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ieee International symposium on computational intelligence in Robotics and automation

作者： Lee, Dong-Hyun Park, In-Won Kim, Jong-Hwan Korea Adv Inst Sci & Technol Dept Elect Engn Taejon 305701 South Korea

ISBN: (纸本)9781424448081

The conventional Q-learning algorithm is described by a finite number of discretized states and discretized actions. When the system is represented in continuous domain, this may cause an abrupt transition of action as the state rapidly changes. To avoid this abrupt transition of action, the learning system requires fine-tuned states. However, the learning time significantly increases and the system becomes computationally expensive as the number of states increases. To solve this problem, this paper proposes a novel Q-learning algorithm, which uses fuzzified states and weighted actions to update its state-action value. By applying the concept of fuzzy set to the states of Q-learning and using the weighted actions, the agent efficiently responds to the rapid changes of the states. The proposed algorithm is applied to omni-directional mobile robot and the results demonstrate the effectiveness of the proposed approach.

关键词： Learning algorithms

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Learning fuzzy rules by evolution for mobile agent control 3

Learning fuzzy rules by evolution for mobile agent control

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3rd ieee International symposium on computational intelligence in Robotics and automation, CIRA 1999

作者： Chronis, George Keller, James Skubic, Marjorie Dept. of Computer Engineering and Computer Science University of Missouri-Columbia United States

ISBN: (纸本)0780358066

In this paper we propose a learning mechanism for mobile agent navigation. The agent is controlled by a dynamic set of fuzzy rules, where the rule set is learned using genetic algorithms. The rules are adjusted during a training session and tested after satisfactory behavior is observed. This approach provides for learning different navigation schemes, depending on the required behavior of the agent, without dramatic changes in the code, except for the evaluation function. In this work we tested the learning scheme for a situation where the agent has to approach a given set of 2-D coordinates, while avoiding obstacles in an unknown dynamic environment. © 1999 ieee.

关键词： Fuzzy rules

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Bacterial Foraging Oriented by Particle Swarm Optimization Strategy for PID Tuning

Bacterial Foraging Oriented by Particle Swarm Optimization S...

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ieee International symposium on computational intelligence in Robotics and automation

作者： Korani, Wael M. Dorrah, Hassen Taher Emara, Hassan M. Cairo Univ Dept Elect Power & Machines Engn Giza Egypt

ISBN: (纸本)9781424448081

Proportional integral derivative (PID) controller tuning is an area of interest for researchers in many disciplines of science and engineering. This paper presents a new algorithm for PID controller tuning based on a combination of the foraging behavior of E coli bacteria foraging and Particle Swarm Optimization (PSO). The E colt algorithm depends on random search directions which may lead to delay in reaching the global solution. The PSO algorithm may lead to possible entrapment in local minimum solutions. This paper proposed a new algorithm Bacteria Foraging oriented by PSO (BF-PSO). The new algorithm is proposed to combines both algorithms' advantages in order to get better optimization values. The proposed algorithm is applied to the problem of PID controller tuning and is compared with conveniently Bacterial Foraging algorithm and Particle swarm optimization.

关键词： Three term control systems

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Moore automata for the supervisory control of robotic manufacturing workcells

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AUTONOMOUS ROBOTS 2000年第1期9卷 59-69页

作者： Ramirez-Serrano, A Zhu, SC Benhabib, B Univ Toronto Dept Mech & Ind Engn Comp Integrated Mfg Lab Toronto ON M5S 3G8 Canada

The potential of flexible-manufacturing workcells (FMCs) to produce a family of parts in many possible orders of operations and choices of different machines is advantageous. Despite intensive research on the theoretical control of discrete-event systems (DESs), however, current techniques can still only be used for the supervisory control of simple cells. In this paper, a novel modeling and control synthesis technique is presented for FMCs that allow part-routing flexibility. Our proposed methodology combines Extended Moore Automata (EMA) and controlled-Automata theories to synthesize supervisors for such FMCs.

关键词： flexible manufacturing workcells supervisory control Moore automata alternative processing routes

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Research on Constant-Tension control Based on Fuzzy Multiple Models

Research on Constant-Tension Control Based on Fuzzy Multiple...

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1st International symposium on computational intelligence and Design

作者： Ji Wengang Luo Yu Dai Fengyan Cao Jianshu Beijing Inst Petrochem Technol Beijing 102617 Peoples R China Beijing Univ Chem Technol Beijing 100029 Peoples R China

ISBN: (纸本)9780769533117

The continuous deflection and pitch of the welding wire can assure continuous electrical contact, smooth arc characteristic and coherently penetrative welding, and serve wire on the automation welding equipment continuously. The arranging wire based on angle and the constant tension intertwine are key. On the basis of the thorough analysis of the structure, characteristic and the factors that effect the tension of the welding wire in the intertwine process, the models of tension system were established in the engineering view. Floating pulley block's position feedback control scheme based-on the adaptive-self line speed was proposed;Considering the variation of the paying-off winding-diameter, a control strategy based on fuzzy multiple models was presented, and a multiple models controller using fuzzy winding-diameter switching regulation was designed. The simulation results show that the expected control performances are achieved.

关键词： Fuzzy control Wire Welding Pulleys Wheels control systems Production Three-term control Chemical technology Feedback control

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Intelligent Product-Driven Manufacturing control A Mixed Genetic Algorithms and Machine learning approach to Product intelligence synthesis

Intelligent Product-Driven Manufacturing Control A Mixed Gen...

