RCAR 又一个WordPress站点 2019-04-19T04:04:06Z https://robotics.sjtu.edu.cn/RCAR/index.php/feed/atom/ WordPress RCAR2016 <![CDATA[Workshop & Tutorial]]> https://robotics.sjtu.edu.cn/RCAR/?p=299 2016-05-05T10:14:58Z 2016-05-05T09:03:46Z Tutorial for the
2016 IEEE International Conference on Real‐time Computing and Robotics
Angkor Wat, Cambodia
June 6‐9, 2016

Unconventional Real Time Control of Dynamical Complex Systems

Ivan Zelinka

Department of Computer Science
Faculty of Electrical Engineering and Computer Science VŠB-TUO
17. listopadu 15, 708 33 Ostrava-Poruba, Czech Republic
ivan.zelinka@vsb.cz, www.ivanzelinka.eu

This tutorial is focused on mutual intersection of a few interesting fields of research whose core topic are bio-inspired algorithms in general. It discusses recent progress in bio-inspired algorithms that can be used for real-time control. Bio-inspired algorithms, based on its nature, are capable of real-time control of various systems, as will be reported and discussed in this tutorial. The structure of tutorial is as follows:

1. An introduction into bio-inspired methods. Light introduction into bio-inspired methods will be given with attention on evolutionary algorithms. The main principles and ideas will be explained and demonstrated by online simulations and videos. At the end will be explained and suggested under what conditions evolutions can be used on real-time control.
2. The second part introduce three showcases of real-time control of three different types of systems, a) the plasma reactor control by mans of three selected evolutionary algorithms in competition with human operator (we have done in Oxford and published in books and Elsevier journal), b) real-time deterministic chaos control (1D chaos and CML-coupled map lattices systems, published in book and Elsevier journal) and c) robot control by means of evolutionary synthesis of control commands (published in the Springer book and journals). The details of all three showcases are:

a. Showcase 1. In this showcase, the performance of a self-organizing migration algorithm (SOMA), has been compared with simulated annealing (SA) and differential evolution (DE) for an engineering application. This application is the automated deduction of fourteen Fourier terms in a radio-frequency (RF) waveform to tune a Langmuir probe in real-time. Langmuir probes are diagnostic tools used to determine the ion density and the electron energy distribution in plasma processes. RF plasmas are inherently nonlinear, and many harmonics of the driving fundamental can be generated in the plasma. RF components across the ion sheath formed around the probe distort the measurements made. To improve the quality of the measurements, these RF components can be removed by an active-compensation method. In this research, this was achieved by applying a real-time evolutionary controlled RF signal to the probe tip that matches both the phase and amplitude of the RF signal generated from the plasma. Here, seven harmonics are used to generate the waveform applied to the probe tip. Therefore, fourteen mutually interacting parameters (seven phases and seven amplitudes) had to be tuned on-line. In previous work SA and DE were applied successfully to this problem, and hence were chosen to be compared with the performance of SOMA. In this application domain, SOMA was found to outperform SA and DE. This control has been done on real-time running plasma reactor in the Oxford university lab. Evolutionary algorithms has handled with reactor as with real-time black box system, because mathematical description of the system was not defined.
b. Showcase 2. This showcase introduces continuation of our investigation on deterministic chaos real-time control by means of selected evolutionary techniques. Real-time-like behavior is specially defined and simulated with the spatiotemporal chaos model based on mutually nonlinearly joined n equations, so-called coupled map lattices (CML). Four evolutionary algorithms are used for chaos control here: differential evolution, self-organizing migrating algorithm, genetic algorithm and simulated annealing in a total of 12 versions. For modeling of real-time spatiotemporal chaos behavior, the CML were used based on logistic equation to generate chaos. The main aim of this investigation was to show that evolutionary algorithms, under certain conditions, are capable of real-time control of deterministic chaos, when the cost function is properly defined as well as parameters of selected evolutionary algorithm. Investigation consists of four different case studies with increasing simulation complexity. For all algorithms, each simulation was repeated 100 times to show and check robustness of used methods. All data were processed and used in order to get summarizing results and graphs. The importance of such control is based on fact that in contemporary engineering design it is vitally important to be able to identify presence of chaos in it or design devices, that are chaos free and/or be able to control system behavior out of such danger regimes.
c. Showcase 3. The showcase deals with a novelty tool for symbolic regression – Analytic Programming (AP) which is able to solve various problems from the symbolic regression domain including setting an optimal trajectory for robots in space and other industries. In this showcase the main principles of AP are described and explained how AP was used for setting an optimal trajectory for robot according the user requirements is in detail described. An ability to create so called programs, as well as Genetic Programming (GP) or Grammatical Evolution (GE) do, is shown in that part. AP is a superstructure of evolutionary algorithms which are necessary to run AP. In this showcase SOMA and DE as two evolutionary algorithms were used to carry simulations out that has been compared with already published results from GP. At the end will be outlined frontiers i.e. future possibilities of bioinspired algorithms and it use on complex systems control. Reported methodology and results are based on actual state of art (that is a part of this tutorial) as well as on our own, already published, research. Tutorial is designed as an introduction; no advanced or expert knowledge from complex systems, chaos and control is expected.

