robot in human form has the ability to help encourage children to interact and respond to dialogue cues. Comparison between Choregraphe and another programing tool in embedding cognitive interaction ability into the NAO robot is discussed.","PeriodicalId":240232,"journal":{"name":"2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125183053","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: 5
Self-adaptive hybrid genetic algorithm using an ant-based algorithm 采用了一种基于蚁群的自适应混合遗传算法
2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2014-12-01 DOI: 10.1109/ROMA.2014.7295881
Tarek A. El-Mihoub, A. Hopgood, I. Aref
{"title":"Self-adaptive hybrid genetic algorithm using an ant-based algorithm","authors":"Tarek A. El-Mihoub, A. Hopgood, I. Aref","doi":"10.1109/ROMA.2014.7295881","DOIUrl":"https://doi.org/10.1109/ROMA.2014.7295881","url":null,"abstract":"The pheromone trail metaphor is a simple and effective way to accumulate the experience of the past solutions in solving discrete optimization problems. Ant-based optimization algorithms have been successfully employed to solve hard optimization problems. The problem of achieving an optimal utilization of a hybrid genetic algorithm search time is actually a problem of finding its optimal set of control parameters. In this paper, a novel form of hybridization between an ant-based algorithm and a genetic-local hybrid algorithm is proposed. An ant colony optimization algorithm is used to monitor the behavior of a genetic-local hybrid algorithm and dynamically adjust its control parameters to optimize the exploitation-exploration balance according to the fitness landscape.","PeriodicalId":240232,"journal":{"name":"2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127184465","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
The study of AODV routing protocol in Vehicular Ad-hoc Sensor Networks 车载自组织传感器网络中AODV路由协议的研究
2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2014-12-01 DOI: 10.1109/ROMA.2014.7295876
S. M. Suhaili, N. R. A. Marzuki, M. N. Jambli, H. Lenando, J. Abdullah
{"title":"The study of AODV routing protocol in Vehicular Ad-hoc Sensor Networks","authors":"S. M. Suhaili, N. R. A. Marzuki, M. N. Jambli, H. Lenando, J. Abdullah","doi":"10.1109/ROMA.2014.7295876","DOIUrl":"https://doi.org/10.1109/ROMA.2014.7295876","url":null,"abstract":"In VASNETs, each vehicle carries an intelligent node, which sense the real phenomena and collects the required data. There are many routing protocols that have been proposed and assessed the efficiency of VANETs. However, there are only several research about performance evaluation of routing protocol in VASNETs. In order to fill that gap, in this research we have undergo the performance evaluation of AODV routing protocol in VASNETs. The experiment was setup in order to investigate the effect of different simulation area towards increasing velocity and number of mobile nodes. The tools that been used for this purpose is AVRORA simulation tool. Based on the simulation results obtained, the performance of AODV is analyzed and compared in different sizes of simulation area. The simulation results show the significant different in the variation of simulation area in term of the percentage of packet loss in VASNET.","PeriodicalId":240232,"journal":{"name":"2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115078815","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
Trajectory Tracking Controller for flexible robot arm 柔性机械臂轨迹跟踪控制器
2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2014-12-01 DOI: 10.1109/ROMA.2014.7295859
Ann Marwan, A. Ali, F. Ismail, K. Sahari, Weria K, Moslem Y, Rahmat Izaizi
{"title":"Trajectory Tracking Controller for flexible robot arm","authors":"Ann Marwan, A. Ali, F. Ismail, K. Sahari, Weria K, Moslem Y, Rahmat Izaizi","doi":"10.1109/ROMA.2014.7295859","DOIUrl":"https://doi.org/10.1109/ROMA.2014.7295859","url":null,"abstract":"The most important benefits of flexible link manipulator include high payload-to-arm weight ratio. The reduction of weight leads to increase of the link elasticity that significantly complicates the control of the manipulator. The difficulty in control is caused by the fact that the link model is a distributed parameter plant. In this case, several elastic modes are required to achieve sufficiently high accuracy. Plus, the plant has several uncertain parameters (payload mass, hub and structural damping factors, etc.) that influence the systems performance. In this paper, Trajectory Tracking Controller is suggested by utilizing the hybrid controller approach to overcome the problem of vibration of tip position through motion which is a characteristic of the flexible link system. A modified version of the proportional-derivative rigid controller to track the hub position while sliding mode control was used for vibration damping. Also, a second controller (a fuzzy logic based proportional integral plus derivative control scheme was developed for both vibration damping and trajectory tracking. Results are illustrated in the robust performance of the proposed tip position tracking controllers over the payload variation. A good performance is obtained for the trajectory tracking. The stability of these controllers is also proved.","PeriodicalId":240232,"journal":{"name":"2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":"186 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121528798","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
Real-time control for robotic hand application based on pressure sensor measurement 基于压力传感器测量的机械手实时控制应用
2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2014-12-01 DOI: 10.1109/ROMA.2014.7295866
Ahmed M. M. Almassri, M. Abuitbel, W. Z. WanHasan, Siti Aqlima Ahmad, A. Sabry
