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Artificial Neural Network-based Hybrid Force/Position control of an Assembly Task

Artificial Neural Network-based Hybrid Force/Position Contro...

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international IEEE conference on Intelligent Systems, IS

作者： Y. Touati Y. Amirat N. Saadia Computer Science and Robotics Laboratory LISSI Paris 12 Val de Marne University Vitry sur seine France Electronics Laboratory Algiers Technologies and Sciences University Algiers Algeria

In the case of complex robotics tasks, pure position control is ineffective since forces appearing during the contacts must also be controlled. However, simultaneous position and force control called hybrid control is then required. Moreover, the non-linear plant dynamics, the complexity of the dynamic parameters determination and computation constraints makes more difficult the synthesis of control laws. In order to satisfy all these constraints, an effective hybrid force/position approach based on artificial neural networks for MIMO systems is proposed. This approach realizes, simultaneously, an identification and control, and it is implemented according to two phases: at first, a neural observer is trained off line on the basis of the data acquired during contact motion, in order to realize a smooth transition from free to contact motion; then, an online learning of the neural controller is implemented using neural observer parameters so that the closed-loop system maintains a good performance. A typical example on which we shall focus is an assembly task. Experimental results on a C5 links parallel robot demonstrate that the robot's skill improves effectively and the force control performances are satisfactory

关键词： Artificial neural networks Force control Position control Robotic assembly Motion control control systems Parallel robots control system synthesis Network synthesis MIMO

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Knowledge Engineering Approach to Concurrently Competng Cyclic Processes control

Knowledge Engineering Approach to Concurrently Competng Cycl...

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international IEEE conference on Intelligent Systems, IS

作者： R. Wojcik G. Bocewicz Z. Banaszak Wroclaw University of Technology Institute of Computer Engineering Control and Robotics Wroclaw Poland Technical University of Koszalin Koszalin Poland Systems Research Institute of Polish Academy of Sciences Laboratory of Knowledge Systems and Artificial Intelligence Wroclaw Poland

This paper addresses the problem of designing the steady-state behavior of a system composed of a set of repetitive processes competing for access to shared resources. Its objective is to provide a framework allowing to prototype a robust distributed control policy as a function of the characteristics of the component processes and dispatching rules involved. The considered problem resolution consists in finding a schedule with no process waiting for access to the shared resources and wherefore leading to controls not requiring resource conflict resolution. The problem is formulated as a task of prototyping of conditions sufficient for existence of a waiting-free n-process execution. The conditions prototyping is then examined within the framework of logic-algebraic method. The illustrative example of the approach proposed is provided

关键词： Knowledge engineering Process control Dispatching Steady-state Prototypes Distributed control Telephony Robust control Job shop scheduling Resource management

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Action Selection in Robots Based on Learning Fuzzy Cognitive Map

Action Selection in Robots Based on Learning Fuzzy Cognitive...

引用

IEEE international conference on Industrial informatics (INDIN)

作者： Seyed Koosha Golmohammadi Ali Azadeh Amirhossein Gharehgozli Department of Computer Engineering Faculty of Engineering Islamic Azad University Iran Department of Industrial Engineering Faculty of Engineering University of Tehran Iran

One of the main issues in developing automatic response systems especially autonomous robots is selecting the best action among all possible actions. Fuzzy cognitive maps (FCMs) aim to mimic the reasoning process of the human. FCMs are able to capture and imitate human behavior by describing, developing and representing models. FCMs are also popular for their simplicity and transparency while being successful in a variety of applications. We developed a novel model that could be used for action selection in robots. This model is constructed on a learning FCM which is relied on improved nonlinear Hebbian algorithm. We tested our model through a series of practical experiments on the latest version of soccer server simulation 3D environment. Our tests involved carefully defined factors to measure the team performance. Our results showed a significant improvement in overall performance.

关键词： Cognitive robotics Fuzzy cognitive maps Humans Testing Intelligent robots Failure analysis Artificial intelligence Service robots robotics and automation Automatic control

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Online free walking trajectory generation for biped humanoid robot KHR-3(HUBO)

Online free walking trajectory generation for biped humanoid...