Time of duration: according to program of the RCAR

Level of expected expertise: Introductory

Supporting material: presentation in PDF, examples in Mathematica and C#

Speaker bibliography:

ivan

Ivan Zelinka (born in 1965, ivanzelinka.eu) is currently associated with the Technical University of Ostrava (VSB-TU), Faculty of Electrical Engineering and Computer Science. He graduated consequently at the Technical University in Brno (1995 – MSc.), UTB in Zlin (2001 – Ph.D.) and again at Technical University in Brno (2004 – Assoc. Prof.) and VSBTU (2010 – Professor).
Prof. Zelinka is responsible supervisor of several grant researches of Czech grant agency GAČR as for example Unconventional Control of Complex Systems, Security of Mobile Devices and Communication (bilateral project between Czech and Vietnam) and co-supervisor of grant FRVŠ – Laboratory of parallel computing amongst the others. He was also working on numerous grants and two EU projects as member of team (FP5 – RESTORM) and supervisor (FP7 – PROMOEVO) of the Czech team. He is also head of research team NAVY https://navy.cs.vsb.cz/.
Prof. Zelinka was awarded by Siemens Award for his Ph.D. thesis, as well as by journal Software news for his book about artificial intelligence. He is a member of the British Computer Society, Machine Intelligence Research Labs (MIR Labs – https://www.mirlabs.org/czech.php), IEEE (committee of Czech section of Computational Intelligence), a few international program committees of various conferences, and three international journals. He is also the founder and editor-inchief of a new book series entitled Emergence, Complexity and Computation (Springer series 10624, see also www.ecc-book.eu).

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RCAR2016 <![CDATA[Keynote]]> https://robotics.sjtu.edu.cn/RCAR/?p=224 2016-05-29T15:42:48Z 2016-03-20T12:44:45Z Keynote Talk I:
Region-based Shape Control of Multi-agent Systems
 

Professor Chien Chern Cheah
Nanyang Technological University, Singapore
Location: Royal Ballroom, Angkor Palace Resort & Spa
Time:
 13:30-14:00, Tue. June 7

Abstract:  Rapid advances in sensing, computing and communication technologies have led to the development of autonomous agents functioning in uncertain environment. Existing formation control methods fail to demonstrate satisfactory performance when dealing with a large number of agents because of the difficulty in specifying the positions/roles of all the agents or constraint relationships among them as the number of agents increase. In addition, the agents also needs to change their formations according to the changing environment, respond to unexpected changes in task requirements, for example by deploying new robots or removing faulty robots. Such changes introduce uncertainty in multi-agent systems that cannot be resolved with existing formation control theories. In this talk, a region-based shape control strategy for large-scale multi-agent systems will be presented. In this control method, the agents move as a group inside a desired region while maintaining a minimum distance among themselves. Various shapes and formations can be specified at a higher level in terms of inequality objective functions. The agents do not need specific identities or roles within a group. Therefore, unlike the existing formation control methods, the region-based control method does not require specific orders or positions of the robots and yet different formations can be formed by a large number of agents. The system is also scalable in the sense that any agent can move into the formation or leave the formation without affecting the other agents. The extensions to optical manipulation of multiple micro-objects will also be presented in this talk.

