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Systematic design of switched reluctance motor drive based on the intelligent computational software package

Systematic design of switched reluctance motor drive based o...

引用

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

作者： H. Chen X. Meng D. Zhang Department of Automation China University of Mining and Technology Xuzhou China

The principles for the design of the switched reluctance motor drive are presented using a three-phase 12/8 structure switched reluctance motor drive for the robot joint as a example. The design can be done from the systematic point of view, considering the motor, power converter and control strategy as a whole. The output equation relating to the relationship between the structure parameters and the electric loads is derived. The equation of the turn numbers of the phase winding is also considered. The design procedure is given. Some of the interfaces of the intelligent computational software package used for the Windows 9/spl times/ (in English) are given. The design is checked by the prototype. The accuracy is checked by the experimental measurement of the developed prototype. It is shown that the design has the advantages in practice and high precision.

关键词： Reluctance motors computational intelligence Software packages Stator cores Intelligent robots Inductance Induction motors Torque Rotors robotics and automation

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A new fuzzy genetic algorithm based on population diversity

A new fuzzy genetic algorithm based on population diversity

引用

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

作者： Kejun Wang Automation College Win Engineering University Harbin China

Proposes a kind of population diversity (PD) measurements and their computational formulas. A quantitative relation between them is proved. The gene and individual are considered as separate units to investigate PD. A fuzzy genetic algorithm is designed using PD measurements developed, in which the fuzzy controller is used to adjust crossover rate and mutation rate dynamically to maintain the proper PD during the GA's operation. Experiments prove that premature convergence can be overcome effectively by controlling PD during the GA's operation.

关键词： Fuzzy control Genetic algorithms Genetic mutations PD control Microscopy automation Educational institutions Algorithm design and analysis Convergence Design methodology

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Developing auditory skills by the SAIL robot

Developing auditory skills by the SAIL robot

引用

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

作者： Yilu Zhang Juyang Weng Department of Computer Science and Engineering Michigan State University East Lansing MI USA

Motivated by the autonomous developmental process of higher animals and humans from infancy to adulthood, the objective of our SAIL developmental robot project is to investigate how to enable a robot to develop its cognitive and behavioral skills through online, real-time interactions with the environment. In other words, our goal is to enable a robot to learn autonomously from real-world experiences. The work presented here focuses on the development of its auditory behaviors. Both simulation results and experiments on real robot are reported.

关键词： Robot sensing systems Human robot interaction Cognitive robotics robotics and automation Training data Computer science Animals Design engineering Robot control Grounding

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Prediction of moving objects in dynamic environments using Kalman filters

Prediction of moving objects in dynamic environments using K...

引用

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

作者： A. Elnagar Department of Computer Science University of Sharjah Sharjah UAE

In this work, we describe a framework for predicting future positions and orientation of moving obstacles in a time-varying environment using Kalman filtering techniques. No constraint are placed on the obstacles motion. The proposed algorithm can be used in a variety of applications, one of which is robot motion planning in time varying environments. The advantage of using this model compared to reported ones in the literature is it's ability to start the prediction process from the first time step without the need to wait for few time steps before starting the prediction process. Early experimental results are very encouraging.

关键词： Predictive models Motion planning Robot sensing systems Intelligent robots robotics and automation Robot motion Humans Uncertainty Trajectory Computer science

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Autonomous environment recognition by robotic manipulators

Autonomous environment recognition by robotic manipulators

引用

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

作者： K. Senda Y. Okano Graduate School of Engineering Osaka Prefecture University Japan

This paper discusses methods of autonomous environment recognition and action by a robotic manipulator working with dynamic interaction to the environment, e.g., assembling. A method automatically recognizes the contacting situation with the work site from the sensor outputs and the robotic manipulator motion. The autonomous recognition then discriminates the constraint conditions at manipulator hand using the self-organizing map that is a kind of unsupervised learning of neural networks. The discrimination of the constraint conditions is successfully demonstrated by a numerical simulation of a 3-link SCARA type manipulator. Another is for the cognitive action. Some approaches based on the reinforcement learning are proposed. They give models of cognitive actions and approaches to so-called frame problem obstructing efficient learning and action.

