Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5670141
A. Abe, Kazuma Komuro
This paper presents a trajectory planning method for saving the operating energy of a flexible manipulator in point-to-point (PTP) motion. An artificial neural network (ANN) is employed to generate the desired joint angle, and then, particle swarm optimization (PSO) is used as the learning algorithm. The sum of the motor torques is adopted as the objective function in the PSO algorithm. By operating the manipulator along the trajectory obtained using the proposed method, residual vibrations can also be suppressed. The applicability and effectiveness of the proposed trajectory planning method are confirmed by performing numerical simulation and verified by experimental results.
{"title":"Trajectory planning for saving energy of a flexible manipulator using soft computing methods","authors":"A. Abe, Kazuma Komuro","doi":"10.1109/ICCAS.2010.5670141","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670141","url":null,"abstract":"This paper presents a trajectory planning method for saving the operating energy of a flexible manipulator in point-to-point (PTP) motion. An artificial neural network (ANN) is employed to generate the desired joint angle, and then, particle swarm optimization (PSO) is used as the learning algorithm. The sum of the motor torques is adopted as the objective function in the PSO algorithm. By operating the manipulator along the trajectory obtained using the proposed method, residual vibrations can also be suppressed. The applicability and effectiveness of the proposed trajectory planning method are confirmed by performing numerical simulation and verified by experimental results.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115462928","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}
Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5669880
Yong-hwi Kim, B. Kim
A multi-robot task planning system is developed to minimize the total execution time for autonomous service robots in hospitals, which is essential for `autonomous generation of task commands' as an approach toward human-friendly human-robot interaction. In traditional approaches, a task planning system based on STRIPS (Stanford Research Institute Problem Solver) representation is widely used. Also the temporal planning is one of the issues in task planning area, since it still suffers some problems for single robots, and also it is not easy to apply to multi-robot environment yet. For our objective, we propose a new representation, named variable representation, based on STRIPS representation for specifying states and actions. Then we apply the A* algorithm for iterative search and extend for multi-robot task planning system. In order to guarantee safety, the multi-robot task planning system needs to check robots' collisions and should avoid robots' collisions. We propose collision check and avoidance algorithm, and integrate to the multi-robot task planning system.
为了最大限度地减少医院自主服务机器人的总执行时间，开发了一种多机器人任务规划系统，这对于“自主生成任务命令”作为一种人性化的人机交互方法至关重要。在传统方法中，基于斯坦福研究所问题求解器(Stanford Research Institute Problem Solver)表示的任务规划系统被广泛使用。时间规划是任务规划领域的研究热点之一，但在单机器人环境下仍然存在一些问题，在多机器人环境下也不容易应用。为了实现我们的目标，我们提出了一种新的表示，称为变量表示，基于条带表示来指定状态和动作。然后将A*算法应用于迭代搜索并扩展到多机器人任务规划系统。为了保证安全，多机器人任务规划系统需要对机器人的碰撞进行检测，并避免机器人的碰撞。提出了碰撞检测和避免算法，并将其集成到多机器人任务规划系统中。
{"title":"A multi-robot task planning system minimizing the total execution time for hospital service","authors":"Yong-hwi Kim, B. Kim","doi":"10.1109/ICCAS.2010.5669880","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669880","url":null,"abstract":"A multi-robot task planning system is developed to minimize the total execution time for autonomous service robots in hospitals, which is essential for `autonomous generation of task commands' as an approach toward human-friendly human-robot interaction. In traditional approaches, a task planning system based on STRIPS (Stanford Research Institute Problem Solver) representation is widely used. Also the temporal planning is one of the issues in task planning area, since it still suffers some problems for single robots, and also it is not easy to apply to multi-robot environment yet. For our objective, we propose a new representation, named variable representation, based on STRIPS representation for specifying states and actions. Then we apply the A* algorithm for iterative search and extend for multi-robot task planning system. In order to guarantee safety, the multi-robot task planning system needs to check robots' collisions and should avoid robots' collisions. We propose collision check and avoidance algorithm, and integrate to the multi-robot task planning system.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"444 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116561044","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}
Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5670266
E. Joung
In the platform of the urban transit system, a certain gap is inevitably made between the subway vehicle and the platform, and the gap gets wider in the curved area of the platform. This gap contributes to decrease passengers' safety. Especially, it endangers children's safety. Nowadays plug-in type doors are installed in the newly designed urban transit system. It is worldwide trend to reduce the noise coming from the outer side of vehicle. But this plug-in door basically needs wider gap between door and platform and it maybe raise a serious accident. Sliding step is suggested to minimize gap and to overcome this safety problem at platform. In this paper, we presents development process for sliding step, trends of sliding step, development plan, technical description and etc. In this study, we has considered safe operation of the subway vehicle when sliding step are operated closely related to the doors, and explored the possibilities to put it into practical use.
