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Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on

Date 8-13 Oct. 2003

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  • The Arm/Hand integrated telerobotic system based on sensory information

    Page(s): 809 - 814 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (991 KB) |  | HTML iconHTML  

    This paper describes the Arm/Hand integrated telerobotic system and its multisensor integration and fusion. The characteristic of intelligent robotic system and the role of sensory data fusion in different abstract level are analyzed. A new flexible control structure is proposed to integrate different types of sensors. Neural network is used to obtain more abstract information from force and torque sensors, and knowledge based multisensor fusion method is developed to fuse the sensory information which is not only directly acquired from physical sensors but also from the middle fusion results in different fusion process level to make full use of the information hidden in the combination of fused information. Real time reasoning method and the integration of qualitative and quantitative information are also proposed in this paper. In addition, predictive simulation display is overlaid on actual live images with high fidelity to compensate for model discrepancies. With the multisensor integration and fusion, the teleoperated arm/hand integrated robotic system can perform some dexterous tasks such as screwing valve, peg in hole, and grasping a cup of water and pushing it to another cup. View full abstract»

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  • Genetic algorithm based path planning of coordinated multi-robot manipulators

    Page(s): 763 - 767 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (513 KB) |  | HTML iconHTML  

    The path planning of coordinated multi-robot is a complicated problem, which involves the valid search in a high-dimension space. In terms of concrete operation situations, two types of operation of loose coordination and tight coordination of multi-robot manipulators are analyzed in detail, respectively. Furthermore, the varying length string and the fitness evaluation of GA are also discussed. Finally, two types of representative coordination cases are given to validate the proposed approach. View full abstract»

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  • Application of fuzzy control method to AGV

    Page(s): 768 - 772 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (557 KB) |  | HTML iconHTML  

    The control arithmetic for AGV (automated guided vehicle) was studied by self-adjusting fuzzy control technology and a fuzzy controller, which took a single chip as its core, was developed. The fuzzy controller was tested for AGV and the results indicated that the fuzzy control arithmetic satisfied the requirement of AGV and the AGV could follow the given reference trace with higher precision. View full abstract»

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  • Shape similarities measures based on two-level ARG for the retrieval of remote sensing images

    Page(s): 1300 - 1305 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (703 KB) |  | HTML iconHTML  

    Content-based image retrieval is widely investigated in image database area. However, work on content-based retrieval for remote sensing images (RSI) is seldom reported in literature. In this paper, a new strategy for content-based remote sensing images retrieval based on shape similarities measures has been proposed, which includes the shape description of each object and spatial relational representation between objects based on the two-level attributed relational graph (ARG). We have also showed that Zernike moments are very effective in describing shape features of each region, and the two-level ARG is efficient for spatial relational information of each disjoint region of an object in RSI. As one of the applications, we have applied this method in our network-oriented multiple satellites images management and online distribution system, and the cloud objects of NOAA AVHRR images are used for verifications. An actual case for the descriptions of a cloud object with Zernike moments, the representations of relations with a two-level ARG and the shape similarity measure results in the database is given. View full abstract»

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  • The reachable workspace analysis of a kind of 4-DOF parallel mechanism based on constraints

    Page(s): 799 - 803 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (583 KB) |  | HTML iconHTML  

    Aimed at a novel 4-DOF parallel manipulator, the paper brings forward a grid approach which is based on the inverse kinematics result to get its workspace. The paper analyses the kinematics of this kind of parallel manipulator, brings out the formula of the inverse kinematics, then programs, gives several figures of workspace with different parameters and then analyses it finally. View full abstract»

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  • Design of an expert system based on neural network ensembles for missile fault diagnosis

    Page(s): 903 - 908 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (563 KB) |  | HTML iconHTML  

    According to the specialty and complexity of the missile fault diagnosis, a novel expert system design method based on the neural network ensembles is proposed in this paper. With large amounts of typical missile fault samples and raw measurable parametric data available, the missile fault diagnosis system based on neural network ensembles can be created applying general construction techniques of the neural network fault diagnosis system, including signal preprocessing, fault feature extraction/selection, and network training. Combining the fault diagnosis system based on neural network ensembles, the framework of the missile fault diagnosis expert system is constructed with more flexibility and effectiveness in missile fault diagnosis. It's proved that through diagnosis of the missile from several different sides by use of different parameters or combined parameters the designed system tends to give more reliable results. View full abstract»

