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Modeling Mobility Agents in Supervisory and controlling Systems Based on Nets within Nets

Modeling Mobility Agents in Supervisory and Controlling Syst...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Xiao-Hui Hu Xing-She Zhou School of Computer Science and Engineerin Northwestern Polytechnical University Xi'an China

the formal description of distributed supervisory and controlling systems can promote development efficiency and decline cost during the procedure of system design and implementation. the goal of our research is to develop a formal modeling methodology for supervisory and controlling systems that have artificially intelligent features. this approach is agent-based and central to the development of the model with mobility agents considering reactivity for real-time purpose and deliberation for optimal realization and other special problems for critical systems like intelligent transportation systems by a Petri nets based formal modeling language. By using nets within nets, a special high-level Petri nets, we investigate the concurrency of the system and the agent behaviors in one model without losing the needed abstraction. the synchronous channels are introduced to denote the communication and coordination among agents. Finally an example is given to illustrate that the formal method is feasible and valid

关键词： control system synthesis Artificial intelligence Intelligent transportation systems Petri nets Distributed control control systems Costs Real time systems Intelligent agent Concurrent computing

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Motion Estimation to a Failed Satellite on Orbit using Stereo vision and 3D Model Matching

Motion Estimation to a Failed Satellite on Orbit using Stere...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Fuyuto Terui Heihachiro Kamimura Shin' ichiro Nishida Japan Aerospace Exploration Agency Tokyo Japan

An algorithm is developed for estimating the motion (relative attitude and relative position) of large pieces of space debris, such as failed satellites. the algorithm is designed to be used by a debris removal system which would perform various operations on space debris such as observation, investigation, capture, repair, refuel and de-orbit. During these operations, the debris removal system must control its position and attitude simultaneously. Such six degree-of-freedom control becomes more difficult if the failed satellite is changing attitude, such as by nutation. the information required as feedback signals for such a controller is relative - position, velocity, attitude and angular velocity - and these are expected to be measured or estimated from image data. the algorithm uses a combination of stereo vision and 3D model matching, applying the ICP (iterative closest point) algorithm, and uses time series of images to increase the reliability of the relative attitude and position estimates. To evaluate the algorithm, a visual simulator is prepared to simulate the on-orbit optical environment in terrestrial experiments, and the motion of a miniature satellite model is estimated using images obtained from the simulator

关键词： Motion estimation Satellites Stereo vision Attitude control Iterative algorithms Space debris Algorithm design and analysis control systems Feedback Angular velocity control

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Comparison of control Approaches For Tracking control of a 3 DOF Parallel Robot: Experimental Results

Comparison of Control Approaches For Tracking Control of a 3...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Lu Ren James K. Mills Department of Mechanical and Industrial Engineering University of Toronto Toronto ONT Canada

In this paper, to study the effect of different control approaches on improving trajectory tracking accuracy for a 3 degree-of-freedom (DOF) planar parallel robot, we tested two synchronized-type controllers: PI-type synchronized control and adaptive synchronized (A-S) control; and conventional PID control and adaptive control. Here PID control and PI-type synchronized control are dynamic model-free while the adaptive control and A-S control are dynamic model-based. Because of the closed-loop kinematic chain mechanism of the experimental planar parallel robot used in this study, trajectory tracking control of this robot may be treated as a synchronization problem, and consequently, use of the synchronized control approaches can substantially improve the trajectory tracking performance of the robot end-effector compared with approaches without synchronization. through conducting experiments on an experimental 3-DOF P-R-R type planar parallel robot by using the four control approaches, the above claims are demonstrated.

