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Time-optimal coordinated control of the relative formation of multiple vehicles

Time-optimal coordinated control of the relative formation o...

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： T. Furukawa H.F. Durrant-Whyte F. Bourgault G. Dissanayake Poly-Grames Research Center Ecole Polytechnique de Montréal Montréal QC Canada Australian Centre for Field Robotics University of Sydney Sydney Australia Faculty of Engineering University of Technology Sydney Australia

This paper presents a solution to the time-optimal control of the relative formation of multiple vehicles. This is a problem in cooperative time-optimal control with a free terminal state constraint. In this paper, a canonical formulation of the problem is first derived. Then, a numerical technique to solve this class of problem is proposed. Numerical results demonstrate the efficacy of the proposed formulation and solution to the problem of expeditiously building and controlling formations of cooperative autonomous vehicles.

关键词： Control systems Optimal control Australia Motion control Nonlinear control systems Remotely operated vehicles Cooperative systems Pulp manufacturing Automotive engineering Robot kinematics

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Task-based configuration design for 3-legged modular parallel robots using simplex methods

Task-based configuration design for 3-legged modular paralle...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： A.K. Dash I-Ming Chen Song Huat Yeo Guilin Yang School of Mechanical and Production Engineering Nanyang Technological University Singapore Automation Technology Division Singapore Institute of Manufacturing Technology Singapore

This paper presents a methodology for optimal design of 6-DOF modular parallel manipulators. In type synthesis, a general methodology is presented to choose the type of configuration using a look-up table. This table, constructed based on the experience and knowledge in the database, gives suitable robot configurations for different types of tasks. In dimensional synthesis, actuation scheme along with the geometric parameters are considered as design variables. An appropriate objective function and constraints are selected, and simplex optimization algorithm is used. A light machining operation is chosen as the task. The experiment demonstrates that the global coordinates of the task points affects the actuation scheme for better performance.

关键词： Parallel robots Manipulators Robot kinematics Table lookup robotics and automation Manufacturing automation Algorithm design and analysis Production engineering Pulp manufacturing Databases

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Group robots forming a mechanical structure-development of slide motion mechanism and estimation of energy consumption of the structural formation

Group robots forming a mechanical structure-development of s...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： N. Inou K. Minami M. Koseki Department of Mechanical and Control Engineering Tokyo Institute of Technology Japan Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Japan

This study deals with group robots forming a mechanical structure. The group robots consist of identical cellular robots with same mechanical structure and information processing. To realize the group robots in hardware, we propose a slide motion mechanism that supports a large mechanical loading. We report the performance test, and energy consumption required for transformation of the cellular robot under various configurations. This paper also discusses the shortest route with minimum energy in transformation when an initial configuration and a final one are given.

关键词： Motion estimation Energy consumption Mobile robots Hardware Orbital robotics Wheels Concrete Control engineering Information processing Testing

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Trajectory generation for human-friendly behavior of partner robot using fuzzy evaluating interactive genetic algorithm

Trajectory generation for human-friendly behavior of partner...

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： Y. Nojima F. Kojima N. Kubota Department of System Function Science Kobe University Japan PREST Japan Science and Technology Corporation Japan Department of Human and Artificial Intelligent Systems Fukui University of Technology Japan

This paper deals with a human-friendly trajectory generation using an interactive genetic algorithm for a partner robot. Human evaluation is very important for generating robotic behavior, but the structure of human evaluation is not clear beforehand. Therefore, a fuzzy state-value function is used for estimating the structure of human evaluation of a trajectory candidate generated by an interactive genetic algorithm. We apply a profit sharing plan based on human evaluation to update the state-value function. Some experimental results show the effectiveness of the proposed method.

关键词： Human robot interaction Genetic algorithms Trajectory Manipulators State estimation Orbital robotics Space technology Fuzzy systems Intelligent robots Learning

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Performance analysis for multi-aisle automated storage/retrieval systems using visual Petri net developer

Performance analysis for multi-aisle automated storage/retri...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： B. Abdelkrim S. Zaki G. Noureddine Department of Computer Science Faculty of Engineering University of Tlemcen Algeria Department of Electronics Faculty of Engineering University of Tlemcen Algeria Department of Mathematics Faculty of Sciences University of Tlemcen Algeria

This paper presents SCPN (stochastic coloured PN) for multi-aisle AS/RS (automated storage/retrieval systems) operation modeling and performance evaluation. We propose to use the visual simulator PACE 3.1 to analyze a performance measure. This paper discusses the related literature in the field and give motivations behind this study. We review PN (Petri net) theory extensions including CPNs and GSCPNs. After brief description of multi-aisle ASRS components, we present a GSCPN (generalised SCPN) model of such system.

