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  • Open Access


    Robot Pose Estimation Based on Visual Information and Particle Swarm Optimization

    Carlos Lopez-Franco1, Javier Gomez-Avila2, Nancy Arana-Daniel3, Alma Y. Alanis

    Intelligent Automation & Soft Computing, Vol.24, No.2, pp. 431-442, 2018, DOI:10.31209/2018.100000000

    Abstract This paper presents a method for 3D pose estimation using visual information and a soft-computing algorithm. The algorithm uses quaternions to represent rotations, and Particle Swarm Optimization to estimate such quaternion. The rotation estimation problem is cast as a minimization problem, which finds the best quaternion for the given data using the PSO algorithm. With this technique, the algorithm always returns a valid quaternion, and therefore a valid rotation. During the estimation process, the algorithm is able to detect and reject outliers. The simulations and experimental results show the robustness of algorithm against noise and outliers. More >

  • Open Access


    Recent Advances in Mobile Grid and Cloud Computing

    Sayed Chhattan Shah

    Intelligent Automation & Soft Computing, Vol.24, No.2, pp. 285-298, 2018, DOI:10.1080/10798587.2017.1280995

    Abstract Grid and cloud computing systems have been extensively used to solve large and complex problems in science and engineering fields. These systems include powerful computing resources that are connected through high-speed networks. Due to the recent advances in mobile computing and networking technologies, it has become feasible to integrate various mobile devices, such as robots, aerial vehicles, sensors, and smart phones, with grid and cloud computing systems. This integration enables the design and development of the next generation of applications by sharing of resources in mobile environments and introduces several challenges due to a dynamic and unpredictable network. This paper… More >

  • Open Access


    Mobile Robots Navigation Modeling in Known 2D Environment Based on Petri Nets

    S. Bartkeviciusa, O. Fiodorovab, A. Knysc, A. Derviniened, G. Dervinisc, V. Raudonisc, A. Lipnickasc, V. Baranauskasc, K. Sarkauskasc, L. Balaseviciusc

    Intelligent Automation & Soft Computing, Vol.24, No.2, pp. 241-248, 2018, DOI:10.1080/10798587.2016.1264695

    Abstract The paper deals with supervised robot navigation in known environments. The navigation task is divided into two parts, where one part of the navigation is done by the supervisor system i.e. the system sets the vector marks on the salient edges of the virtual environment map and guides the robot to reach these marks. Mobile robots have to perform a specific task according to the given paths and solve the local obstacles avoidance individually. The salient point’s detection, vector mark estimation and optimal path calculation are done on the supervisor computer using colored Petri nets. The proposed approach was extended… More >

  • Open Access


    Intelligent Service Robot Vision Control Using Embedded System

    Li-Hong Juang1, Shengxiang Zhang2

    Intelligent Automation & Soft Computing, Vol.25, No.3, pp. 451-458, 2019, DOI:10.31209/2019.100000126

    Abstract Intelligent robots are the combination of computer engineering, software engineering, control engineering, electronic engineering, mechanical engineering, and systems design engineering in order to design, and manufacture useful products. In this paper, the author derives some novel computing and algorithm applications on computer vision and image processing and intelligent control and navigation of mobile robots for the intelligent service robot system. In this paper, we proposed an idea of flexible design for a intelligent service robot, which refers to a single robot with a variety of flexure structure. We presented an integrated system for vision-guided finding the person and completing obstacle… More >

  • Open Access


    Semi-GSGCN: Social Robot Detection Research with Graph Neural Network

    Xiujuan Wang1, Qianqian Zheng1, *, Kangfeng Zheng2, Yi Sui1, Jiayue Zhang1

    CMC-Computers, Materials & Continua, Vol.65, No.1, pp. 617-638, 2020, DOI:10.32604/cmc.2020.011165

