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2007 International Symposium on Computational Intelligence in Robotics and Automation最新文献

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Illuminance Measurement and SLAM of A Mobile Robot based on Computational Intelligence 基于计算智能的移动机器人照度测量与SLAM
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382920
H. Sasaki, N. Kubota, K. Taniguchi, Y. Nogawa
{"title":"Illuminance Measurement and SLAM of A Mobile Robot based on Computational Intelligence","authors":"H. Sasaki, N. Kubota, K. Taniguchi, Y. Nogawa","doi":"10.1109/CIRA.2007.382920","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382920","url":null,"abstract":"This paper proposes self-localization and map building methods based on a steady-state genetic algorithm and self organizing map for a mobile robot used for illuminance measurement. According to the measured distance by a laser range finder, the map is updated sequentially. When the difference between the self-position on the building map and the estimated self-position based on the measured distance is larger than the predefined threshold, the proposed method corrects the self-location and updates the map to be more accurate. Finally we show experimental results of the proposed method.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126408849","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
Neural network based modeling of a piezodisk dynamics 基于神经网络的压盘动力学建模
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382900
Petri Hanninen, Quan Zhou, H. Koivo
{"title":"Neural network based modeling of a piezodisk dynamics","authors":"Petri Hanninen, Quan Zhou, H. Koivo","doi":"10.1109/CIRA.2007.382900","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382900","url":null,"abstract":"Piezoelectric phenomenon is commonly used in microsystems. Many sensors as well as actuators are based on this phenomenon. Because of the nonlinear character of the piezo phenomenon, exact measuring of fast dynamic systems is difficult with piezoelectric sensors. Piezo-based actuators on the other hand need feedback for the exact motion. This has increased the size of the system as well as the power consumption, which are undesirable characteristics in microworld. In this paper a solution for the problem is determined by modeling. First, a third order transfer function is generated to model the piezoactuator at the operating point. The parameters of a grey box-model are implemented as dynamic, because of the nonlinearity of the piezo actuator. This is the way to capture the characters of the transfer function to fit the real actuator at each operating point. A multilayer perception neural network is used to model the behavior of the system. The training data for the network is measured at different operating points. The model is validated by test data at different operating points. The agreement with the model and the measurements is excellent.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114674078","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
Implementing Search-And-Retrieve Tasks by Multiple Heterogeneous Robots 多异构机器人搜索检索任务的实现
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382892
J. Peng, S. Zein-Sabatto, A. Sekmen
{"title":"Implementing Search-And-Retrieve Tasks by Multiple Heterogeneous Robots","authors":"J. Peng, S. Zein-Sabatto, A. Sekmen","doi":"10.1109/CIRA.2007.382892","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382892","url":null,"abstract":"Behavior coordination among a team of heterogeneous robots to perform a search-and-retrieve task is investigated. In our initial implementation, two robots with different sensing and actuation abilities are commanded to navigate into an unknown environment, to search for different types of plastic bottles, and then to retrieve the bottles. These two robots communicate and coordinate to pick up a lying bottle from the floor, which cannot by be accomplish by either robot. Four different visual servoing behaviors were employed to implement the search-and-retrieve task.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114483659","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
Extending the Capabilities of Mobile Robots through Knowledge Ecosystems 通过知识生态系统扩展移动机器人的能力
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382859
F. Mastrogiovanni, A. Sgorbissa, R. Zaccaria
{"title":"Extending the Capabilities of Mobile Robots through Knowledge Ecosystems","authors":"F. Mastrogiovanni, A. Sgorbissa, R. Zaccaria","doi":"10.1109/CIRA.2007.382859","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382859","url":null,"abstract":"This paper deals with an architecture for knowledge representation suitable for integrated robotics and ambient intelligence applications. The aim of the work is to adopt a common framework to deal with different aspects of an \"intelligent space\". The key idea is that an intelligent space is an ecosystem composed by artificial entities which cooperate to perform an intelligent multi-source data fusion of both numerical and symbolic information. This information is used to guide the coordinated behavior of mobile robots and intelligent appliances, thus extending the overall system capabilities. The experimental results discuss the interaction dynamics related to the fulfillment of several service tasks, whose execution would be otherwise very difficult to achieve.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124723474","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
Arterial Blood Pressure System Modeling and Signal Analysis 动脉血压系统建模和信号分析
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382876
A. Ebenal, S. Vasana, C. Clinton, Daniel Cox, T. Shine
{"title":"Arterial Blood Pressure System Modeling and Signal Analysis","authors":"A. Ebenal, S. Vasana, C. Clinton, Daniel Cox, T. Shine","doi":"10.1109/CIRA.2007.382876","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382876","url":null,"abstract":"An approach to modeling and signal processing of the human heart is presented. First the anatomy of the heart is described and the anatomical functions performed are outlined. A preliminary model of the cardio-systemic circuit system is described. The aim is to further refine the model to correlate to measured responses and characterization of those responses. The APB signal analysis method is quantified and empirical examples are provided and analyzed.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124749193","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
