The development of humanoid robots has great advantages[1] including economically efficient, appreciation-worthy, and etc. This paper proposes an omnidirectional gait generation mode based on linear centroid motion and the cubic spline interpolation. And then, based on the ZMP stability criterion, online feedback regulation is conducted on the robots' centroid according to the positional relationship of the centroid and ZMP. The result of the simulation verifies that the method can effectively implement a fast and stable omnidirectional walk for the humanoid robots.
{"title":"Humanoid robot's omnidirectional walking","authors":"Shixiong Wang, Mengkai Hu, Haobin Shi, Shuge Zhang, Xuesi Li, Wenyan Li","doi":"10.1109/ICINFA.2015.7279317","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279317","url":null,"abstract":"The development of humanoid robots has great advantages[1] including economically efficient, appreciation-worthy, and etc. This paper proposes an omnidirectional gait generation mode based on linear centroid motion and the cubic spline interpolation. And then, based on the ZMP stability criterion, online feedback regulation is conducted on the robots' centroid according to the positional relationship of the centroid and ZMP. The result of the simulation verifies that the method can effectively implement a fast and stable omnidirectional walk for the humanoid robots.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124107818","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 : 2015-10-01DOI: 10.1109/ICINFA.2015.7279804
Siming Ma, Qijun Chen
The dynamic characteristics tracking system of maglev train gets speed curve and current position of the maglev train by monitoring and calculating data from traction linear motor system to ensure the maglev train be safe under any circumstances. The key to solve this problem is to make sure the system has high performance of communication and real-time computing ability. This paper gives a novel design of hardware and software implementation of the dynamic characteristics tracking system. The hardware solutions include FPGA execution device, UDP and RS485 communication interface. The software platform is finished under LabVIEW environment. It is proved that the calculation and communication of the whole system is completion within 3ms. The experimental results shows that the whole system meet requirements of real-time, stability and reliability.
{"title":"Design and implementation of dynamic characteristics tracking system of maglev train based on real-time target and communication interface","authors":"Siming Ma, Qijun Chen","doi":"10.1109/ICINFA.2015.7279804","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279804","url":null,"abstract":"The dynamic characteristics tracking system of maglev train gets speed curve and current position of the maglev train by monitoring and calculating data from traction linear motor system to ensure the maglev train be safe under any circumstances. The key to solve this problem is to make sure the system has high performance of communication and real-time computing ability. This paper gives a novel design of hardware and software implementation of the dynamic characteristics tracking system. The hardware solutions include FPGA execution device, UDP and RS485 communication interface. The software platform is finished under LabVIEW environment. It is proved that the calculation and communication of the whole system is completion within 3ms. The experimental results shows that the whole system meet requirements of real-time, stability and reliability.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123732580","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 : 2015-10-01DOI: 10.1109/ICINFA.2015.7279529
Pengcheng Zheng, Mingming Jiang, Mei-ping Wu, Song Li
Based on the reference model of the multiplication removal quick second-order low-pass filter and state machine implementation through timing sequence instruction, the paper proposes the designing method of the state machine for multi-frequency point IIR low-pass digital filter. Thus, it sets to meet the requirements of multi-frequency and quick filtering in the digital digital processing system. It then verifies the correctness and feasibility of the functions of filter state machine through ModelSim simulation. At last, it optimizes the performance of quick second-order low-pass filter through cascading method and realizes sound application in the silicon micro-machined gyroscope digital measurement and control system.
{"title":"The designing of the state machine for multi-frequency IIR low-pass digital filter","authors":"Pengcheng Zheng, Mingming Jiang, Mei-ping Wu, Song Li","doi":"10.1109/ICINFA.2015.7279529","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279529","url":null,"abstract":"Based on the reference model of the multiplication removal quick second-order low-pass filter and state machine implementation through timing sequence instruction, the paper proposes the designing method of the state machine for multi-frequency point IIR low-pass digital filter. Thus, it sets to meet the requirements of multi-frequency and quick filtering in the digital digital processing system. It then verifies the correctness and feasibility of the functions of filter state machine through ModelSim simulation. At last, it optimizes the performance of quick second-order low-pass filter through cascading method and realizes sound application in the silicon micro-machined gyroscope digital measurement and control system.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"171 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114109401","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 : 2015-10-01DOI: 10.1109/ICINFA.2015.7279787
Junxiang Ding, Fang Gao, Xuan Wei, Yongping Wang, H. Pan, Yubing Wang, Yujian Ge
This paper proposes two decoupling methods for a flexible tactile sensor, improved back propagation neural network (BPNN) and radical basis function neural network (RBFNN). In the numerical experiments, the number of hidden layer nodes of the BPNN is optimized and k-fold-cross-validation (k-CV) method is also applied to construct the dataset. Information of the tactile sensor array at different scales is also used to construct the BPNN. RBFNN is applied to approach the nonlinear relationship between the deformation and the three-dimensional force of the tactile sensor numerical model built through finite element analysis. The decoupling results show that the RBFNN with high nonlinear approximation ability has good performance in decoupling three-dimensional force and satisfies both the decoupling accuracy and real-time requirements of the tactile sensor. Different white Gaussian noises (WGN) are added into the ideal model of the flexible tactile sensors. Then the modified RBFNN is applied to approximate and decouple the mapping relationship between row-column resistance with WGNs and the three-dimensional deformation. Numerical experiments demonstrate that the improved RBFNN doesn't rely on the mathematical model of the system and has good anti-noise ability and robustness.