    Abstract Malicious social robots are the disseminators of malicious information on social networks, which seriously affect information security and network environments. Efficient and reliable classification of social robots is crucial for detecting information manipulation in social networks. Supervised classification based on manual feature extraction has been widely used in social robot detection. However, these methods not only involve the privacy of users but also ignore hidden feature information, especially the graph feature, and the label utilization rate of semi-supervised algorithms is low. Aiming at the problems of shallow feature extraction and low label utilization rate in existing social network robot detection… More >

  • Open Access


    Synchronization of Robot Manipulators Actuated By Induction Motors with Velocity Estimator

    Felipe J. Torres1,*, Gerardo V. Guerrero2, Carlos D. García2, Ricardo Zavala-Yoe3, Mario A. García1, Adolfo R. López4

    CMES-Computer Modeling in Engineering & Sciences, Vol.121, No.2, pp. 609-630, 2019, DOI:10.32604/cmes.2019.07153

    Abstract A complete modeling (including the actuator dynamics) of a robot manipulator that uses three-phase induction motors is presented in this paper. A control scheme is designed to synchronize robot manipulators actuated by induction motors under a masterslave scheme in the case where the joint velocity of the slave robots is estimated. All of the research on the synchronization of robot manipulators assumes the use of ideal actuators to drive the joints; for that reason, in this work, a three-phase induction motor is considered to be a direct-drive actuator for each joint. An entire model of the mated system is obtained… More >

  • Open Access


    Fabrication of Porous Scaffolds for Bone Tissue Engineering Using a 3-D Robotic System: Comparison with Conventional Scaffolds Fabricated by Particulate Leaching

    Molecular & Cellular Biomechanics, Vol.3, No.4, pp. 179-180, 2006, DOI:10.32604/mcb.2006.003.179

    Abstract This article has no abstract. More >

  • Open Access


    Modeling and Robot Grasping of Deformable Shell-like and Planar Objects

    Yan-Bin Jia

    The International Conference on Computational & Experimental Engineering and Sciences, Vol.16, No.2, pp. 43-44, 2011, DOI:10.3970/icces.2011.016.043

    Abstract The robot hand applying force on a deformable object will result in a changing wrench space due to the varying shape and normal of the contact area. Design and analysis of a manipulation strategy thus depend on reliable modeling of the object's deformations as actions are performed. The first part of this talk is concerned with modeling of shell-like objects grasped by a robot hand. We present a formulation of extensional, shearing, and bending strains in terms of geometric invariants including the principal curvatures and vectors, and their related directional and covariant derivatives. A computational procedure is then offered for… More >

  • Open Access


    Control of Walking Robot by Inverse Dynamics of Link Mechanisms Using FEM

    S. Okamoto1, H. Noguchi2

    The International Conference on Computational & Experimental Engineering and Sciences, Vol.2, No.4, pp. 131-136, 2007, DOI:10.3970/icces.2007.002.131

    Abstract This paper presents a control of walking robot by using inverse dynamics of link mechanisms, which has already been proposed and applied in several in-plane motions. In this method, FEM is used for the discretization of equations of motion. This method calculates nodal forces by evaluating equations of motion in a matrix form, and thus information from the entire system can be handled efficiently, and the torques input to each joint of link mechanisms to achieve required motion are calculated easily. This method is suitable to the feed-forward control of closed-loop or continuously link mechanisms. In this paper, this inverse… More >

  • Open Access


    Research on Robot Control Technology Based on Vision Localization

    Ruijiao Yin1, Jie Yang1,*

    Journal on Artificial Intelligence, Vol.1, No.1, pp. 37-44, 2019, DOI:10.32604/jai.2019.05815

    Abstract Based on the understanding of machine vision localization technology at home and abroad, this paper outlines the overall design of the system, and analyses the working principle and workflow of the robot with vision system in workpiece grinding. The hardware design of the system is introduced. The process of image processing is analyzed in detail, and the results of image processing are given. The basic parameters of camera imaging are taken as internal parameters. The camera calibration is obtained by rotation matrix R and translation parameter T. The coordinate transformation of camera coordinate system and world coordinate system is analyzed.… More >

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