发布求助
文献互助 智能选刊 最新文献

IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.最新文献

筛选
英文 中文
A switching control based fuzzy energy region method for underactuated robots 欠驱动机器人的模糊能量区域切换控制方法
IEEE Workshop on Advanced Robotics and its Social Impacts, 2005. Pub Date : 2005-06-12 DOI: 10.1109/ARSO.2005.1511649
K. Ichida, K. Izumi, K. Watanabe
{"title":"A switching control based fuzzy energy region method for underactuated robots","authors":"K. Ichida, K. Izumi, K. Watanabe","doi":"10.1109/ARSO.2005.1511649","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511649","url":null,"abstract":"One of control methods for underactuated manipulators is known as a switching control which selects a partially-stable controller using a prespecified switching rule. A switching computed torque control with a fuzzy energy region method has been already proposed. In this approach, some partly stable controllers are designed by the computed torque method, and a switching rule is based on fuzzy energy regions. Design parameters related to boundary curves of fuzzy energy regions are optimized offline by a genetic algorithm (GA). In this paper, we discuss about the controlled system using the proposed method with parameters designed by GA.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124714480","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
Comfortable environment for human by IRT based adaptive and intelligent interface 基于IRT的自适应智能界面，为人类提供舒适的环境
IEEE Workshop on Advanced Robotics and its Social Impacts, 2005. Pub Date : 2005-06-12 DOI: 10.1109/ARSO.2005.1511657
Y. Wakuda, T. Fukuda, F. Arai, Y. Hasegawa, A. Noda, M. Kawaguchi
{"title":"Comfortable environment for human by IRT based adaptive and intelligent interface","authors":"Y. Wakuda, T. Fukuda, F. Arai, Y. Hasegawa, A. Noda, M. Kawaguchi","doi":"10.1109/ARSO.2005.1511657","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511657","url":null,"abstract":"The purpose of this paper is to make an adaptive and intelligent human interface with wearable hardware. At first, we are trying to estimate human's state in sleep using wearable sensor device, with less physical movement than daytime. Next, we are trying to control human biological rhythm using the method to estimate human sleep state. We are considering about most simple way to control human's sleep is to control awakening timing and sleep time. Proposed system can estimate human sleep quality and rhythms, and stimuli to user at the timing easy to wake. The system uses only pulse wave to estimate sleep quality because pulse wave can be measured easier than PSG.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130463556","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
Speed control of a sonar-based mobile robot determining sensing and action strategy simultaneously 基于声纳的移动机器人速度控制，同时确定感知和行动策略
IEEE Workshop on Advanced Robotics and its Social Impacts, 2005. Pub Date : 2005-06-12 DOI: 10.1109/ARSO.2005.1511648
T. Emaru, K. Tanaka, T. Tsuchiya
{"title":"Speed control of a sonar-based mobile robot determining sensing and action strategy simultaneously","authors":"T. Emaru, K. Tanaka, T. Tsuchiya","doi":"10.1109/ARSO.2005.1511648","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511648","url":null,"abstract":"Today, the ultrasonic TOF (time-of-flight) ranging system is the most common sensing system employed in indoor mobile robotic systems, primarily due to the easy availability of low-cost systems, their compact size, simple circuits, and their ease in interfacing with computers. TOF ranging systems measure the round-trip time required for a pulse of emitted energy to travel to a reflecting object and then echo back to a receiver. However, ultrasonic TOF ranging systems tend to neglect infinitesimal reflected waves below the threshold level. We have proposed a new approach to utilize the infinitesimal reflected waves by integrating the reflected waves. This is implemented using a transducer with a scanning system, and has a great ability of obtaining the travelable area for a robot in environments in which the distance cannot be precisely measured. The proposed system is constructed in a simple manner so as to improve the utility value of the sonar. This paper introduces the speed control strategy under uncertainty of sensor information. By considering the uncertainty of sensor information, we change the action strategy. By changing the action strategy, sensor information which is obtained by the robot changes at the same time. By using this relationship, we construct the robust robot system. The validity of the proposed method is investigated by applying this method to an autonomous mobile robot in various environments such as one with multiple obstacles, at the end of the hall, and so on.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126457904","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
Autonomous driving in a time-varying environment 时变环境下的自动驾驶
