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Attitude estimation of an accelerated rigid body with sensor fusion based-on switching extended Kalman filter 基于切换扩展卡尔曼滤波的传感器融合加速刚体姿态估计
2015 AI & Robotics (IRANOPEN) Pub Date : 2015-04-12 DOI: 10.1109/RIOS.2015.7270737
Farid Edrisi, V. J. Majd
{"title":"Attitude estimation of an accelerated rigid body with sensor fusion based-on switching extended Kalman filter","authors":"Farid Edrisi, V. J. Majd","doi":"10.1109/RIOS.2015.7270737","DOIUrl":"https://doi.org/10.1109/RIOS.2015.7270737","url":null,"abstract":"In this paper a new method is proposed for attitude estimation of an accelerated rigid body. The sensors are used consist of Inertial Measurement Unit (a 3- axis gyroscope with uncompensated bias and a 3-axis accelerometer) and a 3-axis magnetometer. To improve the accuracy of attitude estimation an extended Kalman filter (EKF) with a switching rule is used to fuse the sensory information. In practical applications, under the external acceleration, the output of accelerometer is not reliable due to its sensivity to vibration and non-separability the dynamic acceleration and gravity. To overcome this problem a switching rule is designed based on acceleration detection. If external acceleration is detected in rigid body movement, only magnetometer outputs will be used in EKF equations; otherwise, both of the accelerometer and magnetometer outputs will be employed. Through numerical simulations, the efficiency of the proposed method is illustrated under external acceleration.","PeriodicalId":437944,"journal":{"name":"2015 AI & Robotics (IRANOPEN)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134471703","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: 15
Optimization of dynamic mobile robot path planning based on evolutionary methods 基于进化方法的动态移动机器人路径规划优化
2015 AI & Robotics (IRANOPEN) Pub Date : 2015-04-12 DOI: 10.1109/RIOS.2015.7270743
M. Fetanat, S. H. Klidbary, S. Shouraki
{"title":"Optimization of dynamic mobile robot path planning based on evolutionary methods","authors":"M. Fetanat, S. H. Klidbary, S. Shouraki","doi":"10.1109/RIOS.2015.7270743","DOIUrl":"https://doi.org/10.1109/RIOS.2015.7270743","url":null,"abstract":"This paper presents evolutionary methods for optimization in dynamic mobile robot path planning. In dynamic mobile path planning, the goal is to find an optimal feasible path from starting point to target point with various obstacles, as well as smoothness and safety in the proposed path. Pattern search (PS) algorithm, Genetic Algorithm (GA) and Particle Swarm Optimization (PSO) are used to find an optimal path for mobile robots to reach to target point with obstacle avoidance. For showing the success of the proposed method, first they are applied to two different paths with a dynamic environment in obstacles. The first results show that the PSO algorithms are converged and minimize the objective function better that the others, while PS has the lower time compared to other algorithms in the initial and modified environment. The second test path is in the z-type environment that we compare the mentioned algorithms on it. Also in this environment, the same result is repeated.","PeriodicalId":437944,"journal":{"name":"2015 AI & Robotics (IRANOPEN)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121715127","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: 23
Model free robust impedance control of robot manipulators using fourier series expansion 基于傅立叶级数展开的机械臂无模型鲁棒阻抗控制
2015 AI & Robotics (IRANOPEN) Pub Date : 2015-04-12 DOI: 10.1109/RIOS.2015.7270740
M. Fard, S. Khorashadizadeh
{"title":"Model free robust impedance control of robot manipulators using fourier series expansion","authors":"M. Fard, S. Khorashadizadeh","doi":"10.1109/RIOS.2015.7270740","DOIUrl":"https://doi.org/10.1109/RIOS.2015.7270740","url":null,"abstract":"Impedance control is the most favorite control of robot manipulators in contact with environment. The dynamic behavior of robotic system in response to environment is prescribed by an impedance model. This model is certain and linear while the robot manipulator is uncertain and nonlinear. So the major challenge is overcoming uncertainty and nonlinearity to dominate the desired impedance model. This paper presents a