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the cerebellum as computed torque model 4

The cerebellum as computed torque model

引用

4th international conference on Knowledge-Based Intelligent engineering Systems and Allied Technologies, KES 2000

作者： van der Smagt, Patrick Hirzinger, Gerd Institute of Robotics and Mechatronics German Aerospace Center/DLR Oberpfaffenhofen P.O. Box 1116 Wessling82230 Germany

ISBN: (纸本)0780364007

In this article we consider the cerebellum in the vertebrate motor control system. Analyzing the delays in this control loop as well as the complexity of the dynamics of the skeletomuscular system, we find that two well-known interpretations of the function of the cerebellum-that of a Smith predictor, or of an inverse model controller-are insufficient to solve the control problem at hand. © 2000 IEEE

关键词： Brain

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Game theoretic colony control of holonic robots inspecting inner surfaces of pipes

Game theoretic colony control of holonic robots inspecting i...

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4th international conference and Exposition on robotics for Challenging Situations and Environments - robotics 2000

作者： Guciz, A.E. Erkmen, A.M. Erkmen, I. Middle East Technical University Department of Electrical and Electronics Engineering 06531 Ankara Turkey

ISBN: (纸本)9780784404768

the purpose of this work is to plan and control task oriented configuration changes in a metamorphic robotic system, formed by a colony of axisymmetric holons moving to inspect pipe inner surfaces. the metamorphic robotic system in question, is a reconfigurable robotic structure made up of identical, independently controlled, mechatronic modules (holons) constituting a colony. the holons in that colony have very limited individual task abilities and are only capable of connecting, disconnecting and rotating about their center of symmetry while climbing over other holons. But it is only when they come together to form a colony that they can be used as a robotic system to perform many tasks, such as pipe surface inspection. the metamorphic inspection system has the advantages of robust reconfigurability, that can only be achieved by an efficient adaptable control mechanism which results from the difficult motion-planning problem for the colony. In this work, we consider three well-known motion-planning strategies that make use of different heuristics: "the Short Path Algorithm, the Artificial Potential Algorithm and the Sub-Goals Algorithm", and in order to generate an adaptable motion-planning and control strategy in possibly changing environments and achieve the best result in any environment, our work proposes to use all three strategies together, combined with the principles of the "mixed strategy" of Game theory. the general path-planning strategy that we develop in this paper, switches from one of the three strategies to another, so that, at every step, the most suitable strategy is used and a result better than or equal to the "best" of the three strategies is achieved in all cases. © 2004 ASCE.

关键词： Motion planning

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Six DOF measurement in engineering constructions and control operations in space

Six DOF measurement in engineering constructions and control...

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4th international conference and Exposition/Demonstration on robotics for Challenging Situations and Environments

作者： Kvasnica, M Univ Penn Sch Engn & Appl Sci Grasp Lab Philadelphia PA 19104 USA

ISBN: (纸本)0784404763

the content of the paper is focused on the six degrees-of-freedom measurement (DOF) of structural dynamic properties in engineering constructions and for control operation in space. Described measurement system is derived from a pyramid modular sensory system for the sampling of six-component information about three axial shiftings and three angular displacements. the subject of this device is the sampling and information processing used in the conversion of four 2-D CCD arrays images into three axial and three angular displacement values. Every CCD array image consists of one light spot produced by light beam from four laser sources. these light beams form the edges of a pyramidal shape with four 2-D arrays forming its base and the origin of the laser sources is forming its apex. the modular design presented here enables easy customization of six DOF measurement by means of three universal portable modules.

关键词： Mechanical variables measurement

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international Space Station Mobile Servicing System Robotic Workstation displays and overlays

International Space Station Mobile Servicing System Robotic ...