Speaker Biography: Chien Chern CHEAH was born in Singapore. He received B.E. degree in Electrical Engineering from National University of Singapore in 1990, M.E. and Ph.D. degrees in Electrical Engineering, both from Nanyang Technological University, Singapore, in 1993 and 1996, respectively. From 1990 to 1991, he worked as a design engineer in Chartered Electronics Industries, Singapore. He was a research fellow in the Department of Robotics, Ritsumeikan University, Japan from 1996 to 1998. He joined the School of Electrical and Electronic Engineering, Nanyang Technological University as an assistant professor in 1998. Since 2003, he has been an associate professor in Nanyang Technological University. In 2002, he received the oversea attachment fellowship from the Agency for Science, Technology and Research (A*STAR), Singapore to visit the Nonlinear Systems laboratory, Massachusetts Institute of Technology. He serves as an associate editor for Automatica. He has served as an associate editor for IEEE Transactions on Robotics from 2010 to 2013 and Asian Journal of Control from 2009 to 2013. He was a guest editor of the special issue on vision based control of the Asian Journal of Control. He was the program chair of the International Conference on Control, Automation, Robotics and Vision (ICARCV) in 2012 and 2006, and the program co-chair of IEEE International Conference on Robotics and Automation (ICRA) 2017.

Keynote Talk II:
Cloud based real-time localization of mobile robot
 

Professor Xiaorui Zhu
Harbin Institute of Technology at Shenzhen, China
Location: Royal Ballroom, Angkor Palace Resort & Spa
Time:
14:00-14:30, Tue. June 7

Abstract:  Cloud robotics provides a very promising solution to overcome the limitation problems of computational load and memory space faced by large-scale or long-term autonomous robots. Cloud robotics applies cloud computing concepts to a robot in order to augment the capabilities of the robot by distributing computation and sharing the huge data or new skills via the Internet. Although introduction of the cloud has the above advantages, some challenges have also arisen. For instance, simply throwing some algorithms from the robot up to the cloud might generate severe real-time problems. Unstable network or even network disconnection would make the whole system fail. This talk will focus on cloud based real-time localization of mobile robot in general large scale outdoor environments. Considering such localization issue as an example, this presentation will discuss how to develop a new cloud based paradigm for real-time localization of a ground mobile robot in different large-scale challenging scenarios where the GPS signal is often shadowed or completely unavailable. The proposed methodology allows the cloud providing huge space to store the large amount of data while minimizing requirements of hardware and onboard sensors for a mobile robot. On the other hand, network delay caused by data interchanging between the cloud and robot could be compensated successfully in this paradigm.

Speaker Biography: Xiaorui Zhu, Professor in Automation Department at Harbin Institute of Technology (Shenzhen), the founding Board member of the notable Drone company, DJI. She also serves as the Co-Chair of Chapter and International Activities Committee since 2014, and Member of Industrial Activities Boardat IEEE Robotics and Automation Society (IEEE RAS) since 2012. Her research interests include mobile robotics, small-scale unmannedaerial vehicle, and 3-D mapping. She received her Ph.D. in Mechanical Engineering Department from University of Utah in 2006. She received the National Science and Technology Progress Award of China in 2012 for Archeological exploration robotic system she developed. Her paper won the Best Paper Finalist in 2014 IEEE International Conference on Biomimetics and Robotics (ROBIO 2014). She was awarded as “Notable Women in Robotics” at ICRA 2015.

Keynote Talk Ⅲ:
NanoRobot as System Integration
 

Professor Lianqing Liu
Shenyang Institute of Automation, Chinese Academy of Sciences
Location: Royal Ballroom, Angkor Palace Resort & Spa
Time:
13:30-14:00, Wed. June 8

Abstract:  The technique of Robotic Nano manipulation extends people’s ability into nano scale, which generates a significant influence to the modern science. It provides new feasible ways to solve the problems that traditional technique cannot achieve. In this talk, we will present the demonstration of nanorobot for its applications in biological study firstly. Then aiming at meeting the new function requisites aroused from the multidiscipline research, we introduce the recent progress of nanorobot in perspective of system integration. The integration here includes two meanings. One is developing technologies based on nanorobot itself, such as more accurate manipulation, fast scanning, molecular recognition and so on. Another meaning is creating new functions through integrating other advanced techniques into nanorobot system, such as planar patch clamp, Scanning Ion Conductance Microscopy, Optical-induced tweezers. Each new integrated technology generates a boarder impact to the applications of nanorobot. The examples show the problems that cannot be investigated with traditional method can be elucidated through the work of nanorobot based integration, which in turn shows nanorobot as system integration leads to an improved significance and scientific value.

