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Advanced solution for a benchmark robot control problem

Advanced solution for a benchmark robot control problem

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2005 ieee International symposium on computational intelligence in Robotics and automation CIRA 2005

作者： Varso, Joonas Zenger, Kai Hölttä, Vesa Koivo, Heikki Control Engineering Laboratory Helsinki University of Technology P. O. Box 5500 02015 TKK Finland

The paper presents one solution to a benchmark problem, where the target was to control the position of one robot axis. The model given corresponds to a commercial robot, although some simplifications have been made in constructing the model. The nonlinear and time-varying nature of the process together with large disturbances of several types were the challenge for control design. Traditional optimization and frequency domain techniques were used for tuning suitable PID controllers for each specific disturbance type. Based on input-output measurements the disturbance types were identified using a wavelet technique, and the different PID controllers were scheduled according to the identification result The performance of the developed controller was tested by simulations and by calculating the value of a cost criterion. © 2005 ieee.

关键词： Robots

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Towards an autonomous small-size humanoid robot: Design issues and control strategies

Towards an autonomous small-size humanoid robot: Design issu...

引用

2005 ieee International symposium on computational intelligence in Robotics and automation CIRA 2005

作者： Silva, Filipe Santos, Vitor Department of Electronics and Telecommunications IEETA University of Aveiro 3810-19 Aveiro Portugal Department of Mechanical Engineering TEMA University of Aveiro 3810-193 Aveiro Portugal

This paper presents the design considerations of a small-size humanoid robot. The design process has revealed much about the several problems, challenges and tradeoffs imposed by biped locomotion. Among them, we here focus on the control of a single leg and its behaviour when assuming a forward motion. The controller is based on simple motion goals taking into account the reaction forces between the feet and the ground. A new method is proposed which appears to be well adapted to the class of problem considered: the use of a fractional-order controller combined with a genetic algorithm for optimal tuning of the control parameters. The control algorithm is tested through several simulations and its robustness is discussed. © 2005 ieee.

关键词： Mobile robots

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Deep learning based object detection for agricultural machinery 22

Deep learning based object detection for agricultural machin...

引用

ieee Joint 22nd International symposium on computational intelligence and Informatics / 8th ieee International Conference on Recent Achievements in Mechatronics, automation, Computer Science and Robotics (CINTI-MACRo)

作者： Brassai, Sandor Tihamer Nemeth, Andras Hammas, Attila Gabor, Szabolcs Laszlo Sapientia Hungarian Univ Transylvania Dept Elect Engn Corunca Romania Natl Univ Publ Serv Dept Elect Warfare Budapest Hungary Sapientia Hungarian Univ Transylvania Intelligent Control Syst Corunca Romania Natl Univ Publ Serv Mil Engn Budapest Hungary

ISBN: (纸本)9798350398823

Drone imagery based object supervising has become more and more widespread. In the paper the Single shot Alignment Network is used to classify and localize the objects. The images were acquired by using two types of drones, DJI Tello and Zll SG906 Pro 2 in about thirty classes, and about nineteen were processed and detailed in the paper. The objects labeling was realized in CVAT labeling tool. For neural network management the mmdetection framework was used, and the obtained results were detailed on s2a-net. The paper focuses on the preparation of the neural network system to be used for agricultural machine detection. The network was trained on a PC with reduced processing capabilities. The dataset was cut in smaller tasks. An architecture is proposed to be used in future for dataset management during the training process.