IEEE Workshop on Advanced Robotics and its Social Impacts, 2005. Pub Date : 2005-06-12 DOI: 10.1109/ARSO.2005.1511618
T. Myers, L. Vlacic, T. Noel, M. Parent
{"title":"Autonomous driving in a time-varying environment","authors":"T. Myers, L. Vlacic, T. Noel, M. Parent","doi":"10.1109/ARSO.2005.1511618","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511618","url":null,"abstract":"Robot motion is a field of continuing and active research that has recorded a number of achievements in the last decade, but research appears to be becoming stagnant in key areas. Current researchers limit the success of their work by using sensors with limited features capable of operating in static environments with known static obstacles and not considering implementation on non-holonomic vehicles. These simplifications of the task of dynamic obstacle avoidance greatly reduce the possible applications of current robot motion algorithms in areas such as autonomous driving. This paper deals with algorithms for on-the-fly avoidance of dynamic obstacle by presenting a new approach, the time-varying dynamic window algorithm capable of operating at high speeds on a non-holonomic vehicle in an environment that changes over time.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121593387","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
Challenges for standards for consumer robotics 消费者机器人标准面临的挑战
IEEE Workshop on Advanced Robotics and its Social Impacts, 2005. Pub Date : 2005-06-12 DOI: 10.1109/ARSO.2005.1511662
P. Pirjanian
{"title":"Challenges for standards for consumer robotics","authors":"P. Pirjanian","doi":"10.1109/ARSO.2005.1511662","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511662","url":null,"abstract":"For many years, the robotics community has aimed at developing a standard control architecture for robotics. Is this a reasonable goal to pursue? In this paper we discuss this question and other related questions. We describe our philosophy for developing an architecture and describe the key elements of the evolution robotics software platform and architecture.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114843748","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
CAMUS: a middleware supporting context-aware services for network-based robots CAMUS:一种中间件，支持基于网络的机器人的上下文感知服务
IEEE Workshop on Advanced Robotics and its Social Impacts, 2005. Pub Date : 2005-06-12 DOI: 10.1109/ARSO.2005.1511658
Hyun Kim, Young-Jo Cho, Sang-Rok Oh
{"title":"CAMUS: a middleware supporting context-aware services for network-based robots","authors":"Hyun Kim, Young-Jo Cho, Sang-Rok Oh","doi":"10.1109/ARSO.2005.1511658","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511658","url":null,"abstract":"A URC (ubiquitous robotic companion) is a concept for a network-based service robot. It allows the service robot to extend its functions and services by utilizing external sensor networks and remote computing servers. It also provides the robot's services at any time and any place. The URC requires not only the hardware infrastructure such as ubiquitous networks or sensor networks and high-performance computing servers but also the software infrastructure which resides above the hardware infrastructure. In this paper, authors introduce the CAMUS (context-aware middleware for URC system) as a part of the software infrastructure, which is a system middleware to support context-aware services for network-based robots. The CAMUS is based on the CORBA technology. It provides the common data model for different types of context information from external sensors, applications and users in the environment. It also offers the software framework to acquire, interpret and disseminate context information. PLUE (Programming Language for Ubiquitous Environment) is proposed to describe context-aware services for robots.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"278 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123291974","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: 91
Teaching mechatronics design course for engineers 教授工程师机电一体化设计课程
IEEE Workshop on Advanced Robotics and its Social Impacts, 2005. Pub Date : 2005-06-12 DOI: 10.1109/ARSO.2005.1511630
M. Jarrah
{"title":"Teaching mechatronics design course for engineers","authors":"M. Jarrah","doi":"10.1109/ARSO.2005.1511630","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511630","url":null,"abstract":"A mechatronics graduate program was started in September 2001 at the American University of Sharjab with the objective of helping working engineers meet the challenges posed by emerging technologies. The program strives at providing industry with a new generation of engineers having interdisciplinary skills necessary to deal with state of the art technology in designing, maintaining, selecting, and procuring modern engineering systems. This paper details framework of mechatronics design course (MTR 590). The course is a project-based course foundation course in the mechatronics graduate program. This paper gives the detail of the course objectives, typical projects, and course assessments. There are many challenges in teaching a design course to working engineers. Some of these challenges are encountered by selecting full time students to be project team leaders. The mechatronics design course coverage, and laboratory facilities are discussed.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"200 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123677166","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
