International Journal of Robotics & Automation最新文献_第9页

Design of RTD-PID optimized neural networks controller for non-holonomic wheeled mobile robot 非完整轮式移动机器人RTD-PID优化神经网络控制器设计

IF 0.9 4区计算机科学

International Journal of Robotics & Automation Pub Date : 2019-09-26 DOI: 10.15406/iratj.2019.05.00191

Chiraz Ben Jabeur

{"title":"Design of RTD-PID optimized neural networks controller for non-holonomic wheeled mobile robot","authors":"Chiraz Ben Jabeur","doi":"10.15406/iratj.2019.05.00191","DOIUrl":"https://doi.org/10.15406/iratj.2019.05.00191","url":null,"abstract":"In fact, many efforts have been devoted to the tracking control of the two-wheeled and non-holonomic mobile robots and many types of controllers were applied to overcome trajectory tracking problems. Some of them have been investigated based on conventional methods using PID control,2,3 robust control,4,5 sliding mode control,6–8 adaptive control.9,10 The others are based on artificial intelligence using fuzzy control11–13 and neural control.14–16 In fact, neural networks are recommended for intelligent control of nonlinear dynamic systems. Principally, this is due to two important properties of neural networks: their ability to learn, and their good performance for optimization. Nowadays, much attention is devoted to the use of neural networkbased control of mobile robots for trajectory following. The principle of the method is based on a multilayer feed-forward neural networks with back-propagation learning algorithm, and it has been shown that only one hidden layer can be largely sufficient to approximate any continuous functions. In,3 a PID-based neural network is developed for velocity and orientation, tracking control of a non-holonomic mobile robot that is appropriate for a kind of plant with nonlinearity uncertainties and disturbances.","PeriodicalId":54943,"journal":{"name":"International Journal of Robotics & Automation","volume":"1 1","pages":""},"PeriodicalIF":0.9,"publicationDate":"2019-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84228014","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Mosaic warfare: from philosophy to model to solutions 马赛克战争:从哲学到模型再到解决方案

IF 0.9 4区计算机科学

International Journal of Robotics & Automation Pub Date : 2019-09-09 DOI: 10.34121/1028-9763-2019-3-17-34

P. Sapaty

引用次数: 8

A philosophical analysis on the challenge of cultural context to AI translation 文化语境对人工智能翻译挑战的哲学分析

IF 0.9 4区计算机科学

International Journal of Robotics & Automation Pub Date : 2019-08-30 DOI: 10.15406/iratj.2019.05.00189

R. Dai

引用次数: 0

Mathematical models for inertial torques acting on a spinning ring 作用在旋转环上的惯性力矩的数学模型

IF 0.9 4区计算机科学

International Journal of Robotics & Automation Pub Date : 2019-08-30 DOI: 10.15406/iratj.2019.05.00188

R. Usubamatov

{"title":"Mathematical models for inertial torques acting on a spinning ring","authors":"R. Usubamatov","doi":"10.15406/iratj.2019.05.00188","DOIUrl":"https://doi.org/10.15406/iratj.2019.05.00188","url":null,"abstract":"Since the Industrial Revolution, researchers paid attention to the remarkable gyroscope properties of gyroscopic devices and tried to develop the gyroscope theory. The simplified theories of gyroscopes started to publish a hundred years ago.1–4 numerous publications described gyroscopic effects and applications in engineering but none of them explained the physics of gyroscope properties.5–7 the action of the gyroscopic effects is an important aspect of the science of classical mechanics. Fundamental textbooks and manuals have chapters of gyroscope theory.8,9 Many simplified approaches to gyroscope theory are dedicated to gyroscopic effects.10,11 All publications based on assumptions and described gyroscopic effects in terms only of the angular momentum.12–14 Researchers focused attention on the action of inertial forces on the gyroscope but did not represent mathematical models.15,16 The known theories of gyroscopic effects do not adequate to actual motions of rotating objects.17,18 Unsolved gyroscopic problems generated artificial terms as gyroscope resistance, gyroscopic effects and attributed fantastical properties to rotating objects.19,20 Still, gyroscopic effects attract researchers to find true theory.21,22 New investigations in the area of gyroscope theory discovered the action of the system of inertial torques on rotating objects. This work describes the application of new mathematical models for the system of inertial torques generated by the rotating mass of the spinning ring.","PeriodicalId":54943,"journal":{"name":"International Journal of Robotics & Automation","volume":"30 1","pages":""},"PeriodicalIF":0.9,"publicationDate":"2019-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79257014","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Ethical implications of emotional and psychologic ties on human-robot interaction (HRI)-mediated learning 人机交互(HRI)介导的学习中情感和心理联系的伦理含义

IF 0.9 4区计算机科学

International Journal of Robotics & Automation Pub Date : 2019-08-26 DOI: 10.15406/iratj.2019.05.00187

