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Behavior selection architecture for tangible agent

Behavior selection architecture for tangible agent

引用

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

作者： Kim, Kyung-Joong Cho, Sung-Bae Oh, Sang-Rok Dept. of Computer Science Yonsei University Korea Republic of Intelligent System Control Research Center KIST Korea Republic of

ISBN: (纸本)0780378660

Tangible agent (TA) is a new medium that communicates the senses of sight, hearing, touch, smell, and taste of human to computer. Intelligent behavior is a key property to realize the agent because it must interact with human to grasp all the information. We have adopted a behavior-based approach for high-level behaviors such as navigation of office, conversation with human, and cleaning of room. Behavior-based method can control unexpected situation without prior knowledge and generate high-level behavior with behavior selection. However, TA requires improvements of behavior selection architecture for better communication with human. In this paper, we propose an intelligent behavior selection architecture that contains interferencing, learning and planning capability to TA. In this paper, overview of technical details and experimental results on physical device (Khepera robot) are presented. Preliminary results show the possibility of the proposed behavior selection for TA. © 2003 ieee.

关键词： Audition

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Pragmatic control strategy design method for a small windgenerator

Pragmatic control strategy design method for a small windgen...

引用

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

作者： Boraci, R. Filip, I. Budisan, N. Greconici, M. Politehnica University of Timisoara Department of Automation and Applied Informatics Timisoara Romania Politehnica University of Timisoara Department of Physics Foundation of Engineering Timisoara Romania

ISBN: (纸本)9781467310116

The paper establishes a preliminary pragmatic method to obtain the control strategy of an innovative small windgenerator prototype. There is presented the proposed structure of the considered wind energy conversion system, respectively its components and subsystems. There were considered the wind turbine, the generator, the electronic converters, the brake systems and their characteristics, being obtained theoretically or experimentally at components' construction works and at a dedicated laboratory model. Based on the components' characteristics and their operation restrictions, as well as on the wind speed variation intervals, there were established: start and stop conditions, the control law for the optimal wind turbine operation, wind speed variation domain and the corresponding control law from optimal operation regime to the rated one, the control methods and laws for great wind speeds, brake methods for different failure wind generator regimes. ©2012 ieee.

关键词： Wind turbines

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Applying a Neuro-Fuzzy Classifier for Gesture-Based control Using a Single Wrist-Mounted Accelerometer

Applying a Neuro-Fuzzy Classifier for Gesture-Based Control ...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Helmi, Nona Helmi, Mohammad Islamic Azad Univ Mashhad Branch Dept Comp Engn Mashhad Iran Yazd Univ Dept Elect & Comp Engn Yazd Iran

ISBN: (纸本)9781424448081

Gestures, due to their natural modality, can be normally used in human-computer interaction (HCI) domains such as robotics, design environments and handheld devices. In this paper, a single wrist-mounted triaxial accelerometer is used to collect the acceleration data generated by hand movements forming 36 different gestures. This study intends to find the gestures which are capable of controlling an appliance with a maximum accuracy. A neuro-fuzzy classifier is devised for gestures detection to improve the classification rate in relative terms. The neuro-fuzzy system also selects the best features which yield the highest rate of classification. It reduces the dimensionality of feature set in two phases;the first phase is before carrying out the classification and the second phase is after selecting the most suitable gestures. The feature selection process finally reduces the number of features from 120 to 19. Our neuro-fuzzy system detects 25 gestures that can be classified with an accuracy of 100%, which is the highest rate among other classifiers. So, since the gesture-based control is accurately performed, it can be a proper method for HCI applications.