{"title":"Sliding step for the disabled in the railway vehicle","authors":"E. Joung","doi":"10.1109/ICCAS.2010.5670266","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670266","url":null,"abstract":"In the platform of the urban transit system, a certain gap is inevitably made between the subway vehicle and the platform, and the gap gets wider in the curved area of the platform. This gap contributes to decrease passengers' safety. Especially, it endangers children's safety. Nowadays plug-in type doors are installed in the newly designed urban transit system. It is worldwide trend to reduce the noise coming from the outer side of vehicle. But this plug-in door basically needs wider gap between door and platform and it maybe raise a serious accident. Sliding step is suggested to minimize gap and to overcome this safety problem at platform. In this paper, we presents development process for sliding step, trends of sliding step, development plan, technical description and etc. In this study, we has considered safe operation of the subway vehicle when sliding step are operated closely related to the doors, and explored the possibilities to put it into practical use.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122290646","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}
Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5669876
D. Truong, K. Ahn, D. N. C. Nam, J. Yoon
An ion polymer metal composite (IPMC) is an electro-active polymer that bends in response to a small applied electrical field as a result of mobility of cations in the polymer network and vice versa. This paper presents a novel accurate nonlinear black-box model (NBBM) for estimating the bending behavior of IPMC. The NBBM is based on a recurrent multi-layer perceptron neural network (RMLPNN) and a self-adjustable learning mechanism (SALM). The model parameters are optimized by using training data. A comparison of the estimated and real IPMC bending characteristic has been done to investigate the modeling ability of the designed NBBM.
{"title":"Estimation of bending behavior of an ionic polymer metal composite actuator using a nonlinear black-box model","authors":"D. Truong, K. Ahn, D. N. C. Nam, J. Yoon","doi":"10.1109/ICCAS.2010.5669876","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669876","url":null,"abstract":"An ion polymer metal composite (IPMC) is an electro-active polymer that bends in response to a small applied electrical field as a result of mobility of cations in the polymer network and vice versa. This paper presents a novel accurate nonlinear black-box model (NBBM) for estimating the bending behavior of IPMC. The NBBM is based on a recurrent multi-layer perceptron neural network (RMLPNN) and a self-adjustable learning mechanism (SALM). The model parameters are optimized by using training data. A comparison of the estimated and real IPMC bending characteristic has been done to investigate the modeling ability of the designed NBBM.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114156949","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}
Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5670234
I. Alvarez, A. Poznyak
Traffic congestion is an issue in every major city. Among many approaches the game theory has presented feasible solutions. In this paper, a noncooperative approach which gives rise to a noncooperative game is studied, we propose to model signalized intersections as finite controlled Markov chains and a solution to optimize the congestion into an avenue. Each intersection is seen as noncooperative game where each player try to minimize its queue, so ϵ-Nash's equilibrium and Stackelberbg equilibrium are the solutions. This paper is focused on the traffic light control problem for urban traffic, using Game Theory and Extraproximal Method for its realization. The examples show the effectiveness of the suggested approach.