robust impedance control strategy based on Variable Structure Model Reaching Control (VSMRC) and Function Approximation Techniques (FAT). FAT is based on Fourier series approximation. In contrast to other existing methods, the proposed approach includes two important properties. Firstly, it is robust against fast changes in uncertainty due to increased speed of convergence in Fourier series approximation. Secondly, it does not require uncertainties bound to be known. This scheme is simulated on an industrial selective compliance assembly robot arm (SCARA). Simulation results verify the theory and confirm the effectiveness of presented technique.","PeriodicalId":437944,"journal":{"name":"2015 AI & Robotics (IRANOPEN)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114217245","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
A note on pearson correlation coefficient as a metric of similarity in recommender system 关于皮尔逊相关系数在推荐系统中作为相似度度量的注解
2015 AI & Robotics (IRANOPEN) Pub Date : 2015-04-12 DOI: 10.1109/RIOS.2015.7270736
Leily Sheugh, S. H. Alizadeh
{"title":"A note on pearson correlation coefficient as a metric of similarity in recommender system","authors":"Leily Sheugh, S. H. Alizadeh","doi":"10.1109/RIOS.2015.7270736","DOIUrl":"https://doi.org/10.1109/RIOS.2015.7270736","url":null,"abstract":"Recommender systems help users to find information that best fits their preferences and needs in an overloaded search space. Most recommender systems researches have been focused on the accuracy improvement of recommendation algorithms. Choosing appropriate similarity measure is a key to the recommender system success for this target. Pearson Correlation Coefficient (PCC) is one of the most popular similarity measures for Collaborative filtering recommender system, to evaluate how much two users are correlated. While Correlation-based prediction schemes were shown to perform well, they suffer from some limitations. In This paper we present an extension toward Pearson Correlation Coefficient measure for cases which does not exist similarity between users by using it. Experimental result on the film trust data set demonstrate via our proposed measure and PCC we can achieve better result for similarity measure than traditional PCC.","PeriodicalId":437944,"journal":{"name":"2015 AI & Robotics (IRANOPEN)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122591622","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: 76
Enhanced comprehensive learning cooperative particle swarm optimization with fuzzy inertia weight (ECLCFPSO-IW) 基于模糊惯性权的增强综合学习协同粒子群优化
2015 AI & Robotics (IRANOPEN) Pub Date : 2015-04-12 DOI: 10.1109/RIOS.2015.7270730
Mojtaba Gholamian, M. Meybodi
{"title":"Enhanced comprehensive learning cooperative particle swarm optimization with fuzzy inertia weight (ECLCFPSO-IW)","authors":"Mojtaba Gholamian, M. Meybodi","doi":"10.1109/RIOS.2015.7270730","DOIUrl":"https://doi.org/10.1109/RIOS.2015.7270730","url":null,"abstract":"So far various methods for optimization presented and one of most popular of them are optimization algorithms based on swarm intelligence and also one of most successful of them is Particle Swarm Optimization (PSO). Prior some efforts by applying fuzzy logic for improving defects of PSO such as trapping in local optimums and early convergence has been done. Moreover to overcome the problem of inefficiency of PSO algorithm in high-dimensional search space, some algorithms such as Cooperative PSO offered. Accordingly, in the present article, we intend, in order to develop and improve PSO algorithm take advantage of some optimization methods such as Cooperatives PSO, Comprehensive Learning PSO and fuzzy logic, while enjoying the benefits of some functions and procedures such as local search function and Coloning procedure, propose the Enhanced Comprehensive Learning Cooperative Particle Swarm Optimization with Fuzzy Inertia Weight (ECLCFPSO-IW) algorithm. By proposing this algorithm we try to improve mentioned deficiencies of PSO and get better performance in high dimensions.","PeriodicalId":437944,"journal":{"name":"2015 AI & Robotics (IRANOPEN)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116318176","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: 7
