2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.最新文献

{"title":"Path planning method based on neural network and genetic algorithm","authors":"Huahua Chen, Xin Du, Weikang Gu","doi":"10.1109/ICIMA.2004.1384278","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384278","url":null,"abstract":"In this paper, a method of dynamic obstacle avoidance and path planning based on neural network and genetic algorithm is proposed. The neural network model of dynamic environmental information in the workspace for a robot is constructed. The relationship between dynamic obstacle pveidaace and t8e alpat ef tko model is embiished based on this model and the two-dimensional coding for the via-points of path is converted to onedimensional one. Then the fitness of the dynamic obstacle avoidance and that of the shortest distance are fused to a fitness function. The simulation results show that the proposed method is correct and effective.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114704107","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}

{"title":"Surface electromyography disposal based on the method of wavelet de-noising and power spectrum","authors":"Yang Guang-ying, Luo Zhi-zeng","doi":"10.1109/ICIMA.2004.1384326","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384326","url":null,"abstract":"While Suriace Electromyography (SEMG) using traditional disposal, the individual difierence is obvious. In order to reduce these disadvantages, SEMG signal k predisposed by wavelet de-noising theory. After the signal is decomposed and reconstructed by wavelet functious, noise is eliminated, and then, uslng Power Spectrum Coefiicients (PSC) method to analyze it By calculated the parameters of power spectrum, we got the ratio ef power spectrum and knew the relations between hand movement and power spectrum. This method is suitable for the ieature extraction of nonspecific person's SEMG. The result of experimentation shows that recognition of hand movement is me& better an the method only ming PSC. At the same time, adopt virtual instrument technology to raise accuracy of measurement and to reduce the cost","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132042554","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}

{"title":"Modeling of smart dampers for vibration control","authors":"Hongiun Liu, J. Teng","doi":"10.1109/ICIMA.2004.1384184","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384184","url":null,"abstract":"Semi-active structural vibration control using electrohnagneto-rheological (ERIMR) dampers has recently attracted extensive interest because it combines the advantages of passive devices with the benefits of active control. This paper describes the design and vibration testing of a low-force ER damper and a high-force MR damper, which are developed for the experimental studies of semi-active vibration control of a stay cable and a system of coupled adjacent buildings respectively. The ER and MR dampers are designed using the shear-mode and the fixed-mode of the fluid respectively. Dynamic characteristics of the built ER damper are tested at different electric field strengths and varying displacement amplitudes. The hysteresis loops of restoring force versus displacement and velocity are experimentally obtained via periodic vibration testing under a series of exciting frequencies. Then the Bingham model and a hysteretic biviscous model for the ER damper are established in which the model parameters are determined from the testing data. A comparison between the experimental hysteresis loops and those predicted using the established hysteretic biviscous model shows that the developed model captures the nonlinear damping behavior of the damper quite accurately. Kqwords - smart damper, vibration control, modehg, electro/magneto-rheological fluid","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128277092","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}

{"title":"Super media enhanced internet-based robotics","authors":"N. Xi","doi":"10.1109/ICIMA.2004.1384142","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384142","url":null,"abstract":"Internet has added a nlew dimension tal the human life. Once the extent of financial possibilities was revealed, Internet-based aipplications/services expanded to cover every aspect of our lives. A person can virtually trade, learn, play, control and do many other actions over the Internet. However, all Internet-based activities are still referred to as virtual since the experience is still far from being genuine. The. main difference between the virtual and real world is the quality of the human experience. This experience is impeded when the Internet is used because of limited human sensory interaction with the remote object and environment. This talk will present a new attempt to bridge the gap between the real and virtual worlds. This bridge will create the link that human senses need to be remotely coupled with the environment via Internet. The basic idea is to feedback sensory information available from the remote robot to the human operator in real-time. This sensory information can relate to any of the human senses: kctile, heat, visual and auditory. However, coupling the human with the remote environment via the Internet has many challenges. These challenges relate to human-machine interfacing, remote machine stability, operating eficiericy and safety. What create these challenges are the Internet characteristics such as delay, packet loss, and asynchronization. For instance the delay experienced over the Internet is random and nondeterministic with no simple stochastic model. This talk will present a general method for the modeling, control and analysis of real-time bilateral teleoperation systems via the Internet. This method results in a stable system in spite of the existence of nondeterministic time delay. It can also be applied to a wide range of systems with different environments, human operators, control commands, and supermedia (sensory information: video, audio, haptic, temperature and others) feedback. Several different experimental systems were developed and used to verify the theoretical results. The experiments include teleoperations between USA, Hong Kong, China and Japan. The videotape of the experiments will be shown in the talk.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128525786","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}