引用

4th conference on Cockpit Displays - Flat Panel Displays for Defense Applications

作者： Burns, SH NASA Johnson Space Ctr. (United States)

ISBN: (纸本)0819424722

the international Space Station (ISSP) currently under development is equipped with Robotic Workstations to perform and protide information on the Mobile Servicing System robotic functions in use. the workstations include conventional and special developed hardware, software displays, and control software configurations. the robotic activities are critical to the international Space Station during assembly and maintenance activities resulting in detailed crew interface requirements. Operational scenarios were used to develop the requirements of the ISSP Robotic activities resulting in the specification and configuration of the Mobile Servicing System Robotic Workstation.

关键词： robotics Video Space robots Robotic systems Cameras Human-machine interfaces Visualization Computing systems Software development control systems

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Dynamically reconfigurable embedded software - Does it make sense?

Dynamically reconfigurable embedded software - Does it make ...

引用

IEEE international conference on engineering of Complex Computer Systems

作者： D.B. Stewart G. Arora Department of Electrical Engineering and Institute for Advanced Computer Studies University of Maryland College Park MD USA

A dynamically reconfigurable real-time software (DRRTS) paradigm can be used effectively in the design of embedded systems to provide many major advantages over conventional software development techniques. the benefits include rapid development which reduces development time and cost, ability to easily upgrade and maintain embedded software, and both analytic and practical tools for automated analysis and systematic fine tuning of the embedded system. Our current research is founded upon the Chimera Methodology, which demonstrated the feasibility of using dynamically reconfigurable software to control robots. However, there are still many design challenges in order to use it in an embedded system, which has less flexibility, severe limits on memory and CPU bandwidth, and more rigid timing constraints and reliability specifications. We have several ongoing projects which address some of the issues, in a strive towards the overall objective of creating a software infrastructure for developing dynamically reconfigurable embedded software.

关键词： Embedded software Embedded system Cost benefit analysis Real time systems Programming Software maintenance Automatic control Robot control robotics and automation Bandwidth

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SELF-GENERATION OF controlLER OF AN UNDERWATER ROBOT WIth NEURAL-NETWORK

SELF-GENERATION OF CONTROLLER OF AN UNDERWATER ROBOT WITH NE...

引用

4th (1994) international Offshore and Polar engineering conference

作者： SUTO, T URA, T UNIV TOKYO INST IND SCI TOKYO 113 JAPAN

ISBN: (纸本)1880653125

A self-organizing controller system is constructed based on artificial neural networks and applied to constant altitude swimming of the autonomous underwater robot PTEROA 150. the system consists of a controller and a forward model which calculates the values for evaluation as a result of control. Some methods are introduced for quick and appropriate adjustment of the controller network. Modification of the controller network is executed based on error-back-propagation method utilizing the forward model network. the forward model is divided into three sub-networks which represent dynamics of the vehicle, estimation of relative position to the seabed and calculation of the altitude. the proposed adaptive system is demonstrated in computer simulations where objective of a vehicle is keeping a constant altitude from seabed which is constituted of triangular ridges.

关键词： ARTIFICIAL NEURAL NETWORK ADAPTIVE control SYSTEM AUTONOMOUS UNDERWATER VEHICLE UNDERWATER robotics SUBMERSIBLE

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Interactions between the Space Station Freedom attitude control system and space shuttle remote manipulator controller during on-orbit assembly operations

Interactions between the Space Station Freedom attitude cont...

引用

Proceedings of the 4th international conference on engineering, Construction, and Operations in Space

作者： Kaidy, James T. Mapar, Jalal Barker, Ben C. Allen & Hamilton Inc Reston United States

ISBN: (纸本)0872629376

this paper presents the results of dynamics and control interaction analyses involving the Space Shuttle Orbiter, the Shuttle Remote Manipulator System (SRMS), and the Space Station Freedom (SSF) Attitude control System (ACS) during the SSF assembly operations. the analyses are performed with the Grumman robotics Analysis Simulation Program (GRASP) which computes nonlinear rigid and flexible multibody dynamics as well as orbital disturbance torques, the SRMS controller, servos and brakes, and the SSF controller which consists of Reaction control System (RCS) jets and control Moment Gyros (CMG). Specific studies include berthing of the Space Station stage vehicle to the Orbiter and installation of pressurized modules such as the node and the U.S. Laboratory module onto the stage vehicle. Results of the study include the SRMS payload positioning and attitude accuracy while performing maneuvers under a variety of control conditions, RCS firings, and CMG momentum management. the analyses show the ability of the SRMS to handle large payloads and the importance of modeling the flexibility and controller dynamics of Space Station Freedom as well as the robotic manipulator.