关键词： deep neural networks deep learning drone-based images detection

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High-speed wall following and obstacle avoidance of wheeled mobile robots using hybrid behavior specifications

High-speed wall following and obstacle avoidance of wheeled ...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Lim, MS Lim, JH Oh, SR Dept. of Mechatronics Kyonggi Institute of Technology South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea Dept. of Electronic Engineering Hanyang University South Korea

ISBN: (纸本)0780372034

In this paper, we propose a new approach to the high-speed wall following of wheeled mobile robots using hybrid control system. The proposed hybrid system consists of the discrete state system as the high-level process and the continuous state system as the low-level process. In discrete state system, the discrete states are defined by the user-defined constraints and the reference motion commands are specified in the abstracted motions. The reference motion commands are translated into the control inputs for each wheel in the continuous state system. The hybrid control system applied for wheeled mobile robots can combine the motion planning and autonomous navigation with obstacle avoidance in indoor navigation problem. Simulation results show that hybrid system approach is an effective method for the autonomous navigation. In the experiments of the indoor environments, we proved that the performance of the high-speed navigation is excellent.

关键词： Mobile robots

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A Simple Fixed Point Iteration-Based Digital Noise Filter for control Applications 19

A Simple Fixed Point Iteration-Based Digital Noise Filter fo...

引用

ieee Joint 19th International symposium on computational intelligence and Informatics / 7th International Conference on Recent Achievements in Mechatronics, automation, Computer Sciences and Robotics

作者： Varga, Arpad Eigner, Gyorgy Tar, Jozsef K. Obuda Univ Doct Sch Appl Inf & Appl Math Budapest Hungary Obuda Univ Physiol Controls Res Ctr Budapest Hungary Obuda Univ ABC Ctr Intelligent Robot Budapest Hungary

ISBN: (纸本)9781728156255

In various control applications as robotics, chemistry, life sciences, etc., the controllers need feedback terms that contain various integer or fractional order time-derivatives of the variables that describe the physical state of the controlled system as well as certain properties of the "nominal trajectory" that has to be precisely tracked. Normally these derivatives cannot be directly measured by dedicated sensors, so they numerically must be estimated by other, normally noise-burdened sensor signals. The higher the relative order of the control task is the higher the control method's sensitivity to the sensor noises is. To improve the situation the sensor signals and especially the time-derivatives calculated by the use of the sensor signals have to be "filtered" to reduce the undesirable consequence of the measurement noises. Filtering normally happens by somehow "averaging" a few past signals therefore it inevitably introduces "delay"-like effect that can degrade the controller's operation. Physically the act of filtering can be interpreted as the insertion of a dynamically coupled physical subsystem into the controlled engine + controller system. Electronic and electrical engineers developed various filters made of constant and passive elements as resistors, inductors, capacitors that can be described by differential equations. For these linear, time-invariant systems the use of the frequency domain became prevailing. In the case of digital controllers more primitive, fictitious models can be applied without physical realization. These subsystems can be even strongly nonlinear. In this paper a primitive noise-filtering technique for digital controllers is suggested. It has two simple, tunable parameters. Its operation is illustrated in the Fixed Point Iteration-based adaptive control of a propeller-driven pendulum.

关键词： Fixed Point Iteration-based Adaptive control Noise Filtering Propeller-driven Pendulum

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Evolving cyclic control for a hexapod robot performing area coverage

Evolving cyclic control for a hexapod robot performing area ...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Parker, GB Connecticut Coll Dept Comp Sci New London CT 06320 USA

ISBN: (纸本)0780372034

For a robot to search an entire area, it must follow a path that allows the range of its sensors to cover all parts of the area. This problem is a subset of path planning called area coverage. Most work done in this type of path planning has concentrated on ways of dividing the area up to avoid obstacles while covering the area. This is an important step in the process, but often takes for granted the movement of the robot within clear areas. This is not a problem if the robot has sufficient calibration to ensure the accuracy of calculated turns or if it has accurate enough navigational devices to keep track of its location. However, simple legged robots usually lack both of these attributes. It is difficult to make turns that fit a specified arch and sufficient on board navigational devices are expensive and/or too large to carry. In this paper, we use cyclic genetic algorithms to learn the control cycles required to make an actual hexapod robot perform area coverage.

关键词： Motion planning

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A multidisciplinary framework for empirical analysis of the applicability of 3D stereoscopic in air traffic control

A multidisciplinary framework for empirical analysis of the ...