{"title":"Communication of agent-based adhered slice of intelligent manufacturing system","authors":"S.L. Wang, J.M. Xu, D.M. He, B. Li","doi":"10.1109/ICIMA.2004.1384287","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384287","url":null,"abstract":"A kind of agent-based adhered slice used for workshop control has been created. This slice can be directly adhered to some largesized objects, for instance, machine tools, big-sized workpieces and pallets for some small-sized workpieces. It has the ability of intelligent decision-making and automatically establishing wireless network, which leads to a significant improvement for manufacturing workshop fora trrrditiolral coatrol to intelligent di&ributed decision. Thus it can be predicted that by using such slices, workshop control with automation, distribution and initelligence will be truly realized, together with the ultimate solution of entire eptim~ a€ the manufacturing system, dynamic intelligent decision, wireless-based communication and so on. Therefore, the slice can easily provide an efficient method of implementation of intelligent control and flexible management in the workshop. This paper is mainly focused on the communication method of this agent-based ndhered slice, and presents its detailed description, including architecture, working principle, Bluetooth-based Communication protocol and communication software.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130529298","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}

{"title":"Leader-follower type motion control algorithm of multiple mobile robots with dual manipulators for handling a single object in coordination","authors":"Y. Hirata, T. Sawada, Zhidong Wang, K. Kosuge","doi":"10.1109/ICIMA.2004.1384220","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384220","url":null,"abstract":"In this paper, we propose a leader-follower type motion control algorithm of multiple mobile robots with dual manipulators handling a single object in coordination. In this algorithm, the representative point of each robot is controlled as if it has C! caster-like dynamics in 3-0 space, and each robot handles a single object in coordination with other robots without using the geometric relations among the robots based on the leaderfollower type motion control algorithm. The proposed control algorithm is experimentally applied to two mobile robots with dual manipulators, and the validity of the proposed control algorithm is ir'lustrated by the experimental results.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122027997","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}

{"title":"Research on judgment and restraining algorithm of track divergence in air traffic control system","authors":"Hongping Shu, Zhi-Heng You, Shurong Zou","doi":"10.1109/ICIMA.2004.1384232","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384232","url":null,"abstract":"Kalman Filter Equations of target tracking are described, all kinds of parameter matrix for the simplified calculation and corresponding initial value which are applied in air traffic control system are given, judgment method of track divergence and restraining algorithm are discussed in this paper. Concrete treatment algorithm and measure of application simulation are discussed, disperse criterion and restraining algorithm are applied to track dispose in air traffic control system. Simulation result indicates the algorithm can judge accurately track dispersing and restrain divergence effectively.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123777732","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}

{"title":"A novel approach to prove the stability of PD control with feedforward compensation in robotic trajectory tracking","authors":"Xinchun Li, J. Yi, Dongbin Zhao, Zuoshi Song","doi":"10.1109/ICIMA.2004.1384160","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384160","url":null,"abstract":"In the present paper, we propose a novel approach to prove the stability of PD control with feedforward compensation in trajectory-tracking of robot manipulator. Based on the state equation of robot manipulator, a new simple Lyapunov Function is constructed, with which the stability of the controller is proved. In addition, the way to select the proportional and derivative gains is also given. Simulation tests are included, with reference to a planar two-link manipulator.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123787881","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}

{"title":"Team enabling architectures for very large sensor networks","authors":"R. Newman, E. Gaura","doi":"10.1109/ICIMA.2004.1384333","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384333","url":null,"abstract":"This paper considers the problems involved in the design of 'dream applications' of networked intelligent sensors. These applications propose global scale networks of millions of sensors, requiring new paradigms of system design. One requirement of any suitable design methodology is that it supports the complete, multidisciplinary team that will be needed for this scale and type of application. The problems preventing effective working of such teams are discussed. It is argued that the adoption of suitable design principles and architectures can provide the well defined functions and interfaces which help a design team to define their several goals and responsibilities and therefore allow more effective development. Some established distributed design principles are put forward as being a suitable starting point, and the outline of an architecture is proposed.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125153474","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}

{"title":"Morphologically restricted B-snake model for clustering it cell image segmentation","authors":"Jiongjiong Hu, Hualong Yu, Bo Fang","doi":"10.1109/ICIMA.2004.1384282","DOIUrl":"https://doi.org/10.1109/ICIMA.2004.1384282","url":null,"abstract":"In order to separate the clustering cells that frequently appear in cell images, an automatic segmentation algorithm is presented. The algorithm generates a modified \"mlhear distaRce image,\" ad then ases active contour model te fincl cell hmtkrka. An iRIpreved iterative msion method, which uses a dynamic structure rather than a fixed one to produce the distance image, is proposed in the algorithm. A novel B-spline active contour model, whose energy depends not only on the image itself but also on the nonlinear distance image, is then presented in this paper. Initiated via morphological operation, the model would finally detect the cell boundaries. Experimental results show that our algorithm is effective for automatic segmentation on clustering cell images.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130402650","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}