Pub Date : 2015-05-20DOI: 10.1109/ICCAR.2015.7166024
Yang-yang Li, Guanghui Zhou, Zhongdong Xiao
For solving the large-scale job shop scheduling problems considering flexible routings with the characteristics of process planning and scheduling optimization, a hierarchical coordination optimization model based on analytical target cascading is proposed in this paper, which is divided into three sub-layers. The process planning layer is for optimal processing routes of all jobs, and multiple manufacturing units is formed by clustering all machines based on factor analysis method in the unit planning layer, and then the optimal scheduling solutions of jobs in each unit is obtained by adopting the improved genetic algorithm respectively in the job scheduling layer, which then gives feedback to the upper layer and repeatedly coordinates to obtain the global optimal solution. Finally, a typical computational experiment comparatively demonstrates the validity of the proposed model and algorithm, showing its efficient advantage in solving the large-scale job shop scheduling problems with flexible routings.
{"title":"Job shop scheduling with flexible routings based on analytical target cascading","authors":"Yang-yang Li, Guanghui Zhou, Zhongdong Xiao","doi":"10.1109/ICCAR.2015.7166024","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166024","url":null,"abstract":"For solving the large-scale job shop scheduling problems considering flexible routings with the characteristics of process planning and scheduling optimization, a hierarchical coordination optimization model based on analytical target cascading is proposed in this paper, which is divided into three sub-layers. The process planning layer is for optimal processing routes of all jobs, and multiple manufacturing units is formed by clustering all machines based on factor analysis method in the unit planning layer, and then the optimal scheduling solutions of jobs in each unit is obtained by adopting the improved genetic algorithm respectively in the job scheduling layer, which then gives feedback to the upper layer and repeatedly coordinates to obtain the global optimal solution. Finally, a typical computational experiment comparatively demonstrates the validity of the proposed model and algorithm, showing its efficient advantage in solving the large-scale job shop scheduling problems with flexible routings.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123567880","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166005
W. Zihao, Li Ye, Wang Aobo, W. Xiaobing
Underwater glider is the new class of autonomous underwater vehicle which has been used for ocean observation and wide range of marine environment monitoring. The legacy gliders have low lift-drag ratio (L/D) and limited gliding efficiency because the hull generates barely lift force. To solve the problem of low lift-drag ratio, we developed an underwater glider (HFWUG) based on the flying wing design. Firstly, we have a preliminary discussion on the configuration optimization of the HFWUG, optimizing shape design from four schemes by using Computational fluid dynamics code. Then, the steady-state glide equation is presented and solved numerically for given net-buoyancy and pitch angle in various navigation states. Spider plot of gliding performance prediction is provided which contains all the information defining the performance of the glider. The results show that the underwater glider based on flying wing design can enhance the gliding efficiency by getting high lift-drag ratio.
{"title":"Flying wing underwater glider: Design, analysis, and performance prediction","authors":"W. Zihao, Li Ye, Wang Aobo, W. Xiaobing","doi":"10.1109/ICCAR.2015.7166005","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166005","url":null,"abstract":"Underwater glider is the new class of autonomous underwater vehicle which has been used for ocean observation and wide range of marine environment monitoring. The legacy gliders have low lift-drag ratio (L/D) and limited gliding efficiency because the hull generates barely lift force. To solve the problem of low lift-drag ratio, we developed an underwater glider (HFWUG) based on the flying wing design. Firstly, we have a preliminary discussion on the configuration optimization of the HFWUG, optimizing shape design from four schemes by using Computational fluid dynamics code. Then, the steady-state glide equation is presented and solved numerically for given net-buoyancy and pitch angle in various navigation states. Spider plot of gliding performance prediction is provided which contains all the information defining the performance of the glider. The results show that the underwater glider based on flying wing design can enhance the gliding efficiency by getting high lift-drag ratio.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129572111","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166000
G. Fourlas, G. Karras, K. Kyriakopoulos
This research investigates a sensors fault diagnosis in autonomous mobile robot. Through this study we use the observer - Kalman filter identification technique. According to this observer - based method, the experimental input-output data are being exploited for system identification. The motive is to design observers exclusively for each sensor of the system that allows generating residuals. The research goal is to provide early sensors fault diagnosis. In order to prove the efficacy of the proposed method, we investigated different type of faults and an experimental procedure was carried out using a Pioneer 3AT mobile robot.