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  • Data mining-based fault detect and diagnosis for the video amplifier circuit

    Page(s): 1179 - 1184 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (505 KB) |  | HTML iconHTML  

    According to the principle of fault detect and diagnosis, this paper presents a new technology of data mining to deal with a lot of data got from fault detection and diagnosis. A method using database technology to solve fault detection and diagnosis is developed. View full abstract»

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  • A new image encryption algorithm based on chaos system

    Page(s): 778 - 782 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (802 KB) |  | HTML iconHTML  

    In this paper, we present a new image encryption algorithm based on chaos system. First, deal with image using technique of permutation transform in image. Then, two-dimensional nonlinear map is utilized to circularly iterate gray value of pixels. The algorithm validly solves problem of failure of encryption owing to the self-similarity and visional physiological characteristic of image. At the same time, it remedies inadequateness of cryptological intension in other algorithms merely adopting permutation transform and have super security. View full abstract»

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  • A kind of embedded control system according to the humanoid robot hand

    Page(s): 954 - 959 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (615 KB) |  | HTML iconHTML  

    In this paper, we put foreword a kind of embedded control system according to the humanoid robot hand based on AT89C2051, from bionics, and designed a kind of construction according to the humanoid robot hand. Then expatriated how to realize five independent adjustable signals of PWM based on a block of 3×5 cm controlling circuit using 89C2051. We have realized that the movement speed is adjustable, the least response time is T<0.012 ms, and the electromotor least movement scope is 1 degree. We can save 200 action data that have programmed in the controller or controlled by serial communication. View full abstract»

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  • The mechanism and kinematics of a 3-DOF in-parallel actuated manipulator

    Page(s): 804 - 808 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (548 KB) |  | HTML iconHTML  

    In this paper, a novel three-degree-of-freedom(3-DOF) manipulator based on the parallel link structure and the pantograph mechanism is presented. The manipulator can translate along two directions and rotate along one axis respectively. Compared with the serial open-chain manipulator, the manipulator has higher rigidity, higher accuracy and higher load capacity. The forward and inverse kinematical equations have been formulated. The simulation results show this new type of manipulator has excellent kinematical feature and fits heavy load task. A prototype is designed to perform the cutting tool exchange work in machining center. View full abstract»

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  • Multi-criterion satisfactory optimization method for designing FIR digital filters

    Page(s): 1339 - 1344 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (561 KB) |  | HTML iconHTML  

    In this paper, a novel optimization method called multi-criterion satisfactory optimization method (MCSOM) is proposed to design FIR digital filters. The main idea of the method is that multiple criterions can be adjusted easily, according to different requirements of different designers for performances of pass bands, stop bands and transition bands of FIR digital filters. By designing performance specification satisfactory rate functions and synthesis satisfactory rate function of FIR digital filters, satisfactory optimization mathematic model is constructed. The model is characterized by considering satisfactory design of performance specifications and optimization of parameters of FIR digital filters, simultaneously. At the same time, a new quantum genetic algorithm (NQGA) is also proposed to search automatically satisfactory solution in FIR digital filter design in this paper. Rapid convergence and good global search capability characterize the performance of NQGA. The effectiveness, applicability and flexibility of MCSOM based on NQGA are demonstrated by experimental results on the lowpass and bandpass FIR digital filters design. The results show that the introduced method is superior to look-up table method and the method in reference. View full abstract»

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  • Coupled-drive-based joint design of a snake robot and its body-lifting method

    Page(s): 1086 - 1090 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (536 KB) |  | HTML iconHTML  

    Snake robots have very strong environmental adaptability. The locomotion and inspection of the robots depend upon their ability of climbing over obstacles and the lifting height. Especially in the rescuing application, the higher the robot can lift the more information can be obtained. A novel joint mechanism thus has been designed, that has 3 degrees of freedom among which 2 degrees of freedom are driven through a coupled drive. The snake robot composed of these joints can get a larger moment and a larger workspace. In this paper, we present the principle of the joint design that is based on a coupled drive, and introduce the lifting method of the snake robot and the effect of maximal joint angle α. Through analysis, we know that the number of units that the snake robot can possibly lift is the square of the number of units that the snake-like robot can directly lift. This is also confirmed by a simple example. View full abstract»

