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2006 IEEE International Conference on Systems, Man and Cybernetics

Date 8-11 Oct. 2006

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  • [Front cover]

    Publication Year: 2006, Page(s): C1
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  • 2006 IEEE International Conference on Systems, Man, and Cybernetics

    Publication Year: 2006, Page(s): nil1
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  • [Breaker page]

    Publication Year: 2006, Page(s): nil2
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  • Welcome Message From General Chair and Co-Chair

    Publication Year: 2006, Page(s):i - ii
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  • Conference organization

    Publication Year: 2006, Page(s): iii
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  • Technical Program Committee

    Publication Year: 2006, Page(s):iv - x
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  • Table of contents

    Publication Year: 2006, Page(s):Contents-1 - Contents-77
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  • Inverse pseudo-random binary sequence design and its application in identifying of the SCARA-type manipulator

    Publication Year: 2006, Page(s):4459 - 4464
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1710 KB) | HTML iconHTML

    The design of inverse pseudo-random binary sequence (IPRBS) for the plant identification is presented. There exist two problems, the burden of identification experimental working amount based on the frequency response method and the identification precision sensitivity to the input-excitation signal based on recursive least square with forgetting factor (RFF). We solve the problems using a novel i... View full abstract»

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  • Multi-Robot Movement Design Using the Number of Communication Links

    Publication Year: 2006, Page(s):4465 - 4470
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2497 KB) | HTML iconHTML

    This paper presents the design of dispersion movement and concentration movement for a multi-robot team to search for targets in an unknown environment. The goal of the dispersion movement is for the multi-robot team to spread out as widely as possible and explore any unknown targets without breaking the communication links among these robots. The movement direction is made based on only minimal a... View full abstract»

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  • Designing a Quadrupedal Robot Mimicking Cat Locomotion

    Publication Year: 2006, Page(s):4471 - 4474
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2747 KB) | HTML iconHTML

    This paper explored a way to design mechanical structure and motion pattern of a quadrupedal robot to realize pitching motion by mimicking a cat. Four joints configuration styles were obtained by simplifying quadrupedal mammal's body. Referring to the leg motion of a cat, joint motion trajectories were designed and a motion mapping relationship between knee and hip was formulated for the quadruped... View full abstract»

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  • A Visual Servo Controller for Lateral Navigation of Mobile Vehicles in Path Tracking Applications

    Publication Year: 2006, Page(s):4475 - 4480
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3742 KB) | HTML iconHTML

    In this paper we present the development of a visual servo controller to laterally navigate a mobile vehicle tracking the lane marker on a ground path automatically. Based on linear approximation of the lane marker and kinematics of the vehicle, we first derive the equations of motion for the system of lateral navigation. Then, utilizing the feedback linearization technique, we design the visual s... View full abstract»

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  • Task-Compatibility-Based Motion Planning for Bimanual Assembly

    Publication Year: 2006, Page(s):4481 - 4486
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (878 KB) | HTML iconHTML

    Bimanual robotic assembly is modeled at the task-level using contact states of workpieces and their transitions. Task-compatibility-based motion planning is developed to derive the lower-level velocity commands from the task-level symbolic transitions of the bimanual assembly model. The cost-function based on the manipulability and compatibility is designed to determine the assembly motions of the... View full abstract»

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  • Learning to grasp in unknown environment by reinforcement learning and shaping

    Publication Year: 2006, Page(s):4487 - 4492
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3745 KB) | HTML iconHTML

    The purpose of this study is to propose a new tool to define the posture of a complete anthropomorphic arm model during grasping taking into account task and environment constraints. The developed model is based on a neural network architecture mixing both supervised and reinforcement learning. The task constraints are materialized by target points to be reached by the fingertips on the surface of... View full abstract»

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  • Design and Implementation of A Vision-Based Shopping Assistant Robot

    Publication Year: 2006, Page(s):4493 - 4498
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3772 KB) | HTML iconHTML

    The paper proposes design concepts of a vision-based shopping assistant robot which can serve people in a mall. By using such robots, a mall could not only save human resources effectively but also improve the quality of information service. In general, a mall always provides three kinds of customer services as guiding, communication and accompanying. In this paper, a fuzzy collision-free guiding ... View full abstract»

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  • Stabilization of Nonholonomic System Using Evolutionary Strategies

    Publication Year: 2006, Page(s):4499 - 4502
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1698 KB) | HTML iconHTML

    The minimization of the quadratic integral approach, in the optimal control, is a measure that determines that so quick an initial state is taken to the state zero, considering that its parameters are: the coordinates of the dynamic system, the information of the control and positive defined matrices. These positive defined matrices are obtained in particular based on the engineer's experience on ... View full abstract»

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  • Observer-based Switched Control Design for Continuous-time Switched Systems

    Publication Year: 2006, Page(s):4503 - 4507
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (643 KB) | HTML iconHTML