{"title":"Sensors fault diagnosis in autonomous mobile robots using observer — Based technique","authors":"G. Fourlas, G. Karras, K. Kyriakopoulos","doi":"10.1109/ICCAR.2015.7166000","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166000","url":null,"abstract":"This research investigates a sensors fault diagnosis in autonomous mobile robot. Through this study we use the observer - Kalman filter identification technique. According to this observer - based method, the experimental input-output data are being exploited for system identification. The motive is to design observers exclusively for each sensor of the system that allows generating residuals. The research goal is to provide early sensors fault diagnosis. In order to prove the efficacy of the proposed method, we investigated different type of faults and an experimental procedure was carried out using a Pioneer 3AT mobile robot.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122221776","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166021
Cheng Zou, Dong Cai, Zhenguo Sun, Xia Liu
In order to detect the longitudinal cracks on the outside surface of a hollow components, a novel pattern of ultrasonic phased array transducers is designed. The shape of the transducer surface is rectangular and is distributed on the outside surface of a column, with the longer side parallel to the central axis of the column. Meanwhile the transducers are rotated with a certain angle about the longer side of the transducer surface. According to the structure of the transducers, this novel array is named as serrated columnar array. In this paper, a serrated columnar array is placed in the center of the hollow axle. Because of the rotated angle, the surface of each transducer is oblique relative to the surface of the inner surface of the hollow component, the transducers are expected to generate transverse waves in the inspection component. A delayed law calculation method, based on Snell' law, for focus beam forming through the curved interface is described. Two transient acoustic finite element models, one with crack and the other without crack, are established by using the COMSOL software to verify the performance of this array design, one with crack and the other one without crack. With the designed focus delayed laws, transverse waves can be generated and focused at the crack position. By applying the focus laws to the reception channels, and sum up the echo signals, the signal retrieved from the model with a longitudinal crack is stronger than that from the model without cracks. The results show that this special array pattern is potential to serve as an ultrasonic non-destructive tool to detect the longitudinal cracks on the outside surface of hollow components.
{"title":"Detection of longitudinal cracks with a serrated columnar phased array transducer: A simulation study","authors":"Cheng Zou, Dong Cai, Zhenguo Sun, Xia Liu","doi":"10.1109/ICCAR.2015.7166021","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166021","url":null,"abstract":"In order to detect the longitudinal cracks on the outside surface of a hollow components, a novel pattern of ultrasonic phased array transducers is designed. The shape of the transducer surface is rectangular and is distributed on the outside surface of a column, with the longer side parallel to the central axis of the column. Meanwhile the transducers are rotated with a certain angle about the longer side of the transducer surface. According to the structure of the transducers, this novel array is named as serrated columnar array. In this paper, a serrated columnar array is placed in the center of the hollow axle. Because of the rotated angle, the surface of each transducer is oblique relative to the surface of the inner surface of the hollow component, the transducers are expected to generate transverse waves in the inspection component. A delayed law calculation method, based on Snell' law, for focus beam forming through the curved interface is described. Two transient acoustic finite element models, one with crack and the other without crack, are established by using the COMSOL software to verify the performance of this array design, one with crack and the other one without crack. With the designed focus delayed laws, transverse waves can be generated and focused at the crack position. By applying the focus laws to the reception channels, and sum up the echo signals, the signal retrieved from the model with a longitudinal crack is stronger than that from the model without cracks. The results show that this special array pattern is potential to serve as an ultrasonic non-destructive tool to detect the longitudinal cracks on the outside surface of hollow components.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124620883","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166014
Ching-Sheng Chi, C. Chuang
A self-tuning PID controller is proposed in this paper. The tuning rule is based on the expert's experience. Due to the proposed PID self-tuning method based on the engineer's experience, the experienced engineers will easily accept it. The proposed controller is applied to the toggle mechanism system. The experimental results are compared with the classical PID controller. Finally, the experimental results show the robust character of the proposed controller.