{"title":"Game theory applied to urban traffic control problem","authors":"I. Alvarez, A. Poznyak","doi":"10.1109/ICCAS.2010.5670234","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670234","url":null,"abstract":"Traffic congestion is an issue in every major city. Among many approaches the game theory has presented feasible solutions. In this paper, a noncooperative approach which gives rise to a noncooperative game is studied, we propose to model signalized intersections as finite controlled Markov chains and a solution to optimize the congestion into an avenue. Each intersection is seen as noncooperative game where each player try to minimize its queue, so ϵ-Nash's equilibrium and Stackelberbg equilibrium are the solutions. This paper is focused on the traffic light control problem for urban traffic, using Game Theory and Extraproximal Method for its realization. The examples show the effectiveness of the suggested approach.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114395922","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}
Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5669744
Y. Hayakawa, Yuya Taguchi
It is reported that the rate of elderly person in the total population of Japan is about 21.5% in 2007. Thus, the recent society of Japan is called as “Elderly Society”. In the society, many elderly people work or enjoy walking to keep health. However, some problems with respect to stumble over of elderly people are occurred. That is to say, in recent years, accidents of bone fracture with elderly people increase because of tendency to fall by a little step in a house. As one of this cause, it is considered that a center of gravity position with foot parts is changed. Therefore, in order to solve this problem, we propose a new type of high performance insole by making use of sponge-core-soft rubber actuator (SCSRA). In this study, we indicate the structure of the insole. Further, the basic characteristics of the insole are clarified through some experimental results.
{"title":"Development of high performance shoes to measure human walking","authors":"Y. Hayakawa, Yuya Taguchi","doi":"10.1109/ICCAS.2010.5669744","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669744","url":null,"abstract":"It is reported that the rate of elderly person in the total population of Japan is about 21.5% in 2007. Thus, the recent society of Japan is called as “Elderly Society”. In the society, many elderly people work or enjoy walking to keep health. However, some problems with respect to stumble over of elderly people are occurred. That is to say, in recent years, accidents of bone fracture with elderly people increase because of tendency to fall by a little step in a house. As one of this cause, it is considered that a center of gravity position with foot parts is changed. Therefore, in order to solve this problem, we propose a new type of high performance insole by making use of sponge-core-soft rubber actuator (SCSRA). In this study, we indicate the structure of the insole. Further, the basic characteristics of the insole are clarified through some experimental results.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"222 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122048388","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}
Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5670137
B. Kwon, Youngjin Park, Youn-sik Park
Techniques to estimate the time delay of arrival (TDOA) using the measurements of the acoustic signals by microphones have been studied in various fields such as the robot auditory system, teleconference system and speech recognition system. One common method of determining TDOA is to compute the cross correlation function. The Generalized Cross Correlation (GCC) method, which calculates the correlation function by using inverse Fourier transformation of the cross power spectral density function multiplied by the proper weighting function, was proposed by Knapp and Cater in 1976. This method analyzed the weighting functions to estimate the optimal TDOA for a single source. In this paper, we derived the cross correlation function by GCC method with PHAT weighting function for multiple sources and ascertained the relationship between the correlation value and source characteristics. Moreover, we compared the derived GCC function for two sources case with the real GCC function calculated by the actual signals and verified their similarity.
{"title":"Analysis of the GCC-PHAT technique for multiple sources","authors":"B. Kwon, Youngjin Park, Youn-sik Park","doi":"10.1109/ICCAS.2010.5670137","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670137","url":null,"abstract":"Techniques to estimate the time delay of arrival (TDOA) using the measurements of the acoustic signals by microphones have been studied in various fields such as the robot auditory system, teleconference system and speech recognition system. One common method of determining TDOA is to compute the cross correlation function. The Generalized Cross Correlation (GCC) method, which calculates the correlation function by using inverse Fourier transformation of the cross power spectral density function multiplied by the proper weighting function, was proposed by Knapp and Cater in 1976. This method analyzed the weighting functions to estimate the optimal TDOA for a single source. In this paper, we derived the cross correlation function by GCC method with PHAT weighting function for multiple sources and ascertained the relationship between the correlation value and source characteristics. Moreover, we compared the derived GCC function for two sources case with the real GCC function calculated by the actual signals and verified their similarity.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122231374","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}
Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5669843
Jun-Sang Park, Hyun-Wook Jo, Jun-Han Oh, Jong-Tae Lim
This paper considers metric based nonblocking supervisory control of discrete event systems (DESs). We introduce the definition of metric indicating distace from one state to other state. The states are paritioned into nonblocked states and blocked states based on metric. Then, we suggest the control law for supervisor which blocks blocks the event sequences from nonblocked states to blocked states. Moreover, we prove that the supervisory controller following the control law is nonblocking when the conditions are satisfied. Through the simple memory example, we show that the trade-off between efficiency and robustness can be easily controlled.