关键词： Performance analysis Storage automation Automatic speech recognition Petri nets Strontium Acoustical engineering Resource management Costs Throughput Amplitude shift keying

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Fuzzy extension of discrete event supervisory control

Fuzzy extension of discrete event supervisory control

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： A. Lavrov Fraunhofer Institute for Industrial Mathematics Kaiserslautern Germany

This paper proposes an enhancement of industrial control through a combination of discrete event supervisory control methods and fuzzy techniques. Such a combination enables a control system not only to perform standard tasks of preventing the forbidden states, driving through the shortest path, etc., but also to make more flexible and sophisticated decisions using additional uncertain and/or incomplete information, e.g. on "safer" or "faster" trajectories, "preferable" states, etc. Forms of introducing fuzziness into a discrete event control framework are analyzed. Three possible implementations are considered: fuzzy assignment of strategies, fuzzy strategy, and fuzzy synchronization. Formal considerations are accompanied by illustrative examples from automated manufacturing.

关键词： Fuzzy control Supervisory control Electrical equipment industry Industrial control Control systems Automatic control Petri nets Mathematics Manufacturing automation Manufacturing processes

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Parallel evolutionary algorithms

Parallel evolutionary algorithms

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： P. Osmera B. Lacko M. Petr Institute of Automation and Computer Science Brno University of Technology Brno Czech Republic

We are trying to piece together the knowledge of evolution with the help of biology, informatics and physics to create a complex evolutionary structure. It can speed up the creation of optimization algorithms with high quality features. The adaptive significance of GAs with sexual reproduction and an artificial immune system is presented. An artificial immune system was designed to support the parallel evolutionary algorithms. The majority of the research using evolutionary algorithms for the scheduling problem (SP) has only studied the static SP. Few evolutionary algorithms have been applied to the dynamic scheduling program (DSP). We implement hybrid and parallel genetic algorithms (GAs) for solving the dynamic SP. The adaptive significance of parallel GAs and the comparison with standard GAs are presented.

关键词： Evolutionary computation Evolution (biology) Organisms Physics Biological cells Biology Informatics Artificial immune systems Dynamic scheduling Vehicles

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Dynamic analysis of assembly process with passive compliance for robot manipulators

Dynamic analysis of assembly process with passive compliance...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： K.-L. Du Biao-Biao Zhang Xinhan Huang Jianyuan Hu Dept. of Electrical and Computer Engineering Concordia University Montreal Canada School of Aerospace and Mechanical Engineering Australian Defence Force Academy Canberra Australia Dept. of Control Science and Engineering Huazhong University of Science and Technology Wuhan China

Assembly automation has become a research highlight for years. Dynamics of the most fundamental peg-in-hole mating, which represents an important topic of future research, is, however, far from being resolved. To this end, the overall part-mating dynamics has been developed, and simulations have been implemented. The sensitivity analysis of each parameter on the assembly process has been made. The dynamic properties of assembly with the RCC have been concluded, which helps to implement active control. By selecting proper parameters of the dynamic remote center compliance, one can optimize assembly proceeding.

关键词： Manipulator dynamics Robotic assembly Aerodynamics Jamming Australia Automatic control Force control robotics and automation Robots Aerospace control

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Distributed planning agents for intelligent process automation

Distributed planning agents for intelligent process automati...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： I. Seilonen T. Pirttioja P. Appelqvist A. Halme K. Koskinen Information and Computer Systems in Automation Helsinki University of Technology Espoo Finland Automation Technology Laboratory Helsinki University of Technology Espoo Finland

An approach to intelligent process automation based on distributed planning agents is presented in this paper. According to this approach a higher-level agent-based automation layer supervises an ordinary process automation system. The purpose of the agent layer is to monitor the operation of the lower-level automation system and semi-autonomously reconfigure its control logic when needed. The agent layer operates as a distributed planning and plan execution system, which creates and runs reconfiguration sequences on the ordinary automation system in order to adapt it to various situations. In this way the approach aims to increase the operational flexibility of the whole automation system. The approach is demonstrated with a laboratory test process where process startup scenarios have been imitated. Experiences from the initial test runs are also described.

关键词： Process planning Intelligent agent automation Automatic control Artificial intelligence Laboratories Testing Process control Distributed computing World Wide Web

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A motion compression method by fuzzy relational equations

A motion compression method by fuzzy relational equations

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： H. Nobuhara K. Hirota Department of Computational Intelligence and Systems Science Tokyo Institute of Technology Japan

A motion compression method by max t-norm composite fuzzy relational equations (MCF) is proposed. In the case of MCF, a motion sequence is divided into intra-pictures (I-pictures) and predictive-pictures (P-pictures). The I-pictures and the P-pictures are compressed by using uniform coders and non-uniform coders, respectively. In order to perform an effective compression and reconstruction of the P-pictures, a design method of non-uniform coders is proposed. The proposed design method is based on an overlap level of fuzzy sets and a fuzzy equalization. Through a experiment using 10 P-pictures, it is confirmed that the root means square errors of the proposed method is decreased to 89.4% of the uniform coders, under the condition that the compression rate is 0.0057. A result of motion compression and reconstruction of motion (standard motion imagery) by MCF is also presented.

关键词： Equations Image coding Image reconstruction Fuzzy sets Design methodology computational intelligence Root mean square Calculus Watermarking Image decomposition

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