{"title":"The self-tuning PID control in a toggle mechanism system by knowledge-based bounds","authors":"Ching-Sheng Chi, C. Chuang","doi":"10.1109/ICCAR.2015.7166014","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166014","url":null,"abstract":"A self-tuning PID controller is proposed in this paper. The tuning rule is based on the expert's experience. Due to the proposed PID self-tuning method based on the engineer's experience, the experienced engineers will easily accept it. The proposed controller is applied to the toggle mechanism system. The experimental results are compared with the classical PID controller. Finally, the experimental results show the robust character of the proposed controller.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116704573","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166029
Chi-Hua Tien, Meng-Hui Chen, Chia-Yu Hsu, P. Chang
Differential evolutionary (DE) algorithm is an effective algorithm to solve combinational optimization problems, such as scheduling problems. This paper aims to propose an improved differential evolutionary algorithm for the permutation flow-shop scheduling problem (PFSP) by considering the minimum makespan, where the new mutation mechanism is used to enable an appropriate sequencing for each job. For the reason, the main idea in this paper is to find out the key scheme from the better solution and making the assimilation operator in mutation procedure adopts the strategy based on the sequence. To evaluate the performance of the proposed approach, eight benchmark tests by Taillard's instance is used. The results demonstrate that the proposed improved differential evolutionary algorithm outperform than the conventional differential evolution algorithm.
{"title":"Differential evolutionary algorithms with novel mutation operator for solving the permutation flowshop scheduling problem","authors":"Chi-Hua Tien, Meng-Hui Chen, Chia-Yu Hsu, P. Chang","doi":"10.1109/ICCAR.2015.7166029","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166029","url":null,"abstract":"Differential evolutionary (DE) algorithm is an effective algorithm to solve combinational optimization problems, such as scheduling problems. This paper aims to propose an improved differential evolutionary algorithm for the permutation flow-shop scheduling problem (PFSP) by considering the minimum makespan, where the new mutation mechanism is used to enable an appropriate sequencing for each job. For the reason, the main idea in this paper is to find out the key scheme from the better solution and making the assimilation operator in mutation procedure adopts the strategy based on the sequence. To evaluate the performance of the proposed approach, eight benchmark tests by Taillard's instance is used. The results demonstrate that the proposed improved differential evolutionary algorithm outperform than the conventional differential evolution algorithm.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132279318","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7165993
Kerstin S Haring, Katsumi Watanabe, David Silvera-Tawil, Mari Velonaki, Y. Matsumoto
As the presence of robots in everyday life becomes more common, it is expected that interactions between humans and robots will include the modality of touch. To date, however, little research has been conducted on tactile interactions between humans and anthropomorphic robots. This study investigates human induced tactile interaction with an android robot. To facilitate data analysis, existing touch dictionaries were revised and adapted for the specifics of human-android interaction. By measuring the participants' personality traits and their perception of the robot, it was found that some tactile gestures are related to participants' personality traits, such as neuroticism and extroversion, and others to robot attributes such as anthropomorphism and animacy. To the best of our knowledge this is the first study to report on how people touch an android robot, and the correlation that exists between the tactile gestures used and the participants' personality traits. Possible implications are discussed.
{"title":"Touching an Android robot: Would you do it and how?","authors":"Kerstin S Haring, Katsumi Watanabe, David Silvera-Tawil, Mari Velonaki, Y. Matsumoto","doi":"10.1109/ICCAR.2015.7165993","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7165993","url":null,"abstract":"As the presence of robots in everyday life becomes more common, it is expected that interactions between humans and robots will include the modality of touch. To date, however, little research has been conducted on tactile interactions between humans and anthropomorphic robots. This study investigates human induced tactile interaction with an android robot. To facilitate data analysis, existing touch dictionaries were revised and adapted for the specifics of human-android interaction. By measuring the participants' personality traits and their perception of the robot, it was found that some tactile gestures are related to participants' personality traits, such as neuroticism and extroversion, and others to robot attributes such as anthropomorphism and animacy. To the best of our knowledge this is the first study to report on how people touch an android robot, and the correlation that exists between the tactile gestures used and the participants' personality traits. Possible implications are discussed.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"40 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115941562","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166026
Qingsong Gong, Genke Yang, Moon-sang Lee, Changchun Pan
The double EWMA (exponential-weighted-moving-average) controller, as one kind of R2R (Run to Run) controller has been widely used in the industrial process, especially in semiconductor manufacturing. In this paper, two forms of the most popular double EWMA controller are analysed and compared in terms of the stability conditions and long-run performance. We point out their own advantages and disadvantages in use and present each own applicable situations. Finally, a specific chemical mechanical polishing (CMP) process will be used as an example to illustrate the validity of our results.