    In this paper, we propose a method to design an observer-based switched control which guarantees that the switched system is quadratic-ally stable. The main result consists in proving a separate principle for continuous-time switched system. Hence, the design of the switched state feedback control and the switched observer can be carried out independently. View full abstract»

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  • A Metamodel Approach to Software Process Modeling Based on UML Extension

    Publication Year: 2006, Page(s):4508 - 4512
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1512 KB) | HTML iconHTML

    This paper presents UPME, a metamodel approach to software process modeling based on UML extension. In this approach, software process modeling will take three steps: firstly, a metamodel modeling step to build metamodels for software process domain; secondly, a model instantiation step to build the model for a concrete project based on domain metamodels; and thirdly, a model compilation step to t... View full abstract»

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  • Design of Explicit Model-Following Control for the Spindle Motor in CD-ROM Drives

    Publication Year: 2006, Page(s):4513 - 4518
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (829 KB) | HTML iconHTML

    The design method of explicit model-following control theory is presented in this paper, which is applied to the speed control and responses improvement of a spindle motor of CD-ROM drives. The technique of command generator tracker is applied to convert the model-following control into a regulator problem. The model mismatch error is minimized by means of linear quadratic optimal control. Compute... View full abstract»

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  • Modeling and Control of MCFC System Based on Artificial Neural Networks

    Publication Year: 2006, Page(s):4519 - 4523
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1605 KB) | HTML iconHTML

    The molten carbonate fuel cell (MCFC) is a complex system, and MCFC modeling and control are very difficult in the present MCFC research and development because MCFC has the complicated characteristics such as nonlinearness, uncertainty and time-change. To aim at the problem, the MCFC mechanism is analyzed, and then MCFC modeling based on artificial neural networks is advanced. At last, as a resul... View full abstract»

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  • Optimal Sliding Mode Control for Linear Systems with Time-delay

    Publication Year: 2006, Page(s):4524 - 4528
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (784 KB) | HTML iconHTML

    The sliding-mode control for linear systems with time-delay Is concerned. By treating some state variables as virtual control, a quadratic performance index is given. According to the necessary conditions for the optimality, the two-point boundary value (TPBV) problems with both time-delay and time-advance terms are obtained. By developing the successive approximation approach (SAA) of differentia... View full abstract»

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  • A Merged Fuzzy-Neural Network and Its Application in Fuzzy-Neural Control

    Publication Year: 2006, Page(s):4529 - 4534
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (868 KB) | HTML iconHTML

    This paper proposes an observer-based adaptive fuzzy-neural controller, structured by a merged fuzzy-neural network (merged-FNN) to reduce the number of adjustable parameters. In this paper, the merged-FNN is proved to take the place of the traditional fuzzy-neural networks under some assumptions. Moreover, the overall adaptive schemes using the proposed merged-FNN guarantees that all signals invo... View full abstract»

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  • Stabilization Analysis for a Class of Switched Discrete-time Systems

    Publication Year: 2006, Page(s):4535 - 4540
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (922 KB) | HTML iconHTML

    In this paper, two methods based on Lyapunov stability theorem to study the stabilization and switching law design for the switched discrete-time systems with state-driven switching are presented. Furthermore, these methods can be applied to cases when all individual subsystems are unstable. Finally, an example is exploited to illustrate the proposed schemes with two individual methods. View full abstract»

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  • Adaptive Information Change Management and Relative Pre-Warning Mechanism

    Publication Year: 2006, Page(s):4541 - 4545
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2318 KB) | HTML iconHTML

    To tackle problems such as information change management in tourism, an adaptive information change management based on workflow system is described. In overall structure, business logic, application logic and function logic are separated each other as the basic principles for system to finish the task of self-adaptability. In order to process agilely information changes, it should be provided wit... View full abstract»

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  • Mixed Backlogging and Outsourcing Models with Inventory Capacity

    Publication Year: 2006, Page(s):4546 - 4551
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (911 KB) | HTML iconHTML

    In this paper we consider a dynamic lot sizing model with mixed backlogging and outsourcing and bounded inventory, in which outsourcing may occur in a period even if the inventory level at that period is positive. The production cost may include setup cost and the production level is unlimited. The holding, backlogging and outsourcing cost functions are linear. Furthermore, backlogging level at ea... View full abstract»

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  • Robust Control of Dual-Arm Space Robot Systems with Two Objects in Inertial Space

    Publication Year: 2006, Page(s):4552 - 4556
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (717 KB) | HTML iconHTML

    In this paper, the kinematics and dynamics of free-floating dual-arm space robot systems are analyzed, and it is shown that the dynamic equations of the system are nonlinearly dependent on inertial parameters. In order to overcome the problem proposed above, the system is modeled as under-actuated robot system, and the idea of augmentation approach is adopted. It is demonstrated that the dynamic e... View full abstract»

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