{"title":"Metric based nonblocking supervisory control of discrete event systems","authors":"Jun-Sang Park, Hyun-Wook Jo, Jun-Han Oh, Jong-Tae Lim","doi":"10.1109/ICCAS.2010.5669843","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669843","url":null,"abstract":"This paper considers metric based nonblocking supervisory control of discrete event systems (DESs). We introduce the definition of metric indicating distace from one state to other state. The states are paritioned into nonblocked states and blocked states based on metric. Then, we suggest the control law for supervisor which blocks blocks the event sequences from nonblocked states to blocked states. Moreover, we prove that the supervisory controller following the control law is nonblocking when the conditions are satisfied. Through the simple memory example, we show that the trade-off between efficiency and robustness can be easily controlled.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116723521","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}
Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5670181
K. Suwanratchatamanee, M. Matsumoto, S. Hashimoto
This paper presents a tactile sensing system for humanoid robot and an active tactile sensing technique to enable the humanoid robot to walk on the slopes autonomously. We introduce a novel method of walking pattern generation by applying the proposed technique to the biped humanoid robot. Our aim is to simplify the walking control by utilizing a real time tactile feedback instead of the complex ZMP calculations. We employ the minimum number of sensing elements with a specialized layout to the soles of robotic feet to enable the robot to walk on different uneven grounds. The effectiveness of the proposed method was confirmed by walking experiments with a 17 degree-of-freedoms, DOFs humanoid robot platform. The experiments show that the robot can perform balanced walking on the upward and downward slopes. In these experiments, information about ground floor or robot orientation is not required in advance.
{"title":"Walking on the slopes with tactile sensing system for humanoid robot","authors":"K. Suwanratchatamanee, M. Matsumoto, S. Hashimoto","doi":"10.1109/ICCAS.2010.5670181","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670181","url":null,"abstract":"This paper presents a tactile sensing system for humanoid robot and an active tactile sensing technique to enable the humanoid robot to walk on the slopes autonomously. We introduce a novel method of walking pattern generation by applying the proposed technique to the biped humanoid robot. Our aim is to simplify the walking control by utilizing a real time tactile feedback instead of the complex ZMP calculations. We employ the minimum number of sensing elements with a specialized layout to the soles of robotic feet to enable the robot to walk on different uneven grounds. The effectiveness of the proposed method was confirmed by walking experiments with a 17 degree-of-freedoms, DOFs humanoid robot platform. The experiments show that the robot can perform balanced walking on the upward and downward slopes. In these experiments, information about ground floor or robot orientation is not required in advance.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128388543","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}
Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5670220
Hye-Kyung Cho, Y. Ryuh, Byoungsoo Kim
This work shows how robotics technology can contribute to making our society more creative and interactive. In a contest organized by the authors, we provided a controller, where several pre-programmed reactions are installed, to family-based participants who are familiar neither with robotics nor with computer programming. After three hours of training, they were encouraged to apply the reactive behaviors to create and express their own idea by combining a relevant sensor input and an actuator movement. People could easily apply those simple reactions in building their own interactive creatures without programming the controller.
{"title":"Interaction without programming: An effective use of pre-programmed reactions in a creation & expression contest","authors":"Hye-Kyung Cho, Y. Ryuh, Byoungsoo Kim","doi":"10.1109/ICCAS.2010.5670220","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670220","url":null,"abstract":"This work shows how robotics technology can contribute to making our society more creative and interactive. In a contest organized by the authors, we provided a controller, where several pre-programmed reactions are installed, to family-based participants who are familiar neither with robotics nor with computer programming. After three hours of training, they were encouraged to apply the reactive behaviors to create and express their own idea by combining a relevant sensor input and an actuator movement. People could easily apply those simple reactions in building their own interactive creatures without programming the controller.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128353345","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}
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