{"title":"BP and RBF neural network in decoupling research on flexible tactile sensors","authors":"Junxiang Ding, Fang Gao, Xuan Wei, Yongping Wang, H. Pan, Yubing Wang, Yujian Ge","doi":"10.1109/ICINFA.2015.7279787","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279787","url":null,"abstract":"This paper proposes two decoupling methods for a flexible tactile sensor, improved back propagation neural network (BPNN) and radical basis function neural network (RBFNN). In the numerical experiments, the number of hidden layer nodes of the BPNN is optimized and k-fold-cross-validation (k-CV) method is also applied to construct the dataset. Information of the tactile sensor array at different scales is also used to construct the BPNN. RBFNN is applied to approach the nonlinear relationship between the deformation and the three-dimensional force of the tactile sensor numerical model built through finite element analysis. The decoupling results show that the RBFNN with high nonlinear approximation ability has good performance in decoupling three-dimensional force and satisfies both the decoupling accuracy and real-time requirements of the tactile sensor. Different white Gaussian noises (WGN) are added into the ideal model of the flexible tactile sensors. Then the modified RBFNN is applied to approximate and decouple the mapping relationship between row-column resistance with WGNs and the three-dimensional deformation. Numerical experiments demonstrate that the improved RBFNN doesn't rely on the mathematical model of the system and has good anti-noise ability and robustness.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"233 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113972519","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 : 2015-10-01DOI: 10.1109/ICINFA.2015.7279692
F. Gao, D. Dang, S. Li
Platoon driving is critical to improve safety, efficiency, and fuel economy. This paper presents a control method for heterogeneous vehicular platoons with uncertain dynamics and uniform communication delay. The requirements of string stability, robustness and tracking performance are measured by H-infinity norm and satisfied by casting into a linear fractional transformation (LFT) format. A delay-dependent linear matrix inequality (LMI) is derived to numerically solve the decentralized controllers. Many communication topologies can be covered by properly formulating the structure of LMI. The robust stability and performance of the platoon is analyzed theoretically by using a delay-dependent Lyapunov function including a linear quadratic function of states during the delay period. Simulations using a nonlinear vehicle model were conducted to demonstrate the effectiveness of the H-infinity controllers under the conditions of different vehicle mass, time constant and communication delay.
{"title":"Control of a heterogeneous vehicular platoon with uniform communication delay","authors":"F. Gao, D. Dang, S. Li","doi":"10.1109/ICINFA.2015.7279692","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279692","url":null,"abstract":"Platoon driving is critical to improve safety, efficiency, and fuel economy. This paper presents a control method for heterogeneous vehicular platoons with uncertain dynamics and uniform communication delay. The requirements of string stability, robustness and tracking performance are measured by H-infinity norm and satisfied by casting into a linear fractional transformation (LFT) format. A delay-dependent linear matrix inequality (LMI) is derived to numerically solve the decentralized controllers. Many communication topologies can be covered by properly formulating the structure of LMI. The robust stability and performance of the platoon is analyzed theoretically by using a delay-dependent Lyapunov function including a linear quadratic function of states during the delay period. Simulations using a nonlinear vehicle model were conducted to demonstrate the effectiveness of the H-infinity controllers under the conditions of different vehicle mass, time constant and communication delay.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124047395","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 : 2015-10-01DOI: 10.1109/ICINFA.2015.7279265
Chunbao Wang, Lin Wang, J. Qin, Zhengzhi Wu, L. Duan, Zhongqiu Li, Meiqun Cao, Weiguang Li, Zhijiang Lu, Mengjie Li, Yulong Wang, J. Long, Meiling Huang, Yinghong Li, Qiuhong Wang
Making use of rehabilitation robot to replace traditional therapist rehabilitation on hemiplegic rehabilitation has been a fashion trend. There are many ankle rehabilitation robots are proposed. However all of them are only focusing on providing a passive training to the patient. In this paper, we will present the frame work on designing a novel ankle robot which combines the active training with passive training together. To get the design basis, an experiment to detect the ankle physiology data is established. Additionally, an ankle rehabilitation robot with three degrees is proposed. This robot embeds force sensors and position sensors to detect the dynamic movements of the ankle. The detail design of the mechanism is introduced. The mechanical structure includes pedal parts, thigh fixing parts, base, driving unit and sensing unit. Comparing with the other ankle rehabilitation robots, this robot uses three blushless motors to direct three rotation motions directly, and the whole structure is simple and reliable. Control system is also introduced in this paper. In order to test the performance of control system, two experiments are established to test the velocity respond and positioning accuracy. Results show that the system has a nice rapidity, stability and accuracy.