Speaker Biography: Lianqing Liu is a professor of Shenyang Institute of Automation, Chinese Academy of Sciences. He received his BSc degree in Industrial Automation from Zhengzhou University, China, in 2002, and his Ph.D degree in Pattern Recognition and Intelligent Systems from Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS) in 2009. Liu was awarded the Early Government/Industrial Career Award by the IEEE Robotics and Automation Society in May, 2011, Early Career Award of NSFC in 2015, Lu Jiaxi Young Scientist Award of the Chinese Academy of Sciences in Jan, 2011, and president Award of the Chinese Academy of Sciences in 2009. Currently his research interests include Nanorobotics, Intelligent control, and Biosensors.

Keynote Talk Ⅳ:
Control of a Single Wheel Robot–Gyrover
 

Professor Ou, Yongsheng
Automation and Computer Aided Engineering,Chinese University of Hong Kong
Location: Royal Ballroom, Angkor Palace Resort & Spa
Time:
14:00-14:30, Wed. June 8

Abstract:  How to develop methodologies for autonomous control of dynamically stable systems in response to real-time inputs will be discussed. The problem has significant impact in a variety of applications such as inverted pendulum systems, rolling disks, bicycles, biped robots, hopping robots. In this thesis, we use a single wheel robot–Gyrover, as a typical example and an experimental planform to study this class of systems deeply. This talk contains two main topics: (1) based on the dynamic model analysis, design and investigate some nonlinear control approaches in balance control and tracking control for Gyrover, (2) study some important issues about building up an autonomous intelligent control strategy based on learning from human expert demonstrations.

Speaker Biography: Ou, Yongsheng is a Professor and PhD advisor. He received his PhD degree in automation and computer aided Engineering at the Chinese University of Hong Kong, 2004. He has published more than 100 papers in international journals and conferences such as “Automatica”. He has also published a monograph in English. His papers have won Best Paper Awards in international conferences such as IEEE International Conference on Information and Automation (ICIA). His research work has been supported by several projects including 863 project of the Ministry of Science and Technology. The applicant has been supported by the “One-hundred Talents Program” of the Chinese Academy of Sciences (CAS) since 2011. He has also served as an editorial board member in three international robotics journals. His research interests include: ServiceRobotics, nonlinear control, and other application areas.

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RCAR2016 <![CDATA[Other Links]]> https://robotics.sjtu.edu.cn/RCAR/?p=38 2015-07-24T14:33:33Z 2015-07-24T14:33:33Z Other Links

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RCAR2016 <![CDATA[Accommodation]]> https://robotics.sjtu.edu.cn/RCAR/?p=36 2016-05-11T13:59:01Z 2015-07-24T14:33:14Z Angkor Palace Resort & Spa  is available for all attendees.

Here are hotel’s short presentation and factsheet:Angkor Palace Resort & Spa.pdf       Fact sheet.pdf

Angkor Palace Resort & Spa

Website: https://www.angkorpalaceresort.com/
Accommodation is ready, please book as soon as possible:Booking Form for Group.pdf

Angkor Palace Resort & Spa, the only international 5-star resort designed and built by a Cambodian architect, its décor and furnishing reflect the finest in Cambodian architecture. Nestled invitingly within a spacious 11-hectare estate, the lush resort offers you the serenity of a secluded retreat whilst ensuring you are provided with every possible convenience.

hotel_landscape1
hotel_landscape2 hotel_landscape3

Location

Located at: No. 555, PhumKruos, SangkatSvayDangkum, SiemReap

In the heart of SiemReap’shistorical cultural, shopping & business districts

  • 10 minutes drive from the airport
  • 10 minutes drive from Old Market/Pub Street
  • 15 minutes drive from Angkor Wat
  • 7 Minutes drive to Angkor National Museum

hotel_location

Deluxe Room

Garden/Pool Views, All Rooms with Balcony

hotel_deluxe

Restaurants

  • Soriya–Lunch and Dinner: Offering Khmer & International A La Carte & Set Menu
  • Sunset Café –All Day Dining: Offering offers an extensive array of dining options from sumptuous buffets to a la carte with popular dishes from Khmer, Asian and Western cuisine
  • PhumKreusKhmer –Lunch and Dinner: Offering traditional Khmer Cuisine

hotel_restaurant

Kainnora Spa

  • Well being, relaxing, healthy
  • Open daily until 11pm

hotel_spa

Pool

hotel_pool

Meetings

Activities

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RCAR2016 <![CDATA[VISA]]> https://robotics.sjtu.edu.cn/RCAR/?p=34 2015-12-24T12:41:08Z 2015-07-24T14:32:59Z Visa policy of Cambodia

From Wikipedia, for more information, please visit :https://en.wikipedia.org/wiki/Visa_policy_of_Cambodia

Visitors to Cambodia must obtain a visa unless they come from one of the visa exempt countries. All visitors must hold a passport valid for 6 months and one empty page.