Mars image segmentation with most relevant features among wavelet and color features 利用小波特征与彩色特征之间的最相关特征进行火星图像分割
2015 AI & Robotics (IRANOPEN) Pub Date : 2015-04-12 DOI: 10.1109/RIOS.2015.7270747
A. Rashno, M. Saraee, S. Sadri
{"title":"Mars image segmentation with most relevant features among wavelet and color features","authors":"A. Rashno, M. Saraee, S. Sadri","doi":"10.1109/RIOS.2015.7270747","DOIUrl":"https://doi.org/10.1109/RIOS.2015.7270747","url":null,"abstract":"Mars rover is a robot which explores the Mars surface, is equipped to front-line Panoramic Camera (Pancam). Automatic processing and segmentation of images taken by Pancam is one of the most important and most significant tasks of Mars rover since the transformation cost of images from Mars to earth is extremely high. In this paper, a new feature vector for image pixels will be proposed as well as a new feature selection schema based on ant colony optimization (ACO). Then, the most relevant features are presented for multiclass Support Vector Machine (SVM) classifier which led to high accuracy pixel classification and then image segmentation. Our proposed method is compared with genetic algorithm feature selection, experimental results show that the proposed method outperforms this method in the terms of accuracy and efficiently.","PeriodicalId":437944,"journal":{"name":"2015 AI & Robotics (IRANOPEN)","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126522314","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: 13
Word concept extraction using HOSVD for automatic text summarization 使用HOSVD进行自动文本摘要的词概念提取
2015 AI & Robotics (IRANOPEN) Pub Date : 2015-04-12 DOI: 10.1109/RIOS.2015.7270733
Atiyeh Biyabangard, M. S. Abadeh
{"title":"Word concept extraction using HOSVD for automatic text summarization","authors":"Atiyeh Biyabangard, M. S. Abadeh","doi":"10.1109/RIOS.2015.7270733","DOIUrl":"https://doi.org/10.1109/RIOS.2015.7270733","url":null,"abstract":"Computers understand little about the meaning of human language. Vector space models of semantics are beginning to overcome these limits. In this regard, one of the modern issues is using high dimensional data, which is formulated as tensors. Also, due to the increased information and texts, automatic text summarization has become one of the most important issues in information retrieval and natural language processing. In this paper, we propose a new method, using higher-order singular value decomposition (HOSVD) for extracting the concept of the words from word-document-time three-dimensional tensor and then select important sentences with more cosine similarity to this concept. In the following, we measure WordNet-based semantic similarity between sentences and remove redundancy sentences with less importance. The evaluation of the proposed method is done using the ROUGE evaluation on the DUC 2007 standard data set that the obtained results indicate the predominance of our method over many dominant systems.","PeriodicalId":437944,"journal":{"name":"2015 AI & Robotics (IRANOPEN)","volume":"199 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124931049","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 new approach for Kinematics-based design of 3-RRR delta robots with a specified workspace 一种具有特定工作空间的3-RRR delta机器人运动学设计新方法
2015 AI & Robotics (IRANOPEN) Pub Date : 2015-04-12 DOI: 10.1109/RIOS.2015.7270746
M. Mahmoodi, M. Tabrizi, K. Alipour
{"title":"A new approach for Kinematics-based design of 3-RRR delta robots with a specified workspace","authors":"M. Mahmoodi, M. Tabrizi, K. Alipour","doi":"10.1109/RIOS.2015.7270746","DOIUrl":"https://doi.org/10.1109/RIOS.2015.7270746","url":null,"abstract":"One of the most significant issues in design of the parallel robots is to determine proper kinematic parameters leading to a desired workspace. The aim of this research is to propose a new approach for kinematics-based design of 3-RRR Delta robots considering a specified workspace. To this end, a new concept, called the Maximum Surrounded Workspace (MSW),will be presented, which is the basis of the new design methodology utilized in this paper. Additionally, the kinematic parameters of some of the prominent industrial 3-RRR Delta robots and their relationships have carefully been examined which are then will be employed in the proposed design procedure. The obtained real-world results of using the proposed approach for designing a 3-RRR Delta robot sample, reveal not only the proper performance of the suggested method, but also its simplicity and efficiency.","PeriodicalId":437944,"journal":{"name":"2015 AI & Robotics (IRANOPEN)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132850171","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 tracking via adaptive nonlinear control approach for a quadrotor MAV 基于自适应非线性控制的四旋翼飞行器轨迹跟踪