{"title":"Development of an ankle rehabilitation robot for ankle training","authors":"Chunbao Wang, Lin Wang, J. Qin, Zhengzhi Wu, L. Duan, Zhongqiu Li, Meiqun Cao, Weiguang Li, Zhijiang Lu, Mengjie Li, Yulong Wang, J. Long, Meiling Huang, Yinghong Li, Qiuhong Wang","doi":"10.1109/ICINFA.2015.7279265","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279265","url":null,"abstract":"Making use of rehabilitation robot to replace traditional therapist rehabilitation on hemiplegic rehabilitation has been a fashion trend. There are many ankle rehabilitation robots are proposed. However all of them are only focusing on providing a passive training to the patient. In this paper, we will present the frame work on designing a novel ankle robot which combines the active training with passive training together. To get the design basis, an experiment to detect the ankle physiology data is established. Additionally, an ankle rehabilitation robot with three degrees is proposed. This robot embeds force sensors and position sensors to detect the dynamic movements of the ankle. The detail design of the mechanism is introduced. The mechanical structure includes pedal parts, thigh fixing parts, base, driving unit and sensing unit. Comparing with the other ankle rehabilitation robots, this robot uses three blushless motors to direct three rotation motions directly, and the whole structure is simple and reliable. Control system is also introduced in this paper. In order to test the performance of control system, two experiments are established to test the velocity respond and positioning accuracy. Results show that the system has a nice rapidity, stability and accuracy.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"409 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127601393","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}
For conveniently analyzing semantic and updating data, it is urgent to unify the expression forms of bitemporal information in Bitemporal Conceptual Data Model (BCDM). In this paper, we firstly summary three typical forms about bitemporal information expression and extract temporal characteristics of entity attributes; then we present the transfer conditions between any two of the three forms and corresponding transfer methods; finally we propose a simple and unified form of bitemporal information expression and offer necessary proofs. Experimental study indicates that this unified standardization form favors the continuity and repeatability meaning of entity within the valid times, and effectively decrease the information storage space and operation response time.
{"title":"Standardization on bitemporal information representation in BCDM","authors":"Chunlei Yang, Xiangluo Wang, Mingchuan Zhang, R. Zheng, Wangyang Wei, Ying Lou","doi":"10.1109/ICINFA.2015.7279627","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279627","url":null,"abstract":"For conveniently analyzing semantic and updating data, it is urgent to unify the expression forms of bitemporal information in Bitemporal Conceptual Data Model (BCDM). In this paper, we firstly summary three typical forms about bitemporal information expression and extract temporal characteristics of entity attributes; then we present the transfer conditions between any two of the three forms and corresponding transfer methods; finally we propose a simple and unified form of bitemporal information expression and offer necessary proofs. Experimental study indicates that this unified standardization form favors the continuity and repeatability meaning of entity within the valid times, and effectively decrease the information storage space and operation response time.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128020613","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 : 2015-10-01DOI: 10.1109/ICINFA.2015.7279440
Peng Yang, H Zhao, Zhonggui Bao
Interest of detecting covert timing channels is increasing rapidly. A lot of exploitation has been done on the construction and detection of covert timing channels over the internet. But the detection of covert timing channels is a challenging task because legitimate network traffic is so various that it's hard to detect and distinguish. The existing detection approaches are not so effective to detect the variety of covert timing channels known to security community. In this paper, we first review some typical detection methods of covert timing channels and then evaluate every approach. After that we introduce a new model-based approach to detecting various covert timing channels. Our new approach is based on the probability model that covert timing channels have different distribution from the legitimate channels. At last, we do an experiment to confirm the effectiveness of our model-based approach. The experiment result shows that our model-based approach is sensitive to the current timing channels, and is capable of detecting them in an accurate manner.