Visa_policy_of_Cambodia

Most foreign visitors to Cambodia require both national passports and visas to enter the country. Visitors can enter Cambodia on either tourist or business visas which they can get at their national Cambodian embassy or consulate, both of Cambodia’s international airports, and many of Cambodia’s land borders with other Southeast Asian countries.

The Cambodian border crossings where visas can be obtained are the main border between Cambodia and Laos, some of Cambodia’s border crossings with Vietnam, all of the border crossings between Cambodia and Thailand. Tourist visas obtained at land border crossings tend to cost more than those obtained elsewhere.

A passport with at least one blank page for visas and which remains valid for six months as well as one or two passport-sized photos are required to obtain a visa. Paying visa fees in American dollars is also highly recommended as fees paid in local currencies mean visas tend to cost more. Visitors may also choose to apply online for e-visas, which cost slightly more, but are e-mailed within no more than three business days. Passport photos taken with digital cameras or scans of existing passport photos are required to apply for e-visas, which must then be printed out in two copies, one for entry and the other for exit. Both copies should be kept inside passports.

Visa exemption

Citizens of Vietnam, Malaysia, Singapore, Philippines, Laos, Thailand, and Indonesia do not require visas to enter Cambodia.

Tourist visa

Tourist visas requested prior to arriving in Cambodia are valid for 90 days, and must be used during a three-month period. Visitors on tourist visas can also receive entry permit stamps lasting 30 days, which can then be further extended once for an additional 30 days at an extra cost.

Business visa

Business visas cost slightly more to obtain than tourist visas, but are the best option for those staying in Cambodia for more than two months or who plan to enter and exit the country several times during their stay. Business visas may be extended indefinitely for six month time periods by travel agencies throughout Phnom Penh.

 

 

 

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RCAR2016 <![CDATA[Travel]]> https://robotics.sjtu.edu.cn/RCAR/?p=30 2015-12-24T12:30:22Z 2015-07-24T14:32:32Z Angkor Wat

The Khmer Empire in present day Cambodia once ruled much of Southeast Asia between the ninth and 15th centuries. The most famous of the many remains from this mighty empire is the temple complex of Angkor Wat, which King Suryavarman II first constructed during the early 12th century.

Angkor - head

Today, Angkor Wat remains the world’s biggest religious structure and has become not only Cambodia’s most visited tourist attraction, but also a major national symbol prominently displayed on Cambodia’s flag. Siem Reap, just five and a half kilometers south of Angkor Wat, is the closest major city to this majestic temple.

At least half of all foreign tourists to Cambodia paid a visit to Angkor Wat during their stay in the country, but Angkor Wat is merely the most famous of the many well-preserved Khmer Empire ruins in Angkor Archaeological Park.

Angkor Archaeological Park is also where the remains of the Khmer Empire’s ancient capital city, Angkor Thom, can be found. No other city prior to the Industrial Revolution had a larger population than Angkor Thom, which has been estimated to be home to as many as one million people.

The best known of Angkor Archaeological Park’s over 100 or more sacred stone temples, aside from Angkor Wat itself, are Bayon, Baphuon, the Elephant Terrace, and the temple mountain of Phnom Bakheng.

People

Khmer is both the dominant language and dominant ethnic group in Cambodia. Eighty percent of the more than 14 million people who live in Cambodia identify themselves as Khmer and speak the language. Chinese, Vietnamese, Khmer Loeu, and Cham are Cambodia’s other major ethnic groups.

Angkor - People

Although many older Cambodians speak French, the language of Indochina’s former colonists, younger Cambodians have preferred to learn English. No fewer than half of Cambodia’s population is under the age of 22, and the population’s life expectancy has increased dramatically during the past decade. Although tourism has now become one of Cambodia’s main industries, many people in the country’s more rural areas remain unaccustomed to foreign visitors.