2015 AI & Robotics (IRANOPEN) Pub Date : 2015-04-12 DOI: 10.1109/RIOS.2015.7270744
Farahnaz Javidi-Niroumand, A. Fakharian
{"title":"Trajectory tracking via adaptive nonlinear control approach for a quadrotor MAV","authors":"Farahnaz Javidi-Niroumand, A. Fakharian","doi":"10.1109/RIOS.2015.7270744","DOIUrl":"https://doi.org/10.1109/RIOS.2015.7270744","url":null,"abstract":"This research describes an adaptive nonlinear trajectory tracking controller for a vertical take-off and landing flyer called quadrotor. The control objective is to stabilize the fast unstable dynamics of system while performing trajectory tracking maneuver in presence of external disturbances, measurement noises and uncertainty in model parameters. With an appropriate prediction and performing backstepping nonlinear control approach, the stability of flying robot assured during trajectory tracking maneuver, while tracking mission accomplished due to position and rate control. Adaptive backstepping technique utilizes to eliminate the effect of external disturbances, noise in measurements, and model uncertainties. Based on Lyapunov stability theory, adaptive control with tuning functions proposes an adaptation law, first to estimate unknown parameters of system and then developing a float construction system to annihilate the effect of wind disturbance. Simulation results achieved on a full nonlinear model, to simulate quadrotor trajectory tracking mission close to realistic conditions, and then verifies the effectiveness of designed controller.","PeriodicalId":437944,"journal":{"name":"2015 AI & Robotics (IRANOPEN)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121040696","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
Trajectory generation of a micro underwater robot in 3D space considering obstacles by anovel potential function 基于新势函数的微水下机器人三维空间障碍物轨迹生成
2015 AI & Robotics (IRANOPEN) Pub Date : 2015-04-12 DOI: 10.1109/RIOS.2015.7270739
Amirmasoud Ghasemi-Toudeshki, A. Yousefi-Koma, M. Mahdavian, M. Imani, Niloufar Jamali
{"title":"Trajectory generation of a micro underwater robot in 3D space considering obstacles by anovel potential function","authors":"Amirmasoud Ghasemi-Toudeshki, A. Yousefi-Koma, M. Mahdavian, M. Imani, Niloufar Jamali","doi":"10.1109/RIOS.2015.7270739","DOIUrl":"https://doi.org/10.1109/RIOS.2015.7270739","url":null,"abstract":"In this paper, trajectory generation of a micro underwater robot in 3D space is discussed considering obstacles and applying a new and optimum potential function. For this purpose, an algorithm which is based on potential function is proposed. Moreover, in order to pass a planned trajectory, a feedback linearization controller is used to guide the robot. By the use of this method, an underwater robot would be able to predict and pass a safe trajectory by awareness of its own and obstacle's positions. Dynamic equations of 6 DOFs for an underwater robot are proposed and trajectory optimization of a particle considering obstacles in trying to attain a fixed or moving target in 3D coordinate space is discussed. The common potential functions are modified in order to solve the problems of inertial and cycling trap and to increase chance of implementation. Afterward, the proposed optimization method is implemented on robot dynamic model. To this end, the coordinate space is meshed with small cubes. Also, in order to control the robot, feedback linearization controller is used. It is shown that the robot would appropriately reach the planned target by this method.","PeriodicalId":437944,"journal":{"name":"2015 AI & Robotics (IRANOPEN)","volume":"223 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114469815","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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