关键词： Parallel robots Trajectory Adaptive control Robot kinematics Sliding mode control Programmable control three-term control Robot control Leg Aerodynamics

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A New Auto-focusing Algorithm for Optical Microscope Based Automated System

A New Auto-focusing Algorithm for Optical Microscope Based A...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Yu Song Mantian Li Lining Sun Robotics Institute Harbin Institute of Technology Harbin Heilongjiang China

Pixel-based auto-focusing is a long-standing topic in the literatures. It involves three main parameters: Region of Interest (ROI), image sharpness function and global maximum searching algorithm. As the mathematical description of image sharpness, sharpness function is the core issue for realizing robust auto-focusing. In this paper, the existing sharpness functions are summarized and grouped firstly, then a new space domain SUSAN (Smallest Univalue Segment Assimilating Nucleus) based sharpness function is proposed. the key problem in proposed algorithm is selecting a suitable similarity function to measure the similarities of the sampling pixel and its neighbors. In experiments, 8 similarity functions are analyzed and evaluated. Based on the evaluation results, a rough/fine two grades global maximum searching strategy is designed to realize fast and robust auto-focusing. At last, experiments verify the validity of the proposed auto-focusing algorithm.

关键词： Optical microscopy Optical sensors Focusing Charge coupled devices Charge-coupled image sensors Pixel Sensor arrays Frequency Image edge detection Robustness

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Modeling Errors in Small Baseline Stereo for SLAM

Modeling Errors in Small Baseline Stereo for SLAM

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international conference on control, automation, robotics and vision (ICARCV)

作者： Damith C. Herath K. R. S. Kodagoda Gamini Dissanayake ARC Centre of Excellence in Autonomous Systems CAS Faculty of Engineering University of Technology Sydney NSW Australia

In the past few years, there has been significant advancement in localization and mapping using stereo cameras. Despite the recent successes, reliably generating an accurate geometric map of a large indoor area using stereo vision still poses significant challenges due to the accuracy and reliability of depth information especially with small baselines. Most stereo vision based applications presented to date have used medium to large baseline stereo cameras with Gaussian error models. Here we make an attempt to analyze the significance of errors in small baseline (usually <0.1m) stereo cameras and the validity of the Gaussian assumption used in the implementation of Kalman filter based SLAM algorithms. Sensor errors are analyzed through experimentations carried out in the form of a robotic mapping. then we show that SLAM solutions based on the extended Kalman filter (EKF) could become inconsistent due to the nature of the observation models used

关键词： Simultaneous localization and mapping Cameras Stereo vision Robot kinematics Robot vision systems Error analysis Robot sensing systems Navigation Hardware Algorithm design and analysis

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Tracking Accuracy Improvement by Sliding Phase-in Iterative Learning control

Tracking Accuracy Improvement by Sliding Phase-in Iterative ...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Bin Zhang Danwei Wang Yongqiang Ye Yigang Wang School of Electrical and Electronic Engineering Nanyang Technological University Singapore

the earlier works by Zhang, B. et al, (2004) on cutoff-frequency phase-in ILC show that the scheme can suppress initial state error/position offset properly and improve tracking accuracy. However, since cutoff frequency is set high in initial phase of operation cycles, the improvement of tracking accuracy is mainly in this phase and the tracking error in later phase of operation cycles can still be large. A uniformly good tracking accuracy is favorable in many applications. In this paper, a sliding cutoff-frequency phase-in ILC is proposed to achieve this goal. In this scheme, cutoff frequency profile moves along the time axis after some cycles according to the assessment of tracking performance. Experimental results on an SCARA robot show that this scheme can further improve the tracking accuracy and generate a uniform tracking error over the entire operation interval

关键词： Cutoff frequency Time frequency analysis Adaptive filters Trajectory control systems Frequency domain analysis Low pass filters Sampling methods Error correction Robots

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Discrimination of Lies in Communication by using Automatic Measuring System of Nonverbal Information

Discrimination of Lies in Communication by using Automatic M...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Yoshimasa Ohmoto Kazuhiro Ueda Takehiko Ohno Department of General Systems Studies University of Tokyo Tokyo Japan NTT Department II NTT Corporation Tokyo Japan

In the near future, it is expected for us to communicate with robots and computer agents in a natural way. In daily life, we usually speculate about partner's intentions from diverse nonverbal information expressed unconsciously. We thus need to investigate the method of speculating partner's intentions by using nonverbal information and to implement it with a robot or agent to realize the smooth communication. However, there is not a system satisfying necessary conditions which we considered for the measuring nonverbal information in natural communication. therefore, we made a real-time system for readily measuring gaze directions and facial feature points at a time. And then, we established an experimental setting for measuring multimodal nonverbal information that participants expressed during communication. We used the system and setting to make an experiment for discriminating lie, as an example which intentions were unconsciously expressed by nonverbal information. As a result, we found that we could discriminate lies by using diverse nonverbal information in the same way people did