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2003 ieee International symposium on computational intelligence in Robotics and automation, CIRA 2003

作者： Dang, Nguyen-Thong Le, Hong-Ha Tavanti, Monica Duong, Vu Eurocontrol Research Centre France University Paris 8 France Uppsala University Sweden

ISBN: (纸本)0780378660

Human dependent safety critical domains such as Air Traffic control require careful and focused interface design. The way air traffic information is presented heavily impacts the way controllers perform monitoring tasks and on their workload level. Our investigation aims to study the main implications deriving from the adoption of a three-dimensional space for the Air Traffic control domain. In this paper, we discuss a multidisciplinary framework for the empirical analysis of the applicability of 3D stereoscopic visualization in Air Traffic control. This framework takes into consideration three different major components: the design of visualization interfaces, the design of interactivities, and the associated human factors. This paper describes the framework adopted and the experimentation being conducted. © 2003 ieee.

关键词： Virtual reality

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Dissolved oxygen control of activated sludge biorectors using neural-adaptive control

Dissolved oxygen control of activated sludge biorectors usin...

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ieee symposium on computational intelligence in control and automation, cica

作者： S. Mirghasemi C. J. B. Macnab A. Chu Schulich School of Engineering University of Calgary Calgary Alberta

In a mixed liquor biological wastewater treatment process, the dissolved oxygen level is a very important factor. This paper proposes an adaptive neural network control strategy to maintain a set point in aerated bioreactors. The proposed method prevents weight drift and associated bursting, without sacrificing performance. The controller is tested on a simplified version of the benchmark simulation model number 1, with disturbances in influent. The proposed controller outperforms PI control.

关键词： Adaptation models Rain Storms Neural networks Biological system modeling Mathematical model

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A model of the control function in the case of constant effort of the cardiovascular system

A model of the control function in the case of constant effo...

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7th ieee International symposium on Applied computational intelligence and Informatics, SACI 2012

作者： Dan, A.M. Dragomir, T.L. Politehnica University of Timisoara Automation and Applied Informatics Timisoara Romania

ISBN: (纸本)9781467310116

Although the cardiovascular process model is well formed, the shape of the control function which complements the ensemble as a control system is still an open question. The paper presents a new structure of the ensemble that handles the control mechanism using a two terms control signal and offers a simple solution for modeling the response of the cardiovascular system to constant exercise. The proposed model is implemented and simulated in Matlab-Simulink. The heart rate and arterial systemic pressure responses to the exercise scenario are compared with the ones obtained by the implementation of cardiovascular system as a solution of a linear quadratic control problem. ©2012 ieee.

关键词： Cardiovascular system

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Ambient intelligence as paradigm of a full automation process at home in a real application

Ambient intelligence as paradigm of a full automation proces...

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2005 ieee International symposium on computational intelligence in Robotics and automation CIRA 2005

作者： Gárate, Alfonso Lucas, Imanol Herrasti, Nati López, Antonio Fagor Electrodomésticos Barrio San Andrés n 18 Mondragón 20500 Spain Ikerlan P. de Arizmendiarrieta n 2 Mondragón 20500 Spain

As a result of the increasing miniaturization of electronic circuitry and the corresponding increase in computational power of embedded systems, the point has been reached where it is possible to integrate electronics into the day to day elements of people's lives. The types of relationship man-machine-product currently found based on pushbuttons, keys and menus will disappear, to be replaced by intelligent systems with which we will interact through natural speech, movements, gestures, etc. The environments, by means of the systems, products and machines of which they are made, will respond, and will even anticipate, the orders given by the user's voice, gestures or hands, facial expressions, etc. This challenge has been reached by the project called GENIO: to get a multimodal user interface to control any kind of domestic devices, mainly the household appliances and the entertainment systems, in other to obtain a first product based on the precepts of Ambient intelligence. ©2005 ieee.

关键词： Artificial intelligence

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