{"title":"A probability-model-based approach to detect covert timing channel","authors":"Peng Yang, H Zhao, Zhonggui Bao","doi":"10.1109/ICINFA.2015.7279440","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279440","url":null,"abstract":"Interest of detecting covert timing channels is increasing rapidly. A lot of exploitation has been done on the construction and detection of covert timing channels over the internet. But the detection of covert timing channels is a challenging task because legitimate network traffic is so various that it's hard to detect and distinguish. The existing detection approaches are not so effective to detect the variety of covert timing channels known to security community. In this paper, we first review some typical detection methods of covert timing channels and then evaluate every approach. After that we introduce a new model-based approach to detecting various covert timing channels. Our new approach is based on the probability model that covert timing channels have different distribution from the legitimate channels. At last, we do an experiment to confirm the effectiveness of our model-based approach. The experiment result shows that our model-based approach is sensitive to the current timing channels, and is capable of detecting them in an accurate manner.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127963703","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 : 2015-10-01DOI: 10.1109/ICINFA.2015.7279253
Yunquan Li, Michael Z. Q. Chen, Yonghua Chen, J. Lam
This paper proposes a novel tree-climbing robot called O-M-Climber, which is driven by only one motor. The climbing principle imitates the bionic climbing approach. Main features include a two-shaft linkage mechanism connected with several cam-slider devices to perform alternating movement of the claws. The claws maintain the robot on the tree, imitating the structure of climbing irons. This novel design provides a specific mechanical structure that enables the climbing motion with minimal input power. The development process of the robot is described and the motion simulation analysis results are presented. A simplified O-M-Climber prototype is also demonstrated.
本文提出了一种新型爬树机器人o - m -攀登者，该机器人仅由一个电机驱动。攀爬原理模仿仿生攀爬方法。主要特点包括一个双轴联动机构，连接多个凸轮滑块装置，实现爪的交替运动。爪子模仿攀爬铁的结构，使机器人保持在树上。这种新颖的设计提供了一种特殊的机械结构，使爬坡运动以最小的输入功率。介绍了该机器人的研制过程，并给出了运动仿真分析结果。还演示了一个简化的o - m -攀登者原型。
{"title":"Design of a one-motor tree-climbing robot","authors":"Yunquan Li, Michael Z. Q. Chen, Yonghua Chen, J. Lam","doi":"10.1109/ICINFA.2015.7279253","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279253","url":null,"abstract":"This paper proposes a novel tree-climbing robot called O-M-Climber, which is driven by only one motor. The climbing principle imitates the bionic climbing approach. Main features include a two-shaft linkage mechanism connected with several cam-slider devices to perform alternating movement of the claws. The claws maintain the robot on the tree, imitating the structure of climbing irons. This novel design provides a specific mechanical structure that enables the climbing motion with minimal input power. The development process of the robot is described and the motion simulation analysis results are presented. A simplified O-M-Climber prototype is also demonstrated.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115809703","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 : 2015-10-01DOI: 10.1109/ICINFA.2015.7279638
Weiguang Li, Guoqiang Ye, Hao Wan, Shaohua Zheng, Zhijiang Lu
In order to improve the performance of image based visual servoing (IBVS) system, a novel moments based method with good decoupling and linearizing properties is proposed. Two virtual moments are designed to decouple the rotational motions around x-axis and y-axis of camera frame. Support vector machine regression method is proposed to learn the mapping model from four moment invariants to the virtual moments. With ESM and resolved-rate methods, the robotics IBVS controller is designed combing virtual moments and other four classical moment-combination features. Simulation results are provided to illustrate the effectiveness and optimal performance of the virtual moments and the proposed robotics IBVS controller.
{"title":"Decoupled control for visual servoing with SVM-based virtual moments","authors":"Weiguang Li, Guoqiang Ye, Hao Wan, Shaohua Zheng, Zhijiang Lu","doi":"10.1109/ICINFA.2015.7279638","DOIUrl":"https://doi.org/10.1109/ICINFA.2015.7279638","url":null,"abstract":"In order to improve the performance of image based visual servoing (IBVS) system, a novel moments based method with good decoupling and linearizing properties is proposed. Two virtual moments are designed to decouple the rotational motions around x-axis and y-axis of camera frame. Support vector machine regression method is proposed to learn the mapping model from four moment invariants to the virtual moments. With ESM and resolved-rate methods, the robotics IBVS controller is designed combing virtual moments and other four classical moment-combination features. Simulation results are provided to illustrate the effectiveness and optimal performance of the virtual moments and the proposed robotics IBVS controller.","PeriodicalId":186975,"journal":{"name":"2015 IEEE International Conference on Information and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130168744","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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