关键词： Prototypes robotics and automation Real time systems Time measurement Facial features Particle measurements Human robot interaction

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Roll and Yaw Stabilisation using Nonlinear Energy Method

Roll and Yaw Stabilisation using Nonlinear Energy Method

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Lim Jen Nee Jones Rini Akmeliawati Chee Pin Tan School of Engineering Monash University Malaysia Malaysia

Automatic flight control systems have become increasingly vital ever since the emergence of airplanes. Automatic systems are not subject to fatigue and emotions as compared to the human pilot. As such, the possibility of human errors in flight control is minimized. Current automatic flight control systems are designed based on classical control theories using linear controllers that are complex and inefficient. Since an aircraft is naturally nonlinear in its behavior, it is intuitive to design a nonlinear controller that could cover a wide variety of possible 'extreme' flight conditions. A novel controller utilizing the nonlinear energy method was developed by Akmeliawati for the longitudinal dynamics of an aircraft, and has been proven to provide effective control and better performance when compared to an equivalent linear controller. the novel controller was designed using the passivity-based control (PBC) technique. In this paper, a similar nonlinear controller was designed to direct the roll and yaw motion, which is part of the lateral dynamics of the aircraft. Simulations show that this PBC is able to stabilize both roll and yaw motion of the aircraft.

关键词： Aerospace control Aircraft Automatic control Humans Airplanes Fatigue Error correction control theory control systems Motion control

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Robotic Pheromones: Using Temperature Modulation in Tin Oxide Gas Sensor to Differentiate Swarm's Behaviours

Robotic Pheromones: Using Temperature Modulation in Tin Oxid...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Anies Hannawati Purnamadjaja R. Andrew Russell Intelligent Robotics Research Centre Monash University Clayton Australia

this paper describes an ongoing project to investigate the possibility of using pheromone communication in a robot swarm. the project is inspired by the queen bee pheromone. A queen bee releases pheromones throughout a colony to coordinate the actions of its members. the pheromones have a number of crucial functions in a bee colony, such as keeping together and stabilizing the colony. In the context of a robot swarm, one of the proposed applications for robot pheromones is to allow swarm members to be guided by a robot leader. the robot leader releases different chemicals to elicit different behaviors. In this project, temperature modulation of tin oxide gas sensors have been implemented in order to differentiate different chemicals. this paper provides details of the swarm robots used in the project and their behaviors. the sensors, especially temperature modulation of the tin oxide gas sensors, and the robot control algorithms are described. Results of practical experiments and simulations are also presented

关键词： Robot sensing systems Temperature sensors Tin Gas detectors Robot kinematics Chemical sensors Intelligent robots Sensor phenomena and characterization Robot control Insects

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Coordination Optimization-based Variable Structure control for Main Steam Pressure of Power Plant

Coordination Optimization-based Variable Structure Control f...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Yang Yong Luo An College of Automotive and Mech. Engineering Changsha University of Science and Technology Changsha China College of Information Science and Engineering Central South University Changsha China College of Electric Engineering and Information Hunan University Changsha China

An optimal variable structure control (VSC) based on a coordination genetic algorithm has been developed. Steady-state error and control switching frequency are used to constitute the system performance indexes in the coordination optimization, while the tuning rate of boundary layer width (BLW) is employed as the optimization parameter. then based on the mathematical relationship between BLW tuning law and steady state error, an optimized BLW tuning rate is added to the nonlinear control term of VSC. Simulation experiment results applied to the main steam pressure control (MSPC) of power plant show the comprehensive superiority of dynamical and static state performance by using the proposed controller over that of by using an optimized PID control. the proposed VSC system has better robustness against large parameter variations and disturbances. this succeeds in coordinately considering both chattering reduction and high-precision control in VSC

关键词： Pressure control Power generation Tuning Steady-state Error correction Optimal control Genetic algorithms control systems Switching frequency System performance

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