Concept of Mechatronics Modular Design for an Autonomous Mobile Soccer Robot 自主移动足球机器人机电一体化模块化设计概念
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382915
A. Nassiraei, Y. Takemura, A. Sanada, Yuichi Kitazumi, Yu Ogawa, I. Godler, K. Ishii, Hiroyuki Miyamoto, A. Ghaderi
{"title":"Concept of Mechatronics Modular Design for an Autonomous Mobile Soccer Robot","authors":"A. Nassiraei, Y. Takemura, A. Sanada, Yuichi Kitazumi, Yu Ogawa, I. Godler, K. Ishii, Hiroyuki Miyamoto, A. Ghaderi","doi":"10.1109/CIRA.2007.382915","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382915","url":null,"abstract":"In this paper, we describe the concept, design and implementation of a series of autonomous mobile soccer robots, named \"Musashi\" robot, which have a mechatronics modular architecture, to participate in the RoboCup middle-size league. In this design methodology, we show that the selection of a proper moving mechanism, a suitable vision system and a mechatronics modular architecture design can lead to realize a reliable, simple, and low cost robot comparing with most of car-like robots including many kinds of sensors and a complex design structure.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124792347","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: 16
Neural Fields for Controlling Formation of Multiple Robots 控制多机器人编队的神经场
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382841
Mohamed Oubbati, G. Palm
{"title":"Neural Fields for Controlling Formation of Multiple Robots","authors":"Mohamed Oubbati, G. Palm","doi":"10.1109/CIRA.2007.382841","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382841","url":null,"abstract":"In this paper we investigate how neural fields can produce an elegant solution for the problem of moving multiple robots in formation. The objective is to acquire a target, avoid obstacles and keep a geometric configuration at the same time. Several formations for a team of three robots are considered.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124839357","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
A Study on EMG-Based Human Motion Prediction for Power Assist Exoskeletons 基于肌电图的动力辅助外骨骼人体运动预测研究
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382917
K. Kiguchi
{"title":"A Study on EMG-Based Human Motion Prediction for Power Assist Exoskeletons","authors":"K. Kiguchi","doi":"10.1109/CIRA.2007.382917","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382917","url":null,"abstract":"A power-assist exoskeleton robot, which is directly attached to the user's body and assist the motion in accordance with the user's intension, is one of the most effective human assist robots for the physically weak persons. Many studies on power-assist robots have been carried out to help the motion of physically weak persons such as disabled, injured, and/or elderly persons. EMG-based control (i.e., control based on the skin surface electromyogram (EMG) signals of the user) is one of the most effective control methods for the power-assist robots, since EMG signals of user's muscles directly reflect the user's motion intension. However, the EMG-based control is not easy to be realized because of many reasons. The paper presents an effective human motion prediction method from the EMG signals using a neuro-fuzzy technique for the control of power-assist exoskeleton robots.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127810646","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: 20
Delay Dependent Stability in the Real Time Control of a Mobile Robot Using Neural Networks 基于神经网络的移动机器人实时控制中的时滞相关稳定性
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382844
V. Chaitanya, P. Dwarikanath Patro, Prabir Kumar Sarkar
{"title":"Delay Dependent Stability in the Real Time Control of a Mobile Robot Using Neural Networks","authors":"V. Chaitanya, P. Dwarikanath Patro, Prabir Kumar Sarkar","doi":"10.1109/CIRA.2007.382844","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382844","url":null,"abstract":"In this paper a nonholonomic mobile robot with completely unknown dynamics is considered. An efficient single layered neural network controller is assumed for the real time path tracking control of the mobile robot. The controller takes advantage of the robot regressor dynamics that express the highly nonlinear robot dynamics in a linear form in terms of the known and unknown robot dynamic parameters. The influence of time delays in the input control torque on the stability of the mobile robot motion has been studied. The present work enables to estimate the maximum admissible time delay in the input control torque with out the loss of stability in robot motion and guaranteed tracking performance.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129399323","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
Programming by Demonstration of Pick-and-Place Tasks for Industrial Manipulators using Task Primitives 用任务原语演示工业机械臂取放任务的编程
2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI: 10.1109/CIRA.2007.382863
Alexander Skoglund, B. Iliev, B. Kadmiry, R. Palm
{"title":"Programming by Demonstration of Pick-and-Place Tasks for Industrial Manipulators using Task Primitives","authors":"Alexander Skoglund, B. Iliev, B. Kadmiry, R. Palm","doi":"10.1109/CIRA.2007.382863","DOIUrl":"https://doi.org/10.1109/CIRA.2007.382863","url":null,"abstract":"This article presents an approach to Programming by Demonstration (PbD) to simplify programming of industrial manipulators. By using a set of task primitives for a known task type, the demonstration is interpreted and a manipulator program is automatically generated. A pick-and-place task is analyzed, based on the velocity profile, and decomposed in task primitives. Task primitives are basic actions of the robot/gripper, which can be executed in a sequence to form a complete a task. For modeling and generation of the demonstrated trajectory, fuzzy time clustering is used, resulting in smooth and accurate motions. To illustrate our approach, we carried out our experiments on a real industrial manipulator.","PeriodicalId":301626,"journal":{"name":"2007 International Symposium on Computational Intelligence in Robotics and Automation","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132571530","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: 46
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