关键词： Accelerometers

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MIMO controller design for stabilizing vehicle drifting 19

MIMO controller design for stabilizing vehicle drifting

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： Bardos, Adam Domina, Adam Szalay, Zsolt Tihanyi, Viktor Palkovics, Laszlo Budapest Univ Technol & Econ Dept Automot Technol Budapest Hungary

ISBN: (纸本)9781728156255

The presence of highly automated vehicles and driver assistance systems is expected to grow in the future. In recent years, these systems offer assistance for the driver but, in the future, the human driver will be increasingly replaced by automated vehicle functions. In order to achieve this, the vehicle must be able to plan and safely follow a trajectory. In this paper, a MIMO linear quadratic regulator was designed for stabilizing the vehicle during steady-state drifting. The research can be utilized in different fields of applications. Namely, the driving capabilities of an automated vehicle must be at least as good as a human driver. Hence, these systems must be able to drive the car at friction limits. Furthermore, a better understanding of the dynamics of drifting and the equilibrium conditions can be used in motorsports. A three-state bicycle model has been implemented, supplemented with two different tire models. A brush tire model was used at front wheels. A combined slip brush tire model was used at rear wheels, considering lateral-longitudinal force coupling. During drift, the rear tires are saturated, the front tires are not. The complete vehicle model containing the tire models described by eight equations, the system of equations has been solved numerically for equilibrium points. The nonlinear vehicle model was Jacobian linearized in a parametric form. Based on the results, a MIMO LQ system was designed. The control inputs include the steering angle at front wheels and longitudinal drive force at rear wheels. Finally, the controller performance was demonstrated using the nonlinear model in MATLAB/Simulink environment. The proposed controller found able to regulate steady-state drifting with predefined sideslip angles and longitudinal velocities.

关键词： drift equilibrium points saturated tire vehicle model tire model drift drift control unstable driving MIMO LQ

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Adaptive Steering controller to Improve Handling Stability for Driver-Combined-Vehicles System

Adaptive Steering Controller to Improve Handling Stability f...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Wang, Qiang Oya, Masahiro Takagi, Natsuki Taira, Yuichiro Ota, Hidetaka Kyushu Inst Technol Dept Syst Design & Informat 680-4 Kawazu Iizuka Fukuoka Japan Kyushu Inst Technol Dept Mech & Control Engn Kitakyushu Fukuoka Japan Natl Fisheries Univ Dept Mech & Control Engn Shimonoseki Yamaguchi 7596595 Japan

ISBN: (纸本)9781424448081

If the dynamics of combined vehicles such as tractor-semitrailer varies greatly, it may be very difficult for inexperienced drivers to achieve good handling stability. Moreover, once combined vehicles become unstable, it is very difficult for all drivers to stabilize vehicles. However, if the behavior of actual combined vehicles tracks a designed desired combined vehicle, the good handling property can be maintained even when the dynamics of actual combined vehicles varies large. In this paper, to achieve good handling property even for large variation of vehicle dynamics, a design method for a desired combined vehicle is shown, and then, an adaptive steering controller is developed so that the actual vehicle tracks the desired vehicle. The developed adaptive steering controller has strong robustness for the uncertainties of vehicle parameters. Moreover, a driver model is introduced to show the characteristics of driver. Carrying out numerical simulations, it is shown that the developed adaptive steering controller is very useful for the driver-combined-vehicles system.

关键词： Automobile steering equipment

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Real-time collision-free path planning and tracking control of a nonholonomic mobile robot using a biologically inspired approach

Real-time collision-free path planning and tracking control ...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Yang, SX Yuan, GF Meng, M Univ Guelph Sch Engn Guelph ON N1G 2W1 Canada

ISBN: (纸本)0780372034

In this paper, a novel biologically inspired neural network approach is proposed for dynamic collision-free path planning and tracking control of a nonholonomic mobile robot in a nonstationary environment. The real-time collision-free trajectory of the mobile robot with obstacle avoidance is generated by a topologically organized neural network, where the dynamics of each neuron is characterized by a shunting equation derived from Hodgkin and Huxley's biological membrane equation. The configuration space of the mobile robot constitutes the state space of the neural network. The varying environment is represented by the dynamic activity landscape. of the neural network, where the neural activity propagation is subject to the kinematic constraint of the. nonholonomic mobile. robot. Thus no local collision checking procedures are needed. The tracking velocities are generated by a novel neural dynamics based controller, which is based on two shunting models and the conventional backstepping technique. Unlike the backstepping controllers that produce velocity commands with sharp jumps, the proposed tracking controller can generate smooth, continuous commands, not suffering from the velocity jump problem. The effectiveness and efficiency of the proposed approach are demonstrated through simulation and comparison studies.