Religion

Angkor Wat may be the world’s biggest Hindu temple, but Theravada Buddhism is the preferred religion for 96 percent of Cambodians. Most of the remaining four percent of Cambodia’s population practise Christianity or Islam, and most of Cambodia’s Muslims belong to the country’s Malay and Cham minority groups.

Angkor - monk pilgrimage

Cambodia has been a predominantly Buddhist country for nearly 2,000 years, and Theravada Buddhism has been the nation’s dominant religion for centuries, except for the years it was banned by the Khmer Rouge. Many of Cambodia’s highland tribal groups have their own local spirits and religious beliefs, and most Cambodians believe in their ancestors’ guardian spirits along with their official religions.

Currency

The Cambodian riel may be the country’s official currency, but American dollars are also widely accepted to the point where most of Cambodia’s ATMs dole out American dollars instead of Cambodian riels. Cambodian riel coins, however, are generally used instead of American coins.

One riel is equivalent to either 10 kak or 100 sen, and currency notes are 50 riel, 100 riel, 500 riel, 1,000 riel, 2,000 riel, 5,000 riel, 10,000 riel, 20,000 riel, and 50,000 riel.

According to the fixed exchange rate, one American dollar is equal to 4,000 riels, but the actual exchange rate between riels and dollars is usually higher. Visitors should spend as many riels as they can in Cambodia because the currency is difficult to exchange outside the country. Thai baht is also widely accepted in many communities close to Cambodia’s border with Thailand.

Attractions

Angkor Wat

A 190m moat surrounds the majestic 12th century temple complex of Angkor Wat, the main attraction of Angkor Archaeological Park. Angkor Wat stands 65m high and was designed as a representation of Mount Meru, a sacred Hindu symbol, with three galleries placed on top of each other and shaped like rectangles.

Angkor Wat also contains four towers which combine to form a lotus flower shape, over 300 heavenly nymphs known as apsara adorning the temple, and a long wall of bas reliefs depicting various historic battles, legends, and other events.

Angkor Wat is a breathtaking sight at any time of day, but is most impressive of all during sunrise and the middle of the afternoon.

Bayon

From a distance, the Bayon temple’s 54 towers merely look like piles of stones. However, the closer visitors come to this temple in the middle of Angkor Thom, the better they will be able to see and appreciate the 216 faces carefully carved into Bayon’s towers.

Angkor - Bayon

The first two of Bayon’s three levels are rectangular, but the top level is round, and four faces have been carved into each of Bayon’s 54 towers.

Bayon’s bas reliefs are no less spectacular, cover a distance of over a kilometer, and depict over 11,000 figures. The inner gallery exhibits mythical legends and figures, while the outer gallery contains scenes of daily life during the era when Bayon was built.

Baphuon

The Baphuon temple is another representation of the sacred Mount Meru, and is situated northwest of the Bayon temple. A giant reclining Buddha was added to the Baphuon’s western face following the region’s conversion to Buddhism during the 16th century, but its carving was never completed.

The three-tiered Baphuon was first constructed in the middle of the 11th century. Although Cambodia’s civil war interrupted archaeological work on the Baphuon, the temple has recently been reopened to the public and is currently undergoing reconstruction.

Elephant Terrace

Thousands of people once lined the 350m Elephant Terrace viewing stand to watch official royal ceremonies and other public events. Nowadays, the Elephant Terrace, whose elaborate decorations also include lions, is much more relaxing and tranquil, but no less beautiful.

The Terrace of the Leper King

This impressive terrace received its current name from a 15th century sculpture of the Hindu god of death discovered at the site. The sculpture became known as the Leper King because of its growing moss and discoloration.

It takes roughly three and a half hours to walk the 13kms around the Terrace of the Leper King’s five entrance gates, the most tranquil of which are the northern and western gates. The terrace also includes eastern and southern gates along with a Victory Gate on its east wall.

Phnom Bakheng

This Hindu temple is one of the most popular places to see sunset views of Angkor Wat, but Phnom Bakheng was actually built over two centuries prior to Angkor Wat and was once the region’s main temple.

Phnom Bakheng stands on top of a steep hill one and a half kilometers northwest of Angkor Wat, and is shaped like a pyramid. This temple has six tiers, and its top level contains five sandstone sanctuaries, but most of the 108 small towers which once stood around Phnom Bakheng have now collapsed.

Phnom Bakheng can become very crowded at sunset, and it takes roughly half an hour to climb to the top, an especially dangerous feat after dark. Visitors can ride up and down the hill on elephants for extra fees.