双指数加权移动平均(EWMA)控制器作为R2R (Run to Run)控制器的一种，在工业过程特别是半导体制造中得到了广泛的应用。本文从稳定性条件和长期运行性能两方面分析比较了目前最流行的两种形式的双EWMA控制器。指出了它们在使用中的优缺点，并提出了各自的适用情况。最后，以化学机械抛光(CMP)工艺为例，说明了研究结果的有效性。
{"title":"Performance analysis and comparison between two forms of double EWMA controllers in industrial process","authors":"Qingsong Gong, Genke Yang, Moon-sang Lee, Changchun Pan","doi":"10.1109/ICCAR.2015.7166026","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166026","url":null,"abstract":"The double EWMA (exponential-weighted-moving-average) controller, as one kind of R2R (Run to Run) controller has been widely used in the industrial process, especially in semiconductor manufacturing. In this paper, two forms of the most popular double EWMA controller are analysed and compared in terms of the stability conditions and long-run performance. We point out their own advantages and disadvantages in use and present each own applicable situations. Finally, a specific chemical mechanical polishing (CMP) process will be used as an example to illustrate the validity of our results.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"169 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116600821","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166025
Xu Qin, Wang Ying
For the high cost of deployment and maintenance of existing device in the explosive production, it is necessary to establish the digital managing system to real-time transmit the information of producing. So the monitoring system of explosive production based on the Internet of Things (IoT) technology is designed. The self-adaptive network is the key of the managing system of explosive production, with self-organization and self-recovery mechanisms for the wireless sensor networks and the wireless location technology used in production safety. And the system can include the technology of terminal nodes and the technical details of the data acquisition and transmission effects. The system works in the simulation experiment and analysis test. The results show the network architecture has good performance. With the reliability and safety of initiating device and production and personnel management, the new scheme implements the technical application of the IoT and the explosive production managing system. The system can change the existing information and data transmission, thus achieving the goal of real-time monitoring. The professional information platform is established to manage the entire process to reduce the safety pressure of social and public on the supervision the explosive production.
{"title":"Design of explosive production information and managing system based on Internet of Things","authors":"Xu Qin, Wang Ying","doi":"10.1109/ICCAR.2015.7166025","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166025","url":null,"abstract":"For the high cost of deployment and maintenance of existing device in the explosive production, it is necessary to establish the digital managing system to real-time transmit the information of producing. So the monitoring system of explosive production based on the Internet of Things (IoT) technology is designed. The self-adaptive network is the key of the managing system of explosive production, with self-organization and self-recovery mechanisms for the wireless sensor networks and the wireless location technology used in production safety. And the system can include the technology of terminal nodes and the technical details of the data acquisition and transmission effects. The system works in the simulation experiment and analysis test. The results show the network architecture has good performance. With the reliability and safety of initiating device and production and personnel management, the new scheme implements the technical application of the IoT and the explosive production managing system. The system can change the existing information and data transmission, thus achieving the goal of real-time monitoring. The professional information platform is established to manage the entire process to reduce the safety pressure of social and public on the supervision the explosive production.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"25 suppl_4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128386397","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166012
Lu Chen, Heng Luo
For the health-care needs of the elderly people, a fall detection indoor positioning system based on CC2431 wireless positioning system and SCA3060 tri-axis accelerometer is designed in this paper. CC2431 location engine positioning algorithm is based on the RSSI values. The blind node will collect the RSSI value from both itself and the reference nodes and then locate the fallen elderly people by entering the corresponding parameters of the environment. The tri-axis accelerometer can determine the elderly fall direction and level by collecting X, Y, Z-axis accelerometer. When the acceleration exceeds some threshold, a signal will be sent to the blind node to locate the position and send alerts.
{"title":"Design of smart home monitoring system based on ZigBee","authors":"Lu Chen, Heng Luo","doi":"10.1109/ICCAR.2015.7166012","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166012","url":null,"abstract":"For the health-care needs of the elderly people, a fall detection indoor positioning system based on CC2431 wireless positioning system and SCA3060 tri-axis accelerometer is designed in this paper. CC2431 location engine positioning algorithm is based on the RSSI values. The blind node will collect the RSSI value from both itself and the reference nodes and then locate the fallen elderly people by entering the corresponding parameters of the environment. The tri-axis accelerometer can determine the elderly fall direction and level by collecting X, Y, Z-axis accelerometer. When the acceleration exceeds some threshold, a signal will be sent to the blind node to locate the position and send alerts.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122552248","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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