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IEEE international conference on robotics and automation (ICRA)

作者： Ill-Woo Park Jung-Yup Kim Jungho Lee Jun-Ho Oh Humanoid Robot Research Center (N9) Department of Mechanical Engineering Korea Institute of Science and Technology Daejeon South Korea

This paper describes an algorithm about online gait trajectory generation method, controller for walking, brief introduction of humanoid robot platform KHR-3 (KAIST Humanoid Robot-3: HUBO) and experimental result. The gait trajectory has continuity, smoothness in varying walking period and stride, and it has simple mathematical form which can be implemented easily. It is tested on the robot with some control algorithms. The gait trajectory algorithm is composed of two kinds of function trajectory. The first one is cycloid function, which is used for ankle position in Cartesian coordinate space. Because this profile is made by superposition of linear and sinusoidal function, it has a property of slow start, fast moving, and slow stop. This characteristics can reduce the over burden at instantaneous high speed motion of the actuator. The second one is 3 rd order polynomial function. It is continuous in the defined time interval, easy to use when the boundary condition is well defined, and has standard values of coefficients when the time scale is normalized. Position and velocity values are used for its boundary condition. controllers mainly use F/T(Force/Torque) sensor at the ankle of the robot as a sensor data, and modify the input position profiles (in joint angle space and Cartesian coordinate space). They are to reduce unexpected external forces such as landing shock, and vibration induced by compliances of the sensors and reduction gears, because they can affect seriously on the walking stability. This trajectory and control algorithm is now on the implementing stage for the free-walking realization of KHR-3. As a first stage of realization, we realized the marking time and forward walking algorithm with variable frequency and stride

关键词： Legged locomotion Humanoid robots Robot kinematics Orbital robotics Boundary conditions Testing Robot control Actuators Polynomials Torque control

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Compactness Classification for Geographic Zones

Compactness Classification for Geographic Zones

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international conference on Electrical Engineering, Computing Science and Automatic control (CCE)

作者： B. Bernabe Loranca Aguirre Vara Zamora Alcocer Posgrado de Ingeniería-Departamento de Sistemas Campo Disciplinario Investigación de Operaciones UNAM D.F. E-mail: beatriz.bernabe@*** Facultad de Ciencias de la Computación BUAP Puebla Mexico

With several goals, one of the classical problems in population studies is the classification of zones or variables for a metropolitan area. The most widely known non-supervised classification algorithms present drawbacks in zonification problems since the grouping process does not allow manual control of the variables. In the population analysis problems involved with zonification it is common to require the specification of certain bounds for some indicators (variables within a given interval) to create groups and thus determine the level of group membership. As a result the implementation of a process to classify and extract population variables from Mexico's XII national population census, this work describes a compact and homogeneous classification algorithm it has been implanted

关键词： Urban areas Classification algorithms Electronic mail Human factors Data mining Databases Application software Statistical analysis Geography informatics

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Ontology for Cognitics, Closed-Loop Agility Constraint, and Case Study - a Mobile Robot with Industrial-Grade Components

Ontology for Cognitics, Closed-Loop Agility Constraint, and ...

引用

IEEE international conference on Industrial informatics (INDIN)

作者： Jean-daniel Dessimoz Pierre-francois Gauthey Carl Kjeldsen West Switzerland University of Applied Sciences Switzerland

The paper refers to intelligent industrial automation. The objective is to present key elements and methods for best practice, as well as some results obtained. The first part presents an ontology for automated cognition (cognitics), where, based on information and time, the main cognitive concepts, including those of complexity, knowledge, expertise, learning, intelligence abstraction, and concretization are rigorously defined, along with corresponding metrics and specific units. Among important conclusions at this point are the fact that reality is much too complex to be approached better than through much simplified models, in very restricted contexts. Another conclusion is the necessity to be focused on goal. Extensions are made here for group behavior. The second part briefly presents a basic law governing the choice of overall control architecture: achievable performance level of control system in terms of agility, relative to process dynamics, dictates the type of approaches which is suitable, in a spectrum which ranges from simple threshold-based switching, to classical closed-loop calculus (PID, state space multivariable systems, etc.), up to "impossible" cases where additional controllers must be considered, leading to cascaded, hierarchical control structures. For complex cases such as latter ones, new tools and methodologies must be designed, as is typical in O 3 NEIDA initiative, at least for software components. Finally, a large part of the paper presents a case study, a mobile robot, i.e. an embedded autonomous system with distributed, networked control, featuring industry-grade components, designed with the main goal of robust functionality. The case illustrates several of the concepts introduced earlier in the paper.

关键词： Ontologies Mobile robots control systems Intelligent robots robotics and automation Best practices Cognition Context modeling Calculus Three-term control

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Adjustable Speed Drives (ASD) Test Bench for Harmonic Distortion Evaluation

Adjustable Speed Drives (ASD) Test Bench for Harmonic Distor...