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22nd International symposium on Information Communication and automation Technologies

作者： Gaham, Mehdi Bouzouia, Brahim Adv Technol Dev Ctr Div Comp Integrated Mfg & Robot Baba Hasen Algiers 16303 Algeria

ISBN: (纸本)9781424442201

As a specialisation of Ho ionic agent-based distributed manufacturing control, intelligent product-driven manufacturing control paradigm has recently emerged as one of the most promising paradigms for the development of next generation manufacturing intelligent control systems. But major issue to be solved to make this paradigm effective in real world industrial environment is related to the lack of efficiency of agent-based local decision-making approaches employed. The research work presented in this paper focuses on this pending issue and proposes and formalizes the combination of main capabilities of agent-based intelligent product-driven manufacturing control paradigm and computational intelligence genetic algorithm optimisation tool for the development of effective and efficient intelligent product driven agent-based distributed dynamic scheduling and control strategy. This challenging combination is achieved by neural network-based machine learning technique and enables enhancing manufacturing system reactivity, flexibility and fault tolerance, as well as maintaining behavioural stability and optimality.

关键词： Fault tolerance

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Trajectory planning of mobile robots using DNA computing

Trajectory planning of mobile robots using DNA computing

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ieee International symposium on computational intelligence in Robotics and automation

作者： Kiguchi, K Watanabe, K Fukuda, T Saga Univ Dept Adv Syst Control Engn Saga 8408502 Japan

ISBN: (纸本)0780372034

Recently, DNA computers attract attention as computers of next generation taking over the present electronic computers. Computation can be realized by chemical reaction of DNA. This paper presents an optimal trajectory planning method of mobile robots using DNA computing. In this method, a working area of a mobile robot is divided into many sections. Then the shortest trajectory avoiding obstacles in the work area is calculated with DNA computing. The location of the obstacles is supposed to be known in advance. In the process of DNA computing, Watson-Crick pairing is performed to find the shortest trajectory in the working area. The DNA sequences representing the locations of the obstacles are removed in this process. The obtained shortest DNA molecule that begins with the start section and terminates with the goal section represents the shortest trajectory avoiding the obstacles in the work area of the mobile robot. The proposed algorithm is especially effective a DNA molecular computer.

关键词： Mobile robots

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Enhancement of safety and economy of the vehicle platoon with the consideration of delays and disturbances

Enhancement of safety and economy of the vehicle platoon wit...

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12th ieee International symposium on computational intelligence and Informatics, CINTI 2011

作者： Mihály, András Németh, Balázs Gáspár, Péter Department of Control and Transport Automation Budapest University of Technology and Economics Bertalan L. u. 2. H-1111 Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9781457700453

The paper focuses on the design of a platoon control system with a diverse vehicle formation. After a brief summary of the vehicle model and the control criteria, the paper demonstrates methods for eliminating the longitudinal oscillations caused by the communication and actuator delays and environmental disturbances. The realization and evaluation are carried out with diverse control strategies. An effective method for the design of the joint platoon velocity with the consideration of traffic environment and road conditions is also demonstrated. © 2011 ieee.

关键词： Vehicles

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Application of delay-dependent adaptive control to a continuous stirred tank reactor

Application of delay-dependent adaptive control to a continu...

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ieee symposium on computational intelligence in control and automation, cica

作者： Hazem N. Nounou Mohamed N. Nounou Electrical and Computer Engineering Program Electrical and Computer Engineering Program Doha Qatar Chemical Engineering Program Texas A&M University at Qatar Doha Qatar

The main contribution of this work is the application of delay-dependent adaptive control techniques to control nonlinear continuous stirred tank reactor (CSTR) model with state delay. The delay-dependent adaptive control problem is first formulated and stabilizing adaptive control algorithms are developed and then applied to the CSTR process model. The CSTR model includes a nonlinear perturbation which is assumed to have a norm that is bounded by a scaled norm of the state vector. Here, we consider two cases where the weight of the state norm is assumed to be known and unknown. Simulation results show the efficacy of the delay-dependent adaptive control schemes in controlling the CSTR nonlinear process model.

关键词： Adaptive control Equations Chemical reactors Delays Adaptation models Vectors State feedback

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Intelligent sequence adjusting algorithm based on general satisfaction function for air traffic arrival flow management

Intelligent sequence adjusting algorithm based on general sa...

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ieee International symposium on computational intelligence in Robotics and automation

作者： Cheng, P Ma, ZP Cui, DG Geng, R Chen, C Tsing Hua Univ Dept Automat Beijing 100084 Peoples R China

ISBN: (纸本)0780378660

Before handing over command of arrival flights to terminal controller, en route air traffic controller should adjust arrival flight queue as an appropriate sequence since air traffic flows aggregate at the entrance of air-corridor near airports. A good adjustment needs to consider such target as ensuring safe separation of adjacent flights by issuing adjustment commands as less as possible. This paper introduces a concept of approach adjustment and presents the mathematical description of the problem of approach sequence adjustment, which integrates both human experience and precise computing model. An intelligent sequence-adjusting algorithm is also discussed, which is based on general satisfaction function consisting of three factors: safety, capacity and equilibrium. Tested on practical data, the algorithm has good effectiveness.

关键词： Air traffic control

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