关键词： Robotic assembly

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Walking Robots into Real World 1

Walking Robots into Real World

引用

丛书名： Lecture Notes in Networks and Systems

1000年

作者： Karsten Berns Mohammad Osman Tokhi Arne Roennau Manuel F. Silva Rüdiger Dillmann

ISBN: (数字)9783031713019

ISBN: (纸本)9783031713002

the book is also a good source for courses in robotics and automation, control engineering, mechanical engineering, and mechatronics. CLAWAR 2024 is the 27th international conference Series on Climbing and Walking Robots and Mobile Machine Support Technologies. the conference is organized by CLAWAR Association in collaboration with the RPTU Kaiserslautern-Landau and FZI Center for Information Technology, Germany, during September 4–6, 2024. CLAWAR 2024 provides the latest research and development findings and state-of-the-art insights into the mobile robotics and associated technologies in a diverse range of application scenarios, within the framework of “walking robots into real world.” the topics covered include AI-based systems and solutions, biologically inspired systems and solutions, human-like robots, innovative grippers, innovative robot design, planetary exploration, planning and control, prosthetics and rehabilitation, quadruped robots, and robotic applications. the intended readership includes participants of CLAWAR 2024 conference, worldwide researchers, scientists, and educators in the areas of robotics and related topics.

关键词： control, robotics, Mechatronics robotics Computational Intelligence

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Machines, Mechanism and robotics 1

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丛书名： Lecture Notes in Mechanical engineering

1000年

作者： Rajeev Kumar Vishal S. Chauhan Mohammad Talha Himanshu Pathak

ISBN: (数字)9789811605505

ISBN: (纸本)9789811605499;9789811605529

this volume includes select papers presented during the 4th international and 19th National conference on Machines and Mechanism (iNaCoMM 2019), held in Indian Institute of Technology, Mandi. It presents research on various aspects of design and analysis of machines and mechanisms by academic and industry researchers.

关键词： Machinery and Machine Elements control, robotics, Mechatronics Manufacturing, Machines, Tools, Processes

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Proceedings of the 4th international conference on Electronic engineering and Renewable Energy Systems - Volume 2 1

Proceedings of the 4th International Conference on Electroni...

引用

丛书名： Lecture Notes in Electrical engineering

1000年

作者： Bekkay Hajji Antonio Gagliano Adel Mellit Abdelhamid Rabhi Michele Calì

ISBN: (数字)9789819799756

ISBN: (纸本)9789819799749;9789819799770

this book includes papers presented at the 4th international conference on Electronic engineering and Renewable Energy (ICEERE 2024), held in Saidia, Morocco, which focus on the application of artificial intelligence techniques, emerging technology, and the Internet of things in electrical and renewable energy systems, including hybrid systems, micro-grids, networking, smart health applications, smart grid, mechatronics, and electric vehicles. It particularly focuses on new renewable energy technologies for agricultural and rural areas to promote the development of the Euro-Mediterranean region. Given its scope, the book is of interest to graduate students, researchers, and practicing engineers working in the fields of electronic engineering and renewable energy. the book represents Volume 2 for this conference proceedings, which consists of a 2-volume book series

关键词： Renewable and Green Energy Communications engineering, Networks Electronics and Microelectronics, Instrumentation control, robotics, Mechatronics Artificial Intelligence Signal, Image and Speech Processing

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