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2008 IEEE Conference on Robotics, Automation and Mechatronics最新文献

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Formation Control for Multi-Robot Teams Using A Data Glove 使用数据手套的多机器人团队编队控制
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681481
N. Boonpinon, A. Sudsang
{"title":"Formation Control for Multi-Robot Teams Using A Data Glove","authors":"N. Boonpinon, A. Sudsang","doi":"10.1109/RAMECH.2008.4681481","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681481","url":null,"abstract":"The formation control problem is one of fundamental problems in multi-robot applications, such as exploration and mapping. In this paper, we present a distributed formation control algorithm for a group of mobile robots moving in a obstacle filled workspace. The algorithm is based on the concept of a spring force and a potential filed. Our algorithm works under limited sensory information and require no communication between the robot team. We also introduce an intuitive human-multi robot interaction via a data glove. The human operator can control a group formation parameter using only his hand gesture. Preliminary simulation results are presented confirming effectiveness of the presented approach.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116863539","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
Feasibility Study on An Automated Intruder Detection for Tropical Fish Farm 热带鱼养殖场入侵者自动检测系统的可行性研究
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681497
ChingSeong Tan, A. Soetedjo
{"title":"Feasibility Study on An Automated Intruder Detection for Tropical Fish Farm","authors":"ChingSeong Tan, A. Soetedjo","doi":"10.1109/RAMECH.2008.4681497","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681497","url":null,"abstract":"In this paper, an automated intruder detection system for sea cage fish farm is introduced. Optical imaging method is used to detect possible predator or theft invasion in the fish net area or in the vicinity. In order to accurately alert the operator on an invasion event from tens of camera installed around the feeding nets, an high speed rule based algorithm is tested to identify possible intruders that trespass into the sea cage net area of a local fish farm. A camera system will be installed below the net level of the feeding area. In the early stage, a recorded mode camera system is used to record down the images captured for analysis purpose. The objective is to identify predator, non-fish and the fish categories from looking down position. We employ rule based algorithm that show high tolerances to in-plane rotation, scale variation and out of plane rotation. Various testing images from different scenarios are used in the experiment. The results show that low cost system can be installed using this algorithm to identify the targets in least image processing resources.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114600268","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
Modeling Hysteresis in Pleated Pneumatic Artificial Muscles 褶皱气动人造肌肉的迟滞建模
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681431
M. Damme, P. Beyl, B. Vanderborght, R. Ham, I. Vanderniepen, R. Versluys, F. Daerden, D. Lefeber
{"title":"Modeling Hysteresis in Pleated Pneumatic Artificial Muscles","authors":"M. Damme, P. Beyl, B. Vanderborght, R. Ham, I. Vanderniepen, R. Versluys, F. Daerden, D. Lefeber","doi":"10.1109/RAMECH.2008.4681431","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681431","url":null,"abstract":"Estimating the force exerted by a pneumatic muscle actuator by measuring its gauge pressure is challenging since hysteresis is almost always present. This paper investigates the hysteresis phenomenon in pleated pneumatic artificial muscles, which is found to be largely independent of gauge pressure. A Preisach based hysteresis model that can cope with the specific shape of the force-contraction characteristic of pneumatic muscles is proposed, and its results are presented.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126891561","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: 43
Robust Stabilization of an Unmanned Motorcycle 无人驾驶摩托车的鲁棒稳定
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681493
Uri Nenner, R. Linker, P. Gutman
{"title":"Robust Stabilization of an Unmanned Motorcycle","authors":"Uri Nenner, R. Linker, P. Gutman","doi":"10.1109/RAMECH.2008.4681493","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681493","url":null,"abstract":"Linearized equations of motion for a motorcycle with small roll angles are derived and used to design a robust cascade control scheme that stabilizes the motorcycle over a range of speeds. Stabilization is achieved by measuring the roll angle and its rate of change, and controlling the steering torque. The approach is validated via simulations and experiments performed with a radio-controlled scooter.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"464 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125187335","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
A Robust Motion Detection Algorithm for Complex Background Using Statistical Models 基于统计模型的复杂背景鲁棒运动检测算法
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681448
Zhen Yu, Yanping Chen
{"title":"A Robust Motion Detection Algorithm for Complex Background Using Statistical Models","authors":"Zhen Yu, Yanping Chen","doi":"10.1109/RAMECH.2008.4681448","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681448","url":null,"abstract":"Based on the fact that most of the algorithms assume that the camera is fixed and the changing background is learned in the training period, a robust algorithm is proposed for complex background where a shaking camera, changing background and shadows are presented. It combines a new improved mixture of Gaussians model and a square neighborhood matching algorithm to eliminate shadows and reduce false positive detections caused by camera motion and changing background. Experiments results demonstrate the efficiency and accuracy of this algorithm.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121611027","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