关键词： robotics and automation Manipulator dynamics Robot sensing systems Equations Robotic assembly Robot kinematics Cognitive robotics Lagrangian functions Neural networks Learning

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Animated simulation of human-robot coordination with alternative voice command

Animated simulation of human-robot coordination with alterna...

引用

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

作者： J.Y.S. Luh S. Srioon Clemson University Clemson SC USA

In animated simulation of human-robot coordination, the voice command is a useful feature to free the human operator's hand during the compliance control stage. The purpose of developing the simulation program is to perform the simulation before any physical experiments with robot hardware are conducted. The outcome of the simulation may give an insight into any unexpected interactions which may endanger the human operator as well as equipment. The human operator may learn from these experiences and be aware of the problems which may appear when physical experiments are performed.

关键词： Animation Humans Robot kinematics Object oriented modeling Robot sensing systems Grippers Wrist computational modeling Orbital robotics Hardware

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Controlling robots on-orbit

Controlling robots on-orbit

引用

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

作者： C.R. Carignan J.C. Lane P.J. Churchill Department of Aerospace Engineering University of Maryland College Park MD USA

Space and underwater vehicles with robotic manipulators can severely tax the capability of conventional control architectures. In this report, the control system and operator interface for a submersible vehicle used in microgravity simulation are examined. The architecture of the onboard controller and the control station are described as well as the vehicle/operator communications. The control approach is demonstrated on the Ranger Neutral Buoyancy Vehicle (NBV) currently in operation at the Space Systems Laboratory at the University of Maryland.

关键词： Robot control Underwater vehicles Control systems Remotely operated vehicles Arm Space shuttles Orbital robotics Space vehicles Communication system control Mobile robots

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A MATLAB/Simulink-based platform for real-time planning and execution of control techniques applied to mobile robots

A MATLAB/Simulink-based platform for real-time planning and ...

引用

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

作者： L.F. Chaves P.A. Spiller A.G. Scolari R.N. Conte L.F.A. Pereira Department Electrical Engeneering Pontifícia Universidade Catóica do Rio Grande do Sul Porto Alegre Brazil

Simulation tools now occupy a place of particular importance in many fields of engineering. Some of these tools have come to be regarded as standard and/or as a point of departure for the replication of results obtained in scientific papers. The present paper describes the use of one of these tools, Matlab/Simulink, used in order to simulate and validate in real time the results concerning the guidance, navigation and control techniques applied to a low cost mobile platform.

关键词： MATLAB Navigation Service robots robotics and automation Automatic control Sensor phenomena and characterization Computer languages Robot sensing systems Global Positioning System Testing

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Experience-based learning of task representations from human-robot interaction

Experience-based learning of task representations from human...

引用

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

作者： M.N. Nicolescu M.J. Mataric Computer Science Department University of Southern California Los Angeles CA USA

We present an approach that allows a robot to learn task representations from its own experiences of interacting with a human. The robot follows a human teacher and maps its own observations of the environment into a representation of what has constituted the human's demonstration. The robot then builds a representation of the experienced task in the form of a behavior network. To enable this we introduce an architecture that extends the capabilities of behavior-based systems by allowing the representation and execution of complex and flexible sequences of behaviors. We demonstrate this architecture in a set of experiments in which a mobile robot learns representations for multiple tasks and is able to execute the tasks, even in changing environments.

关键词： Mobile robots robotics and automation Human robot interaction Educational robots Computer architecture Computer science Education Automatic control Robustness Mars

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Cooperative tracking using mobile robots and environment-embedded, networked sensors

Cooperative tracking using mobile robots and environment-emb...

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

作者： Boyoon Jung G.S. Sukhatme Robotics Embedded Systems Laboratory Robotics Research Laboratory Department of Computer Science University of Southern California Los Angeles CA USA

We study the target tracking problem using multiple, environment-embedded, stationary sensors and mobile robots. An architecture for robot motion coordination is presented which exploits a shared topological map of the environment. The stationary sensors and robots maintain region-based density estimates which are used to guide the robots to parts of the environment where unobserved targets may be present. Experiments in simulation show that the region-based approach works better than a naive target following approach when the number of targets in the environment is high.

关键词： Mobile robots Target tracking Robot sensing systems Robot kinematics Sensor systems Broadcasting Embedded system Computer science Computer architecture Robot motion

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