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international conference on Electrical Engineering, Computing Science and Automatic control (CCE)

作者： J. M. Hernandez Cid J. F. Velazquez Moran Department of Electronics Systems and Informatics ITESO Tlaquepaque Jalisco Mexico

Adjustable speed drives (ASD) are the most common source of harmonics in power distribution systems reducing the power quality. The fewer harmonics injected the better the ASD is; this consideration could be used to choose a good ASD among several possibilities in the market. Even more, there is also an increasing need to check for compliance with IEEE 519. Because of this distortion, the electric quantities are difficult to measure. Harmonic or power quality analyzers are expensive equipments for small industries. The test bench proposed is based on a LabView data acquisition system together with a MatLab FFT program calculation. Hall effect current sensors and transformers used as voltage sensors produce the basic signals to, after conditioning, measure the harmonics at the point of common coupling (PCC). Digital signal-processing techniques produce evaluation data and graphics displayed at the front panel of a virtual instrument (VI). A commercial 1 hp ASD was tested with this VI and the results are reported within

关键词： Variable speed drives Testing Harmonic distortion Power system harmonics Power quality Power distribution Distortion measurement Electric variables measurement Harmonic analysis Electrical equipment industry

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Power Quality Conditioning in Distributed Generation Systems

Power Quality Conditioning in Distributed Generation Systems

引用

CES/IEEE 5th international Power Electronics and Motion control conference

作者： R.K.Járdán I.Nagy Budapest University of Technology and Economics Department of Automation and Applied Informatics Goldmann Gy.t.3 H-1111 Budapest HUNGARY Budapest University of Technology and Economics Department of Automation and Applied Informatics Goldmann Gy.t.3 H-1111 Budapest HUNGARY Computer and Automation Institute Hungarian Academy of Science Kende 13-17 H-1111 Budapest Hungary

A novel solution for Power Quality Conditioning applied in Distributed Generation System is presented. The solution is exploiting the capabilities of the DC/AC converter of a system that has been developed to generate electric power by utilizing alternative, renewable and waste energies. The method described can also be applied in other fields of power electronics energy conversion. The solution of Power Quality Conditioning is based on the application of space vector theory, using an algorithm easy to implement. The theoretical analysis is confirmed by computer simulation results.

关键词： frame Power Quality Conditioning in Distributed Generation Systems

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controlling Nonlinear Dynamic Systems with Projection Pursuit Learning

Controlling Nonlinear Dynamic Systems with Projection Pursui...

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international IEEE conference on Intelligent Systems, IS

作者： Clodoaldo A. M. Lima Pablo A. D. Castro Andre L. V. Coelho Cynthia Junqueira Fernando J. Von Zuben Laboratory of Bioinformatics and Bio-inspired Computing (LBiC) State University of Campinas-UNICAMP Sao Paulo Brazil Applied Informatics (MIA) University of Fortaleza-UNIFOR Fortaleza Ceara Brazil Laboratory of Signal Processing for Communications (DSPCom) State University of Campinas-UNICAMP Sao Paulo Brazil

Projection pursuit learning (PPL) refers to a well-known constructive learning algorithm characterized by a very efficient and accurate computational procedure oriented to nonparametric regression. It has been employed as a means to counteract some problems related to the design of artificial neural network (ANN) models, namely, the estimation of a (usually large) number of free parameters, the proper definition of the model's dimension, and the choice of the sources of nonlinearities (activation functions). In this work, the potentials of PPL are exploited through a different perspective, namely, in designing one-hidden-layer feedforward ANNs for the adaptive control of nonlinear dynamic systems. For such purpose, the proposed methodology is divided into three stages. In the first, the model identification process is undertaken. In the second, the ANN structure is defined according to an offline control setting. In these two stages, the PPL algorithm estimates not only the optimal number of hidden neurons but also the best activation function for each node. The final stage is performed online and promotes a fine-tuning in the parameters of the identification model and the controller. Simulation results indicate that it is possible to design effective neural models based on PPL for the control of nonlinear multivariate systems, with superior performance when compared to benchmarks

关键词： Nonlinear control systems control systems Artificial neural networks Aerodynamics Neurons Pursuit algorithms Adaptive control Nonlinear dynamical systems Laboratories System identification

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Improvement against Noises in Self-Organizing Logic Circuit

Improvement against Noises in Self-Organizing Logic Circuit

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international conference on Information and automation (ICIA)

作者： Chyon Hae Kim Jyun-ichi Idesawa Shigeki Sugano Tetsuya Ogata Department of Mechanical Engineering Waseda University Shinjuku-ku Tokyo Japan Graduate School of Informatics Kyoto University Sakyo-ku Kyoto Japan

We proposed and evaluated a network learning method called self-organizing network elements (SONE). Autonomous exploration of effective output, the use of simple external parameters, and low calculation costs were functions achieved for a robot system with this method. However, there is the need to improve performance against noises for learning more complicated tasks. Therefore, we propose a technique to adjust thresholds in a self-organizing logic circuit based on SONE. In our experiments, performing 3-bit operation tasks, controlling a Khepera robot, and generating new elements was appropriately controlled with this technique. Also, network performance against noises was improved as a result of using the proposed method

关键词： Circuit noise Logic circuits Learning systems Robot control Neural networks Costs Resonance light scattering Self-organizing networks Orbital robotics State-space methods

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