A Robust Sliding Mode Control With RBFNN Compensation For Uncertain Networked Control System 基于RBFNN补偿的不确定网络控制系统鲁棒滑模控制
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681512
Liman Yang, Yunhua Li, Li Zuo
{"title":"A Robust Sliding Mode Control With RBFNN Compensation For Uncertain Networked Control System","authors":"Liman Yang, Yunhua Li, Li Zuo","doi":"10.1109/RAMECH.2008.4681512","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681512","url":null,"abstract":"For the uncertain NCS with stochastic network delay less than one period, a sort of RBFNN-DSMC algorithm combining discrete sliding mode control and RBF neural network is presented. In view of the coupling influence of time-variable delay and plant model error as well as exterior disturbance, RBFNN is used to approach the equivalent disturbance online and output assistant control quantity so as to restrain uncertainty with the discrete sliding mode controller with delay compensation together. Simulation study indicates that the above-mentioned algorithm has good control performance and robustness for the uncertain NCS.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125293902","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
Petri-nets Based Availability Model of Fault-Tolerant Server System 基于petri网的容错服务器系统可用性模型
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681434
Shi Jian, Shaoping Wang, Yaoxing Shang
{"title":"Petri-nets Based Availability Model of Fault-Tolerant Server System","authors":"Shi Jian, Shaoping Wang, Yaoxing Shang","doi":"10.1109/RAMECH.2008.4681434","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681434","url":null,"abstract":"Fault-Tolerant capacity of the key server will effect integrality and restorability of the data in network system, so in order to increase system's availability, cluster technique has been adopted widely. In despite of achieving high system availability with cluster technique, it makes system very complexly and availability analysis very difficult. By analyzing redundant server system's structure and work process, stochastic Petri net method is adopted to model processing cell availability, data memory disc availability and server availability. Integrating above models, cluster system availability model can be obtained.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129579625","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
Sliding Mode Control of Magnetic Levitation System Using Radial Basis Function Neural Networks 基于径向基函数神经网络的磁悬浮系统滑模控制
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681421
M. Aliasghary, Abolfazl Jalilvand, M. Teshnehlab, M. A. Shoorehdeli
{"title":"Sliding Mode Control of Magnetic Levitation System Using Radial Basis Function Neural Networks","authors":"M. Aliasghary, Abolfazl Jalilvand, M. Teshnehlab, M. A. Shoorehdeli","doi":"10.1109/RAMECH.2008.4681421","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681421","url":null,"abstract":"This paper has developed a sliding mode controller (SMC) based on a radial basis function model for control of magnetic levitation system. Adaptive neural networks controllers need plant's Jacobain, but here this problem solved by sliding surface and generalized learning rule in case to eliminate Jacobain problem. The simulation results show that this method is feasible and more effective for magnetic levitation system control.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131115888","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
Centralized H∞ Fusion Filter Design in Multi-sensor Nonlinear Fusion System 多传感器非线性融合系统中的集中式H∞融合滤波器设计
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681338
Qinghua Li, Hongjun Wang, Jun Du, Xuezhen Liu, Fei Lin
{"title":"Centralized H∞ Fusion Filter Design in Multi-sensor Nonlinear Fusion System","authors":"Qinghua Li, Hongjun Wang, Jun Du, Xuezhen Liu, Fei Lin","doi":"10.1109/RAMECH.2008.4681338","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681338","url":null,"abstract":"Centralized nonlinear fusion filter design problem is to construct an asymptotically stable observer that leads to a stable estimation error process whose L2 gain with respect to disturbance signal is less than a prescribed level for state estimation of the multi-sensor fusion system. This paper tries to resolve the problem in using of Hinfin filtering theory and LMI methods under certain conditions. Finally, a simulation example is given to illustrate the effectiveness of our methods.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130065365","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
An Internet Robot Tele-operating System 一种互联网机器人远程操作系统
2008 IEEE Conference on Robotics, Automation and Mechatronics Pub Date : 2008-11-18 DOI: 10.1109/RAMECH.2008.4681445
Wang Quanyu, Cao Haifang, Liu Xin
{"title":"An Internet Robot Tele-operating System","authors":"Wang Quanyu, Cao Haifang, Liu Xin","doi":"10.1109/RAMECH.2008.4681445","DOIUrl":"https://doi.org/10.1109/RAMECH.2008.4681445","url":null,"abstract":"A server-decentralized Internet model based on Jabber for robot tele-operation with P2P stream media transfer supplement based on JXTA is proposed. The system is composed of four components: operators, robots, transfer servers and data-keeper. The robot-controlling data/robot state data are packed with XML stanzas and delivered to the resolved robot/operator through XML streams. The locale audio/video media streams of the robot are sent directly through P2P pipes to the operators. In order to test its availability and performance, the model is implemented and instanced as remote control systems for Virtual Puma560 robot and the Hexapod Monster robot. Experiments of the systems and network tests are carried out to evaluate the instances; the results show that the systems are suitable for many kinds of robot tele-operation scenarios despite the tough network environment.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114406812","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
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