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  • Distributed military power station measure-control system by CAN-bus

    Page(s): 965 - 969 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (436 KB) |  | HTML iconHTML  

    First, an analysis of the status of the military power station (MPS) and its measure-control system (MCS) in the weapon system and modern war were presented. Then presentation of construction and principle of distributed MCS, types of the measured signal, characteristics of simulative load and its switch-control signal were discussed. Finally, a discussion of the main technical issues and solutions in this distributed MCS system were given. View full abstract»

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  • Study of manufacturing system based on neural network multi-sensor data fusion and its application

    Page(s): 1022 - 1026 vol.2
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    A detailed introduction of intelligent inspection and monitoring system for flexible manufacturing system (FMS) based on distributed artificial intelligence(DAI) is given in this paper. This paper deals with a multi-sensor system applied to mechanical fault diagnosing fusion pattern based on neural network, the uncertainty of diagnosis system can be decreased greatly. The methods for data preprocessing, features extraction and construction of the neural network are discussed. The real-time data sampling, information fusion and control, management and decision, and operating process of the complex industrial systems are researched. The schemes of distributed hierarchical intelligent control, methods of multi-sensor information fusion and controller expert fuzzy neural networks are proposed for complex industrial process. Applying the redundancy technology and multi-sensor information fusion technology, the synchronized automated data acquisition, processing and malfunction warning is realized by computer. The results of application in a textile machinery plant for the FMS showed the effectiveness of the proposed hierarchical intelligent control system. View full abstract»

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  • Feature extraction from range images in 3D modeling of urban scenes

    Page(s): 909 - 914 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (846 KB) |  | HTML iconHTML  

    Since data acquisition is executed outdoors, the quality of data is not very satisfactory, and special treatments are involved in our extraction methods in order to provide rich and accurate feature information for processing at upper level. In plane extraction, planar cluster-selection & filtering algorithm is proposed to overcome the classic antinomy about size of the window used to test planarity; in line segment extraction, segments grow along the boundaries to overcome the misleading effect of those irregular jump-edge points created by tree leaves. Experiment results verify that the algorithms are quite effective for the range data where much noise from trees, parking cars and pedestrians exists. View full abstract»

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  • Multiplayer semantic modeling of video and its semantic extraction frame

    Page(s): 783 - 788 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (504 KB) |  | HTML iconHTML  

    Merits and defects of note-based video retrieval and content-based video retrieval are investigated in this paper, and complementarity of two aspects each other are also discussed. A new theory of semantic processing in content-based video retrieval is explored. An object-oriented representation modeling of the video semantics, based on the multi-layers, is presented. And on this basis, a semantic extraction frame based on the multi-semantics is constructed. View full abstract»

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  • FGa power control for DS/CDMA reverse link cellular system

    Page(s): 748 - 751 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (476 KB) |  | HTML iconHTML  

    This paper introduces the application of FGa (fuzzy logic and genetic algorithm) to control the power of DS/CDMA cellular system in the reverse link over the fading channels. The conventional algorithm, fixed-step power control, is suffered from poor system stability. To solve this problem, a fuzzy control is used for determine the user's transmitting power in order to maintain the power received at the base station nearly equal. Genetic algorithm is applied into fuzzy logic controller for generating fuzzy rule-base, the shape and range of each membership function to achieve the optimization controller. View full abstract»

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  • Research on the architecture of virtual reality based on micromanipulation robot

    Page(s): 960 - 964 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (692 KB) |  | HTML iconHTML  

    The paper presents the current situation of the virtual reality application in the micromanipulation area. The significance of introduction of virtual reality into micromanipulation robot is analyzed. The architecture of virtual reality based on micromanipulation and key technology are proposed. Some study is discussed on the settlement of the key technology and the future prospect and direction is presented. View full abstract»

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  • A study of sensor management based on sensor networks

    Page(s): 1058 - 1062 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (530 KB) |  | HTML iconHTML  

    In modern military systems, kinds of sensors are placed in different platforms located in several places, so information should be broadcasted among networks. In this paper, the development of sensor management and sensor network is introduced respectively. The meaning of sensor management realized in network is discussed and the idea of combining sensor management and sensor network is proposed. How to perform sensor management of network level is suggested originally. The future work of it is analyzed and descriptive. View full abstract»