Edgar Giovanni Rodriguez Cuberos

{"title":"Ethical implications of emotional and psychologic ties on human-robot interaction (HRI)-mediated learning","authors":"Edgar Giovanni Rodriguez Cuberos","doi":"10.15406/iratj.2019.05.00187","DOIUrl":"https://doi.org/10.15406/iratj.2019.05.00187","url":null,"abstract":"The progressive development of the human-robot interaction (HRI) and the inclusion of Robots in different aspects of the live generate positive impacts on learning. However, the ethical implications derived from social interactions and the construction of affective and psychological bonds have not been studied in depth yet. The development and advancement of new robotic technologies, of artificial intelligence and, in particular, of the production of humanoids oriented to functions of accompaniment, entertainment or education,1 suggests the emergence of a new type of human subjectivity. The interaction with these new technologies is unprecedented and their anthropological and ethical implications are little studied so far. While it is true that there are large and dizzying technical advances in this field,1–5 reflective processes about what these advances imply for the human condition require greater attention. It is not only a matter of proposing a naive dystopian or utopian vision, but of constructing a field of trans disciplinary studies and researchD6–8 involving mechanisms of epistemological surveillance, ethical criticism and political effects as a sphere of human action that favors complementarily between technological developments and applications in everyday life and medical and psychological effects (Figure 1).","PeriodicalId":54943,"journal":{"name":"International Journal of Robotics & Automation","volume":"51 1","pages":""},"PeriodicalIF":0.9,"publicationDate":"2019-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85747253","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Artificial soft robotic elephant trunk made with ionic polymer-metal nanocomposites (IPMCs) 离子聚合物-金属纳米复合材料(IPMCs)制备的人工柔性机器象鼻

IF 0.9 4区计算机科学

International Journal of Robotics & Automation Pub Date : 2019-07-29 DOI: 10.15406/iratj.2019.05.00186

M. Shahinpoor, S EhsanTabatabaie

{"title":"Artificial soft robotic elephant trunk made with ionic polymer-metal nanocomposites (IPMCs)","authors":"M. Shahinpoor, S EhsanTabatabaie","doi":"10.15406/iratj.2019.05.00186","DOIUrl":"https://doi.org/10.15406/iratj.2019.05.00186","url":null,"abstract":"IPMCs or Ionic polymer–metal composites are electro active polymers (EAPs) and are capable of actuation, energy harvesting, and sensing capabilities among other properties. Thus, they are multi–functional smart materials that can be used in biomimetic soft robotics. They normally require a small electric field of a few V/mm and generate spectacular bending and flexing under small electric fields and generate transient voltage and currents output due to dynamic interaction with the environment. Environmental dynamics, like wind or ocean waves, makes them generate an output voltage and transient current of a few mVs for small samples (10mm x 40mm x 0.2mm). IPMCs are capable of operating in or under water or other polar liquids, like blood. Due to the imposed electric field, the conjugated cations electrophoretically migrate towards the cathode and thus expand the cathode side of the ionic membrane and thus bending towards the anode electrode is observed. Osmotic pressures are also instrumental in the migration of cations towards the cathode electrode. Shahinpoor, Bar–Cohen, Xue, Simpson, and Smith1–2 published an early version and review of IPMCs in 1998.1–2 See the pioneering works of Osada, Oguro, Kawami, Asaka, Takenaka and Shahinpoor,3–14 in the 1992–93periods. The electrodynamics of cations generation and transportation in IPMCs are governed by the Poisson– Nernst–Planck field equations15–24 Biomimetic soft robotic actuation like artificial muscles and sensing of these materials display artificial muscle behavior. For example, an applied voltage of 1 to 4 volts for a typical sample of the size 10mm x 80mm x 0.2mm typically produces spectacular bending (Figure 1).","PeriodicalId":54943,"journal":{"name":"International Journal of Robotics & Automation","volume":"1 1","pages":""},"PeriodicalIF":0.9,"publicationDate":"2019-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90371961","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Improvement of the automatic skinning approach for the JACO robotic arm based on a new weight-vertex distribution method 基于权重-顶点分布的JACO机械臂自动蒙皮方法改进

IF 0.9 4区计算机科学

International Journal of Robotics & Automation Pub Date : 2019-06-29 DOI: 10.15406/iratj.2019.05.00185

S. Majeed

引用次数: 0

Design and simulation of metamorphic lower limbs rehabilitation robot with two gaits modes 两种步态模式的变形下肢康复机器人设计与仿真

IF 0.9 4区计算机科学

International Journal of Robotics & Automation Pub Date : 2019-05-28 DOI: 10.15406/iratj.2019.05.00184

Jun Li, Jirong Wang, Yuhang Zheng, Yanrui Bi, Wenlong Wang

引用次数: 0

The heuristics of agency: on computation, big data & urban design 代理启发式:论计算、大数据与城市设计

IF 0.9 4区计算机科学

International Journal of Robotics & Automation Pub Date : 2019-05-24 DOI: 10.15406/iratj.2019.05.00183

Alexander Webb

引用次数: 1

System retraining to professional competences of cognitive robots on basis of communicative associative logic of technological thinking 基于技术思维的交际联想逻辑对认知机器人专业能力的系统再训练

IF 0.9 4区计算机科学

International Journal of Robotics & Automation Pub Date : 2019-05-16 DOI: 10.15406/iratj.2019.05.00182

E. Bryndin

引用次数: 16