{"title":"Real-time control for robotic hand application based on pressure sensor measurement","authors":"Ahmed M. M. Almassri, M. Abuitbel, W. Z. WanHasan, Siti Aqlima Ahmad, A. Sabry","doi":"10.1109/ROMA.2014.7295866","DOIUrl":"https://doi.org/10.1109/ROMA.2014.7295866","url":null,"abstract":"This paper presents the use of data acquisition (DAQ) device and LabVIEW program to evaluate and measure the pressure distribution for real-time robotic hand applications. An analog conditioning circuit has been implemented to calibrate and extract data from the utilized sensors to be processed by the DAQ and LabVIEW. Furthermore, an adequate signal processing analysis is performed on acquired data to investigate the desired measurements of pressure distribution for the robotic hand control purpose. This framework is considered as one of the techniques that can be used for robotic hand applications based on pressure sensor distribution and real-time monitored through the LabVIEW.","PeriodicalId":240232,"journal":{"name":"2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124411906","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
Development of omnidirectional self-balancing robot 全向自平衡机器人的研制
2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2014-12-01 DOI: 10.1109/ROMA.2014.7295862
H. Han, Tiong Yih Han, H. S. Jo
{"title":"Development of omnidirectional self-balancing robot","authors":"H. Han, Tiong Yih Han, H. S. Jo","doi":"10.1109/ROMA.2014.7295862","DOIUrl":"https://doi.org/10.1109/ROMA.2014.7295862","url":null,"abstract":"The omnidirectional self-balancing robot or otherwise known as ballbot belongs to a special class of balancing robots. With only one contact point with the ground, ballbot is able to achieve a higher degree of agility with a lower footprint than most mobile robots. While practical applications of balancing platforms such as Segway PT have gained much traction over the last decade, directional limitations in movements are still prevalent in wheeled robots. To achieve omnidirectional motion, a ball is used as a replacement to wheels. Similar to the concept of inverted pendulum, self-balancing is achieved using a closed-loop control system. In this paper, we propose the implementation of a minimalist and low cost ball-balancing robot that utilizes off-the-shelf components that are widely available in the market with the aim to create an affordable platform to study and design control strategies for ballbots.","PeriodicalId":240232,"journal":{"name":"2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132976710","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
Trajectory planning of industrial robots for 3-D visualization a ROS-based simulation framework 基于ros的工业机器人三维可视化轨迹规划仿真框架
2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2014-12-01 DOI: 10.1109/ROMA.2014.7295889
Serkan Ergur, M. Ozkan
{"title":"Trajectory planning of industrial robots for 3-D visualization a ROS-based simulation framework","authors":"Serkan Ergur, M. Ozkan","doi":"10.1109/ROMA.2014.7295889","DOIUrl":"https://doi.org/10.1109/ROMA.2014.7295889","url":null,"abstract":"This paper presents a trajectory generation and data collection scheme for the 3-D visualization of geometric parts by an industrial manipulator. The implementation of the proposed scheme consists of a simulation environment constituting by a set of state-of-the-art software libraries and tools. Experimental results, obtained with a five DOF augmented SCARA industrial robot manipulator, show the effectiveness of the proposed scheme.","PeriodicalId":240232,"journal":{"name":"2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121667422","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: 8
Active vibration control of a forklift's steering wheel system by the receptance method 基于接收法的叉车方向盘系统振动主动控制
2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2014-12-01 DOI: 10.1109/ROMA.2014.7295869
Dashan Zhang, Xiujun Lei, Yi Jin
{"title":"Active vibration control of a forklift's steering wheel system by the receptance method","authors":"Dashan Zhang, Xiujun Lei, Yi Jin","doi":"10.1109/ROMA.2014.7295869","DOIUrl":"https://doi.org/10.1109/ROMA.2014.7295869","url":null,"abstract":"This article describes the application of the receptance method vibration control technique on the steering wheel system of a forklift. Numerous advantages of the receptance method over conventional matrix methods as there is no need to know or to evaluate the M, K, C matrix since the determinant of the controller gains are expressed in terms of the receptance measured through experiment. With this method, several poles in the steering wheel system of a forklift which may produce resonance at idle speed of the engine were replaced to predetermined value. Model computation and simulation were carried out with PRO/E software and controllers were implemented using Matlb/Simulink. Locations of the open- and closed-loop poles in the complex plane are obtained to verify that the required assignment of poles had taken place.","PeriodicalId":240232,"journal":{"name":"2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125480186","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
Research on vibration suppression of the Forklift Steering System based on finite element modal analysis and pole placement 基于有限元模态分析和杆位的叉车转向系统振动抑制研究
2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2014-12-01 DOI: 10.1109/ROMA.2014.7295860
Xiujun Lei, Dashan Zhang, Yi Jin
{"title":"Research on vibration suppression of the Forklift Steering System based on finite element modal analysis and pole placement","authors":"Xiujun Lei, Dashan Zhang, Yi Jin","doi":"10.1109/ROMA.2014.7295860","DOIUrl":"https://doi.org/10.1109/ROMA.2014.7295860","url":null,"abstract":"This paper addresses on the problem of vibration suppression of the Forklift Steering System by active means, which is also proved by the field test Based solely upon the measured vibration data and the Pro/Engineer and Pro/Mechanic finite element modal analysis, there is no need to evaluate or know the system parameters such as mass, damping and stiffness terms. One only need to know the one-to-one correspondence between eigenvalues and a few specific structure parts. Structure modification is equivalent to system eigenvalues changing. Using the parametric design and partial pole placement method, a few undesired eigenvalues of matrix are reassigned suitably in condition of keeping the other eigenvalues unchanged. Then we can assign the resonance peak to a prescribed value. As a result, the vibration amplitude is effectively suppressed and the dynamic characteristics are obviously improved.","PeriodicalId":240232,"journal":{"name":"2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116747828","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
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