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  • Predictable packet filtering based on decision tree classifiers

    Page(s): 1345 - 1349 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (519 KB) |  | HTML iconHTML  

    Traditional technique for packet filtering is linear searching, in such way, filter efficiency is very low in the worst condition and rules in the rule-list are independent so that information among them can not be used effectively. In this paper, a new idea using a decision tree classifier is proposed. It first analyses the differences between packet filtering and general classification problems. Then the building and searching algorithms based on decision tree are explicated and the algorithm's performance is analyzed. At last, the weight-threshold method is proposed to make the classifier predictable and reduce the matching workload. It can be illustrated that packet filtering based on decision tree classifiers is more efficient and can study inductively from the rules. View full abstract»

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  • Study on magnetic and mechanical dynamic model of a wireless micro robot

    Page(s): 836 - 840 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (534 KB) |  | HTML iconHTML  

    This paper puts forward a new method to drive and control micro in-pipe robot by means of magnetic field outside pipe, the operation principal is as follows, wireless micro robot can move forward driven by the vibration of its legs by means of converting magnetic energy into mechanical one under the action of piezomagnetism and magnetomechanical coupling of its micro GMA when time varied oscillating magnetic field with different frequency applied outside pipe. This paper introduces its systematical structure and operation principle firstly, then the converting process from outside magnetic energy into mechanical one is analyzed by means of setting up the magnetic and mechanical dynamic model and establishing dynamic model of two stage amplifier of mobile carrier. Finally robot systematical experiment is conducted, the experiment shows the correctness of the theoretical analysis and its feasibility, consequently, drive and control method without cable through outside magnetic field is realized. View full abstract»

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  • An improved fast-convergent genetic algorithm

    Page(s): 1197 - 1202 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (502 KB) |  | HTML iconHTML  

    As an effective global search method, genetic algorithm has been used in many engineering problems. When it is used in engineering, its slow convergence and poor stability have become the main problems. In order to overcome these problems, from the creation of the initial population, genetic operators, et al., an improved fast-convergent genetic algorithm is proposed. Through the simulation experiments of some hard-optimizing functions, the proposed algorithm shows its faster convergence and better stability than some existing algorithms'. View full abstract»

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  • A fast strategy for image matching using Hausdorff distance

    Page(s): 915 - 919 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (857 KB) |  | HTML iconHTML  

    In this paper, the problem of matching the modal in an image with a fast search strategy is discussed. While the Hausdorff measure yields a method to comparing edge images that is robust to object occlusion, image noise, and clutter, etc, it requires high computational complexity in computing the Hausdorff distance between two edge point sets. A fast search strategy is proposed to reduce the computational load in this paper. A similarity measure is defined in the proposed strategy. Experiments are performed on a large test set and the results show that the fast search strategy diminishes the number of positions that are in need of calculating Hausdorff distance to about one sixth of that in origination. Thus the computational load is reduced and it is helpful to use Hausdorff distance in real time image matching. View full abstract»

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  • Design, modeling, and fabrication of an integrated micromechanical switch for potential applications in adaptive fractal antenna arrays

    Page(s): 698 - 703 vol.2
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    This paper presents the modeling and analysis of a MEMS switch for microwave applications. Parylene polymer (poly-para-xylylene) is studied as a substitution for silicon or metal-based materials in existing capacitive shunt RF switches to enhance the device performance. Through modeling and analysis, we have shown that polymer-based RF switches can be driven by lower actuation voltage with larger off/on capacitance ratio. Fabrication of the switch and integration of the switch with wireless antenna system is underway. Successful development of the switch will potentially enhance the performance of adaptive fractal antennas for microwave applications. View full abstract»

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  • Ground condition sensing of a snake-like robot

    Page(s): 1075 - 1080 vol.2
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (634 KB) |  | HTML iconHTML  

    Snake-like robot has its unique locomotion mode and can change its locomotion form while the ground condition changed, to achieve the best velocity and efficiency. We first analyze the snake-like robot's locomotion on different terrains simply, then point out the significance to sense the ground status that is the base of choosing different locomotion form on different ground. Last we use force sensors to distinguish the different ground status. View full abstract»

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