In order to accomplish complex movements and interact with the environment, humanoid robots are required to be equipped with many motors, servo drivers and sensors to provide enough DOF, achieve fast responses and acq...
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ISBN:
(纸本)9781479905614
In order to accomplish complex movements and interact with the environment, humanoid robots are required to be equipped with many motors, servo drivers and sensors to provide enough DOF, achieve fast responses and acquire adequate sensor data. Most interfaces that commercial servo drivers and sensors provide cannot satisfy the performance requirement as the number of drivers and sensors grows. Adopting Real-Time Ethernet is a trend in high-speed motion control scenarios such as robot systems and variable-frequency drive (VFD) control systems. This paper proposes an EPA-FRT based dual-network scheme for humanoid robot control and establishes a system that is compatible to both CAN and Ethernet interfaces. The network structure and scheduling scheme of the dual-network system are presented. A prototype test is performed and analyzed compared to the CAN bus. Experimental results show the effectiveness and advantage of the scheme.
In this paper, the decentralized stabilization of a class of nonlinear interconnected systems is investigated using online learning optimal control approach. By introducing cost functions that reflect the bounds of in...
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ISBN:
(纸本)9781479906109;9781479906123
In this paper, the decentralized stabilization of a class of nonlinear interconnected systems is investigated using online learning optimal control approach. By introducing cost functions that reflect the bounds of interconnections, the optimal controllers of the isolated subsystems can be designed first. Then, it is proved that the decentralized control strategy of the overall system can be developed based on the optimal control policies. Next, the online policy iteration algorithm is presented to solve the Hamilton-Jacobi-Bellman equations. The cost functions and control policies are obtained approximately by employing neural networks. In addition, a simulation example is provided to verify the effectiveness of the present decentralized control strategy.
This book constitutes the refereed proceedings of the 23rd Australasian Joint conference on Rough Sets and Intelligent Systems Paradigms, RSEISP 2014, held in Granada and Madrid, Spain, in July 2014. RSEISP 2014 was h...
ISBN:
(数字)9783319087290
ISBN:
(纸本)9783319087283;9783319087290
This book constitutes the refereed proceedings of the 23rd Australasian Joint conference on Rough Sets and Intelligent Systems Paradigms, RSEISP 2014, held in Granada and Madrid, Spain, in July 2014. RSEISP 2014 was held along with the 9th internationalconference on Rough Sets and Current Trends in Computing, RSCTC 2014, as a major part of the 2014 Joint Rough Set Symposium, JRS 2014. JRS 2014 received 40 revised full papers and 37 revised short papers which were carefully reviewed and selected from 120 submissions and presented in two volumes. This volume contains the papers accepted for the conference RSEISP 2014, as well as the three invited papers presented at the conference. The papers are organized in topical sections on plenary lecture and tutorial papers; foundations of rough set theory; granular computing and covering-based rough sets; applications of rough sets; induction of decision rules - theory and practice; knowledge discovery; spatial data analysis and spatial databases; information extraction from images.
EEG signal research had been studied massively in such balanced brain and IQ applications. This paper focuses on correlation between balanced brain and intelligence Quotient (IQ) applications. At first, the raw EEG si...
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Small cycle payloads and very short cycle times in isochronous systems lead to a high protocol overhead and low bandwidth utilization which bother existing studies and applications in real-time Ethernet systems Aiming...
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ISBN:
(纸本)9781479905614
Small cycle payloads and very short cycle times in isochronous systems lead to a high protocol overhead and low bandwidth utilization which bother existing studies and applications in real-time Ethernet systems Aiming at reducing the protocol overheads and increasing the system scale, a multi-subnet network with a hierarchical tree topology and a relevant time slots allocation scheme are proposed in this paper. Simulation results verify the validity of the multi-subnet approach and the corresponding scheduling scheme.
The application of industrial robots in modem industry is very common, it not only can be used for manufacturing, and assembly areas can also be used. Its development and progress, especially in the development of int...
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ISBN:
(纸本)9783037858462
The application of industrial robots in modem industry is very common, it not only can be used for manufacturing, and assembly areas can also be used. Its development and progress, especially in the development of intelligent robot can be considered to reflect a country's scientific and technological strength and technical level. In this paper, a detailed study of the control structure of the robot, on this basis, the design of a robot control system architecture, hardware and software design. In last with VC + +6.0 developed a control interface for a robot control system.
In this paper, we consider linear programming (LP) and second order cone programming (SOCP) based alternatives to sum of squares (SOS) programming and apply this framework to high-dimensional problems arising in contr...
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ISBN:
(纸本)9781467360890
In this paper, we consider linear programming (LP) and second order cone programming (SOCP) based alternatives to sum of squares (SOS) programming and apply this framework to high-dimensional problems arising in control applications. Despite the wide acceptance of SOS programming in the control and optimization communities, scalability has been a key challenge due to its reliance on semidefinite programming (SDP) as its main computational engine. While SDPs have many appealing features, current SDP solvers do not approach the scalability or numerical maturity of LP and SOCP solvers. Our approach is based on the recent work of Ahmadi and Majumdar [1], which replaces the positive semidefiniteness constraint inherent in the SOS approach with stronger conditions based on diagonal dominance and scaled diagonal dominance. This leads to the DSOS and SDSOS cones of polynomials, which can be optimized over using LP and SOCP respectively. We demonstrate this approach on four high dimensional control problems that are currently well beyond the reach of SOS programming: computing a region of attraction for a 22 dimensional system, analysis of a 50 node network of oscillators, searching for degree 3 controllers and degree 8 Lyapunov functions for an Acrobot system (with the resulting controller validated on a hardware platform), and a balancing controller for a 30 state and 14 control input model of the ATLAS humanoid robot. While there is additional conservatism introduced by our approach, extensive numerical experiments on smaller instances of our problems demonstrate that this conservatism can be small compared to SOS programming.
Authors have been developing the underwater robot that can be used for environmental protection work in the sea near Okinawa. It is difficult to get the position of underwater robot, because it cannot use GPS in sea. ...
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On the background of Mirosot Competition, this paper takes centralized micro soccer robot as research object. After structure research on soccer robot, it mainly focuses on studying decision-making system, which is th...
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The proceedings contain 47 papers. The topics discussed include: distributed model predictive control for freeway urban traffic and smart electric power grids;enhancing network performances with optimizing principles;...
ISBN:
(纸本)9781467357982
The proceedings contain 47 papers. The topics discussed include: distributed model predictive control for freeway urban traffic and smart electric power grids;enhancing network performances with optimizing principles;some paradigms for coordinating feedback control with applications to urban traffic control and smart grids;synchronized control of socio-economics systems and wisdom of collective;a novel third order sliding mode controller for the orientation and position of planar three link rigid robotic manipulator;a novel method of self-tuning PID control system based on time-averaged Kalman filter gain;evaluation of stimulation scheme for mu rhythm based - brain computer interface user;design of brain-computer interface platform for semi real-time commanding electrical wheelchair simulator movement;a PC based hysteresis loop extractor and its applications;hand gesture recognition using convexity hull defects to control an industrial robot;and an agent-based network analytic perspective on the evolution of complex adaptive supply chain networks.
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