关键词： Mobile robots

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Optimization of model predictive control by means of sequential parameter optimization

Optimization of model predictive control by means of sequent...

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ieee symposium on computational intelligence in control and automation, cica

作者： A. Davtyan S. Hoffmann R. Scheuring Institute of Automation & Industrial IT Cologne University of Applied Sciences Germany

A methodology is developed for automatically tuning the main parameters of model predictive control (MPC) such as prediction horizon, control horizon and control interval. The tuning of parameters is done by means of sequential parameter optimization. In the process of optimization one of the major issues is the choice of an objective function. Several types of objective functions are tested in order to choose the one which solves the MPC tuning problem most adequate. In addition, different scenarios are analyzed if an exact model of the true plant does not exist.

关键词： Optimization Predictive models Mathematical model Algorithm design and analysis Predictive control Transfer functions Prediction algorithms

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CINTI 2014 - 15th ieee International symposium on computational intelligence and Informatics, Proceedings

CINTI 2014 - 15th IEEE International Symposium on Computatio...

引用

15th ieee International symposium on computational intelligence and Informatics, CINTI 2014

ISBN: (纸本)9781479953387

The proceedings contain 79 papers. The topics discussed include: is AdaBoost competitive for phoneme classification?;algorithm for distribution substation area visualization;insect pheromone strategy for the robots coordination - reaction on loss communication;wireless sensor network based movement classification using wrist-mounted 9dof sensor boards;RouteArt: a new framework for vehicle routing problem with pickup and delivery using heuristic bubble algorithm;reconfigurable control of an in-wheel electric vehicle based on LPV methods;model-based sensitivity analysis of the look-ahead cruise control;an algorithmic skeleton for massively parallelized mean shift computation with applications to GPU architectures;and modeling by fuzzy approach uncertainties in image analysis.

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Novel dual demand side management (2DSM) scheme in optimizing utilization of available power

Novel dual demand side management (2DSM) scheme in optimizin...

引用

ieee symposium on computational intelligence in control and automation, cica

作者： Muhammad Gary Shafer Kamalrulnizam Abu Bakar Farah Ramadhani Faculty of Computer Science and Information System Universiti Teknologi Malaysia Johor Malaysia

This paper presents a novel Dual Demand Side Management (2DSM) scheme in order to optimize utilization of available power supply. This scheme combines two method i.e. Direct Load control (DLC) schedule and proposed Dynamic Power Allocation (DPA). DLC is used to reduce peak load occurrence. In order to maintain the customer satisfaction and comfort level, DLC work based on schedule and load priority technique. Meanwhile, DPA is used to reduce waste power in the system. This method will allocate the waste power to cluster that need more power based on customer power demand request and cluster power exchange program. The allocation process is conducted by adjusting power threshold of customer dynamic Circuit Breaker (CB). Load profile data from twelve feeders on three substations is used as input data. This scheme is simulated using simulator that written in VB. net. The simulation result shows this scheme can reduce peak load and allocate waste power effectively.

关键词： computational intelligence automation Handheld computers Decision support systems

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Analysis and application of a robust identification method

Analysis and application of a robust identification method

引用

International symposium on computational intelligence in Robotics and automation

作者： Janot, A. Vandanjon, P. O. Gautier, M. Khatounian, F. CEA LIST Interact Robot Unit 18 Route PanoramaBP 6 F-92265 Fontenay Aux Roses France Inst Recherche Commun Cybernetique Nantes F-92101 Nantes 03 France Lab Cent Ponts & Chaussees F-44341 Bouguenais France

ISBN: (纸本)9781424407897

Parametric identification requires a good know-how and an accurate analysis. The most popular methods consist in using simply the least squares techniques because of their simplicity. However, these techniques are not intrinsically robust. An alternative consists in helping them with an appropriate data treatment while another choice consists in applying a robust identification method. This paper focuses on an analysis of a robust method called "the simple refined instrumental variable method". This method will be applied to a single degree of freedom master arm developed by the CEA Interactive Robotic Unit.

关键词： Identification (control systems)

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