The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
To enhance the affinity between humans and robots, we have attempted to give a robot "consciousness" and ??emotion?? such as that identified in humans and animals. A hierarchical structure model has been developed to connect the robot's consciousness with the robot's behavior. However, it is difficult to autonomously control the timing that changes the consciousness and behavior of the robot...
This paper presents the application of genetic algorithm (ga) and ant colony optimization (ACO) algorithm for robot path planning (RPP) in global static environment. Both algorithms were applied within global maps that consist of different number of free space nodes. These nodes generally represent the free space extracted from the robot map. Performances between both algorithms were compared and...
In this paper, we introduce the experimental test platform for bio-insect and artificial robot interaction based on distributed systems (BRIDS). The main architecture of the BRIDS was reported in and simulation results were introduced. One of the most challenging problems of BRIDS is that a bio-insect does not usually react to actuation. When we try to stimulate the bio-insect for our purpose, its...
In this paper, we propose a face detection framework that combines both feature, and skin pixel approaches, while making the framework self adaptive which is important for non controlled environmental conditions. The framework uses skin color information to reduce the search space for faces by localizing the probable skin regions using a mixture of multivariate Gaussians whose parameters are first...
The trajectory tracking control problem of nonholonomic mobile robots with parameter uncertainties has been analyzed. The kinematics and dynamical models of mobile robots are taken into account, the control rule based on the kinematics model is taken as desired virtual control, and the adaptive sliding mode controller is designed, as the controller take into account both kinematics and dynamical model,...
In this paper, a new active suspension control scheme is proposed in which the tire deflections are not required. The controller has good property that we can specify a location where the ride comfort becomes best. To achieve this end, a combined ideal vehicle is designed. In the ideal vehicle, the location where ride comfort becomes best can be moved by setting only one design parameter. Next, to...
Pet has been serving as an emotional companion to people. However, nowadays it is common that people are too busy to take care of their pet due to everyday work. This research is to see the possibility that robot can replace the role of taking care of pets on behalf of their owner and the conventional human-robot interaction (HRI) can be extended to the interaction of robots and animals. In this paper,...
This paper deals with environment reconstruction in informationally structured space used for pocket robot partners. The environmental information is measured through the sensor network, and is stored in the remote host computer. The pocket robot partner accesses the environment information through wireless LAN, and receives a 3D model of the environment including people and other robots. Therefore,...
The forward kinematics of the general Gough platform, namely the 6-6 parallel manipulator is solved using hybrid meta-heuristic techniques in which the simulated annealing algorithm replaces the mutation operator in a genetic algorithm. The results are compared with the standard simulated annealing and genetic algorithm. It shows that the standard simulated annealing algorithm outperforms standard...
The forward kinematic of the 3-RPR parallel manipulator is solved using a hybrid meta-heuristic technique where the simulated annealing algorithm replaces the mutation operator in a genetic algorithm. The results from the hybrid meta-heuristic approach is compared with the standard simulated annealing and genetic algorithm. The results show that the simulated annealing algorithm outperforms genetic...
In the symptom feature discovery, genetic programming has the shortage of premature convergence. So a new feature generation method based on immune programming is put forward. The new features are constructed by polynomial expressions of the original features. And then, with the immune operators such as antibody representation and mutation of tree-like structure, affinity function defined by classification...
New hybrid cultural algorithm with local search (HCALS) is introduced to solve traveling salesman problem (TSP). The algorithm integrates the local search method into the cultural algorithm which uses social intelligence to guide and lead individuals in the population. Better solutions can be attained by controlling individuals which are locally optimized by the local search methods. The combination...
Micro-Macro manipulators are considered as a solution for applications which needs precise manipulation within a large work space. Such systems consists of two parts i.e. a flexible large manipulator - Macro - and a rigid short manipulator - Micro. There are many cases in which the mathematical description of desired path is unknown. In such cases one of the best solutions would be to use a master-slave...
This paper presents a novel sensorless force control algorithm for Multi-degree-of-freedom flexible systems which enables controlling the interaction forces with the environment without using force sensors. The coupled nature of flexible system dynamics makes it possible to estimate externally applied forces or torques that arise due to system's interaction with the environment. Disturbance and flexibility...
Robocup rescue simulation system is a suitable test-bed for test and evaluation of multi-agent system's related ideas and techniques. Hence, the world robocup competitions are held each year and the used ideas and techniques are evaluated in the form of different teams. In rescue simulation system, at the start of simulation, police agents should search and explore the earthquake area and open the...
This article introduces the development of a fast 3D active vision system, and a new concept based on space decomposition into virtual planes to support 3D real time obstacle detection during the navigation mission of autonomous mobile robots. This system uses the richness and the strength of the vision while reducing the data load, and computational cost by encoding coarsely the working space using...
Gestures, due to their natural modality, can be normally used in human-computer interaction (HCI) domains such as robotics, design environments and handheld devices. In this paper, a single wrist-mounted triaxial accelerometer is used to collect the acceleration data generated by hand movements forming 36 different gestures. This study intends to find the gestures which are capable of controlling...
This work proposes a theoretical approach of gain-scheduled fuzzy PI control design based on gain and phase margins specifications for LPV (linear and parameters varying) systems, in the continuous time domain. A mathematical formulation from the Takagi-Sugeno fuzzy model structure as well as the PDC (parallel distributed compensation) strategy is developed. Analytical formulas are deduced for the...
We present a novel control architecture for execution of multiple tasks simultaneously. Traditionally, the task control architecture of a service robot has been focused on executing one task at a time. This has mainly been due to the history of mobility being the only function and tasks being so simple that just one or two abstract commands have been sufficient. During the last decade, these requirements...
We proposed a compressed sensing Super Resolution algorithm based on wavelet. The proposed algorithm performs well with a smaller quantity of training image patches and outputs images with satisfactory subjective quality. It is tested on classical images commonly adopted by Super Resolution researchers with both generic and specialized training sets for comparison with other popular commercial software...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.