Ta Prohm

Much of this temple remains covered in trees and other jungle plants, which is how Ta Prohm was first unearthed during the 19th century. Ta Prohm has become one of Angkor Archaeological Park’s most popular temples for its beautiful stone and wood structure, and its appearance in the Tomb Raider film starring Angelina Jolie.

Angkor - Ta Pomh temple

Ta Prohm is currently being rebuilt and many of the trees and other plants once surrounding the temple have now been removed.

Preah Khan

Preah Khan is another temple which remains covered by vegetation, and which is even older than Angkor Wat, which lies three kilometers to its south. Preah Khan was not only a temple, but also a city and Buddhist university which once housed nearly 100,000 servants and officials. There were also up to 1,000 teachers and dancers at Preah Khan at one point. A moat surrounds Preah Khan, which also includes a House of Fire, a Hall of Dancers, and a courtyard with two libraries.

 

 

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RCAR2016 <![CDATA[Conference Venue]]> https://robotics.sjtu.edu.cn/RCAR/?p=28 2016-05-11T13:57:26Z 2015-07-24T14:32:13Z Main Venue:  Angkor Palace Resort & Spa, Siem Reap

Address: No. 555, PhumKruos, SangkatSvayDangkum, SiemReap
hotel_landscape1
Angkor Palace Resort & Spa, the only international 5-star resort designed and built by a Cambodian architect, its décor and furnishing reflect the finest in Cambodian architecture. Nestled invitingly within a spacious 11-hectare estate, the lush resort offers you the serenity of a secluded retreat whilst ensuring you are provided with every possible convenience.

Meetings

The Royal Ballroom

hotel_ballroom3

Transportation to Venue

The nearest public transportation

  • Siem Reap International Airport – 5 kilometters – 10 minutes drive
  • Bus station – 7 kilometters – 15 minutes drive
  • 10 Minutes drive to Old Market/Pub Street
  • 7 Minutes drive to Angkor National Museum
  • 6 Minutes drive to Angkor Golf Resort
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RCAR2016 <![CDATA[Registration]]> https://robotics.sjtu.edu.cn/RCAR/?p=26 2016-06-14T05:34:39Z 2015-07-24T14:31:56Z RCAR2016 Conference Registration

Wire Transfer Payment via Registration Form

Please download the registration form and follow the instruction on the form to make wire transfer payment:

Registration Form

RCAR_2016_Registration-Form

 

The registration fees are as follows:

Registration Fee

 

Category Till April. 30  After April. 30  Social Functions  USB key Uploads*
IEEE Member RMB4500($700) RMB5500($850) Included Included Included
Nonmember RMB5500($850) RMB6500($1000) Included Included Included
IEEE Student Member** RMB3250($500) RMB3900($600) Included Included Included
Student Nonmember** RMB3900($600) RMB4500($700) Included Included Included
IEEE Life member*** RMB0($0) RMB0($0) Included Included Included

* IMPORTANT: Advance registration is required in order to upload the final material of accepted contributions before April. 30, 2016. A regular conference registration can be used to upload at most 2 contributions. A student conference registration can be used to upload 1 contribution. A new registration is needed, if the upload limit is exceeded. Six pages in the standard IEEE conference paper format are allowed for each paper, including figures. A maximum of two additional pages are permitted at an extra charge of US$200/page.

**To complete a student registration, please upload a copy of your valid student ID in registration page.

***If you are a Life Member, please contact us by email for approval prior to uploading any papers.

 

Category
Extra page charges RMB1300($200)/page
Extra Banquet Ticket RMB600($90)

 

 

 

Cancellation Policy

In case of cancellation on or before April. 30, 2016, your registration fee will be refunded after deducting the cancellation fee (US$ 100). Please note all refunds will be made after the Conference. Note that on or after May. 1, 2016, your registration fee will NOT be refunded. In any cases, if your registration is used to upload your contribution (paper/video) for RCAR2016, your registration fee cannot be refunded.


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RCAR2016 <![CDATA[Awards]]> https://robotics.sjtu.edu.cn/RCAR/?p=24 2015-07-24T14:31:24Z 2015-07-24T14:31:24Z Awards

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RCAR2016 <![CDATA[Panel Discussion]]> https://robotics.sjtu.edu.cn/RCAR/?p=22 2015-07-24T14:31:07Z 2015-07-24T14:31:07Z Panel Discussion

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