Welfare vehicles axe convenient equipments for a senior citizen. Because they have a nonholonomic characteristic, driving them axe uneasy. Especially, since the area that can move in the parking lot is limited, the op...
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ISBN:
(纸本)0780378660
Welfare vehicles axe convenient equipments for a senior citizen. Because they have a nonholonomic characteristic, driving them axe uneasy. Especially, since the area that can move in the parking lot is limited, the operation is very difficult. To help his parking, an intelligent parking support system by fuzzy control that built in expert's knowledge is developed. This system does the support that accepts easily like guidance member by using voice information and the image information. In this paper, the effectiveness of the developed system is shown by testing the operation support.
In this paper, we describe our implementation of a PID and a model-based Adaptive Robust controllers for a 2-dof parallel manipulator with actuator redundancy. In the dynamics model, we also implement simple friction ...
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ISBN:
(纸本)0780378660
In this paper, we describe our implementation of a PID and a model-based Adaptive Robust controllers for a 2-dof parallel manipulator with actuator redundancy. In the dynamics model, we also implement simple friction models to compensate the frictions in the active joints, passive joints, as well as the multiple joint. Experiments are performed to show the effectiveness of the control algorithms to track different end-effector trajectory including point-to-point straight line trapezoidal and constant speed circular motion.
This paper describes the supervisory control of mobile robots using a biologically inspired short-term memory structure called a Sensory EgoSphere. The EgoSphere is implemented as a virtual geodesic dome upon which se...
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ISBN:
(纸本)0780372034
This paper describes the supervisory control of mobile robots using a biologically inspired short-term memory structure called a Sensory EgoSphere. The EgoSphere is implemented as a virtual geodesic dome upon which sensory data from the surroundings of the robot are written. The EgoSphere is managed by a distinct agent in a distributed agent-based robot control architecture called the Intelligent Machine Architecture. The paper also describes a human-robot interface and a testbed for evaluating the control system.
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 ...
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ISBN:
(纸本)0780372034
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.
In this paper, we develop a direct adaptive control framework for MIMO linear uncertain systems. The proposed adaptive controller addresses adaptive stabilization while under the reachability assumption. The method ca...
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ISBN:
(纸本)0780378660
In this paper, we develop a direct adaptive control framework for MIMO linear uncertain systems. The proposed adaptive controller addresses adaptive stabilization while under the reachability assumption. The method can be easily extended to the system with bounded exogenous disturbances and l(2) disturbances, where the disturbance rejection can be addressed. The framework is Lyapunov-based and the adaptive laws are characterized by Kronecker calculus. Finally, several numerical examples are provided to demonstrate the efficacy of the proposed framework.
This paper introduces a novel controller for the process control of tobacco leaf fermentation with Double Loop CS910 Programmable Regulator. As a result, higher technological specifications can be met and leaf losses ...
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ISBN:
(纸本)0780372034
This paper introduces a novel controller for the process control of tobacco leaf fermentation with Double Loop CS910 Programmable Regulator. As a result, higher technological specifications can be met and leaf losses can be reduced. The control system adopts a DCS (Distributed control System) structure in which CS910 Programmable Regulators are the low-level computers. Each CS910 Programmable regulator is responsible for the process control of tobacco leaf fermentation in one fermentation room, while one high-level industrial control computer is used to supervise the work of all the regulators in the whole storehouse. The patterns of cascade temperature and humidity control are also discussed in details in this paper.
Here, we develop a novel robust type2 fuzzy controller (FC). It is based on a new type-2 membership function called the type2 Distending Function (T2DF). It can model the uncertainties associated with the measurement ...
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ISBN:
(纸本)9781728156255
Here, we develop a novel robust type2 fuzzy controller (FC). It is based on a new type-2 membership function called the type2 Distending Function (T2DF). It can model the uncertainties associated with the measurement noise. The design process does not include the implication and the type reduction steps, hence it is computationally efficient. Also, aggregation is carried out using fuzzy arithmetic operations and T2DF is closed under linear combination. Because of these unique features, the proposed type2 FC performs better even in the presence of large measurement noise. The efficiency of the proposed FC is demonstrated using the altitude control of a quadcopter with a noisy feedback signal.
This paper discusses the modeling of Mobile SMA-Net, and move control. Mobile SMA-Net is the robot which combined the spring of a shape memory alloy in the shape of a lattice, and has very redundant flexibility. There...
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ISBN:
(纸本)0780378660
This paper discusses the modeling of Mobile SMA-Net, and move control. Mobile SMA-Net is the robot which combined the spring of a shape memory alloy in the shape of a lattice, and has very redundant flexibility. Therefore, the physical characteristic is modeled based on a real robot's measurement data, a simulator is created, and movement is controlled by this paper on it. Since the robot has very large flexibility, in order that the robot may control, he ingratiates himself in Learning. However, in order that the robot may change own form in the action process, learn and the mechanism which can be re-learned are needed. In this paper, robust control is realized using Reinforcement Learning.
Automated driving and advanced driver assistance technologies represent an emerging field. The difference in maturity of various commercial and prototype systems causes ambiguities in the use and reliance for the user...
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ISBN:
(纸本)9781728156255
Automated driving and advanced driver assistance technologies represent an emerging field. The difference in maturity of various commercial and prototype systems causes ambiguities in the use and reliance for the users, who generally are not trained or educated for autonomous system management and efficient handover processes. While numerous models for shared vehicle control and driver behavior have been introduced recently, not much is known about the effect of situation awareness in a closed-loop human driver-vehicle system. This paper proposes a novel driver model based on a control theory approach, taking both situation awareness and vehicle dynamics into consideration.
In this paper a new behavior-based control for autonomous mobile robots is proposed and compared with the main behavioral control techniques. The behavioral algorithms share the same approach to the problem: rst the o...
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