Service media using robotic technology in ubiquitous computing environment 在普适计算环境下使用机器人技术的服务媒体
IEEE Workshop on Advanced Robotics and its Social Impacts, 2005. Pub Date : 2005-06-12 DOI: 10.1109/ARSO.2005.1511617
H. Asama
{"title":"Service media using robotic technology in ubiquitous computing environment","authors":"H. Asama","doi":"10.1109/ARSO.2005.1511617","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511617","url":null,"abstract":"RT (robot technology) is expected to magnify the IT industry, which is characterized by the real time operation in the physical environment. Especially, integration of RT with ubiquitous computation technology makes a big impact on service industry. In this presentation, a concept of service media for ubiquitous service RT in the context of service engineering is introduced, which provides users with various services in a ubiquitous computing environment. Examples of ubiquitous RT devices called intelligent data carrier, and their application to user adaptive systems, rescue systems, and security systems are introduced.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125474372","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
Overview of the intelligent security robot - Chung Cheng I 智能安防机器人概述——中正1
IEEE Workshop on Advanced Robotics and its Social Impacts, 2005. Pub Date : 2005-06-12 DOI: 10.1109/ARSO.2005.1511655
R. Luo, K. Su, K.C. Lin
{"title":"Overview of the intelligent security robot - Chung Cheng I","authors":"R. Luo, K. Su, K.C. Lin","doi":"10.1109/ARSO.2005.1511655","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511655","url":null,"abstract":"The security of home, laboratory, office, building and factory is important to human being. So we develop intelligent multi sensor-based security robot system that is widely employed in our daily life. The security robot can detect abnormal and dangerous situation and notify us. The structure of the security robot contains six parts. There is software development system; obstacle avoidance and motion planning system, image system, sensor system remote supervise system and other system. First, we develop a multi sensor-based sensor system for the security robot. Then we also present the remote mobile security system (RMS) for the security robot system. We think that man-machine interface in security robot system must have mobility and convenience. Therefore, we use touch panel to display system state, and design a general user interface (GUI) on the touch panel. We demonstrate the remote supervise system to control the security robot using direct control mode and behavior control mode, and we can get the behavior control mode better than direct control mode.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124543495","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 neurointerface with an adaptive fuzzy compensator for controlling nonholonomic mobile robots 带有自适应模糊补偿器的神经接口控制非完整移动机器人
IEEE Workshop on Advanced Robotics and its Social Impacts, 2005. Pub Date : 2005-06-12 DOI: 10.1109/ARSO.2005.1511659
K. Watanabe, R. Syam, K. Izumi
{"title":"A neurointerface with an adaptive fuzzy compensator for controlling nonholonomic mobile robots","authors":"K. Watanabe, R. Syam, K. Izumi","doi":"10.1109/ARSO.2005.1511659","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511659","url":null,"abstract":"This paper describes an adaptive control for nonholonomic mobile robots, which are subjected to a suddenly changed disturbance due to the change of payloads. We adopt a control architecture based on a two-degrees-of-freedom design, where the feedforward controller is constructed by a neural network (NN) to acquire an inverse dynamical model of the robot, whereas the feedback controller is designed by two methods: one is a conventional PD compensator and the other is an adaptive fuzzy compensator. A concept of virtual master-slave robots is applied to obtain an inverse model of a nonholonomic robot. A compensator needs to be used to reduce the effect of the NN mapping errors or to suppress the effect of a sudden change of payloads. It is demonstrated by several simulations that the present approach is effective for controlling a nonholonomic mobile robot in a navigation of trajectory tracking problem for the positions and azimuth.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"263 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116491897","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
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信