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Acquisition of Shared Symbols in Multi-Agent Cooperative Tasks

Acquisition of Shared Symbols in Multi-Agent Cooperative Tas...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Kayal, Siavash Aminaiee, Abdol Hossein Lucas, Caro Univ Tehran Ctr Excellence Control & Intelligent Proc ECE Fac Coll Engn Tehran 14174 Iran Univ Tehran ECE Fac Ctr Excellence Control & Intelligent Proc Tehran Iran

ISBN: (纸本)9781424448081

In this paper a novel mechanism for acquiring shared symbols in multi-agent cooperative task is introduced. Inspired by human communication, a technique is suggested in which learning the behaviors and learning how to communicate are decomposed. Decomposing the shared symbol acquisition into two separate learning phases not only simplifies the learning algorithm but also it speeds up the process. Moreover, utilizing the gained information about the environment in the behavior learning phase, agent communication is learned easily. A couple of simulations are conducted to support the idea. Simulation results show that agents could assign meaning to symbols and transfer information among themselves using the learned symbols. Roughly speaking, they could form a language.

关键词： Learning algorithms

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Takagi-Sugeno Fuzzy control Method for Nonlinear Systems

Takagi-Sugeno Fuzzy Control Method for Nonlinear Systems

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Serra, Ginalber L. O. Ferreira, Carlos Cesar T. Fed Inst Educ Sci & Technol Maranhao IFMA Dept Electroelect San Luis MA Brazil

ISBN: (纸本)9781424448081

This paper proposes a new methodology for analysis and design of robust fuzzy Takagi-Sugeno (TS) control, with PID structure, for nonlinear systems, based on gain and phase margins specifications. The nonlinear system to be controlled, is studied in the context of Linear Parameters Varying (LPV) systems, it is partitioned into several linear sub-models in terms of transfer function, forming a convex polytope. Once defined the linear sub-models of the plant, these are organized into fuzzy Takagi-Sugeno (TS) structure. From the Parallel Distributed Compensation (PDC) strategy, a mathematical formulation is defined in the frequency domain, based on the gain and phase margins specifications, to obtain robust PID sub-controllers in accordance to the Takagi-Sugeno fuzzy model of the plant. Results for the robust stability conditions with the proposal of one Axiom and two Theorems are also presented.

关键词： Nonlinear systems

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Dynamic State Estimation Using Particle Filter and Adaptive Vector Quantizer

Dynamic State Estimation Using Particle Filter and Adaptive ...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Nishida, Takeshi Kogushi, Wataru Takagi, Natsuki Kurogi, Shuichi Kyushu Inst Technol Fac Engn Mech & Control Engn Fukuoka Japan

ISBN: (纸本)9781424448081

Particle filter (PF) is a method for discrete approximation of dynamic and non-Gaussian probability distribution by using numerous particles, and its procedure can execute at high speed and is suitable for on-line applications. However, in conventional methods, a weighted average value or a maximum weighted value of particles is used as a filter output, and information on most particles is disregarded. On the other hand, an adaptive vector quantization (AVQ) algorithm called competitive reinitialization learning (CRL) that can achieve high-speed adaptation without depending on initial conditions has been proposed. Then, in this research, a method for extracting information on shape of probability density distributions by combining PF with CRL is proposed. Moreover, a rapid adaptation performance and the robustness of the proposed method are shown by the simulations.

关键词： Bandpass filters

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Composite Visual Servoing for Catching a 3-D Flying Object Using RLS Trajectory Estimation from a Monocular Image Sequence

Composite Visual Servoing for Catching a 3-D Flying Object U...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Herrejon, R. Kagami, S. Hashimoto, K. Tohoku Univ Intelligent Control Syst Lab Dept Syst Informat Sci Sendai Miyagi 980 Japan

ISBN: (纸本)9781424448081

Online coordination of visual information with slow speed manipulator control is studied in the specific task of three dimensional robotic catching using position based visual servoing. The problem involves the design and application of a recursive algorithm to extract and predict the position of an object in a 3D environment from one feature correspondence from a monocular image sequence. The measured data are the noisy image plane coordinates of object match taken from image in the sequence. Image plane noise levels are allowed and investigated. The target trajectory estimation is formulated as a tracking problem, which can use an arbitrary large number of images in a sequence and is done using Recursive Least Squares (RLS). The feasibility of our methods for catching are demonstrated by both simulations and experiments using a a real-time vision system and a six-degree-of-freedom robotic arm with speed capabilities of up to 1.0 m/s.

关键词： Visual servoing

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Rendering of Environmental Force Feedback in Mobile Robot Teleoperation based on Fuzzy Logic

Rendering of Environmental Force Feedback in Mobile Robot Te...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Farkhatdinov, Ildar Ryu, Jee-Hwan Poduraev, Jury Korea Univ Technol & Educ Sch Mech Engn 307 Gajeon Ri Cheonan 330708 South Korea Moscow State Tech Univ STANKIN Fac Mech & Control Dept Robot & Mechatron Moscow 127994 Russia

ISBN: (纸本)9781424448081

In this paper a study on rendering of environmental force feedback in mobile robot teleoperation based on fuzzy logic is presented. To ensure safety of mobile robot teleoperation it is often necessary to provide environmental force feedback which is related to the distance between the obstacles and the mobile robot. In previous approaches force feedback was rendered based on the measured distance between the obstacles and the mobile robot. In this work, a novel method for force feedback rendering using fuzzy logic is presented. In proposed approach derivative of the distance to the obstacle is used for defining the amount of environmental force feedback which is displayed to human-operator. Fuzzy rules and controller are designed and simulation results are shown. Advantages of the proposed approach are discussed.

关键词： Computer circuits

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Q-learning using Fuzzified States and Weighted Actions and Its Application to Omni-direnctional Mobile Robot control

Q-learning using Fuzzified States and Weighted Actions and I...

引用

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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Bacterial Foraging Oriented by Particle Swarm Optimization Strategy for PID Tuning

Bacterial Foraging Oriented by Particle Swarm Optimization S...

引用

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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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...

引用

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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Identification and Verification of a MR Damper Using a Nonlinear Black Box Model

Identification and Verification of a MR Damper Using a Nonli...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Truong, D. Q. Ahn, K. K. Yoon, J., I Thanh, T. Q. Univ Ulsan Sch Mech & Automot Engn Ulsan 680749 South Korea Hochiminh City Univ Technol Hochiminh Vietnam

ISBN: (纸本)9781424448081

Nowadays, magneto-rheological (MR) fluid dampers (MRD) are widely used for the semi-active suspension control in vibration community. However, the inherent nonlinear nature of the MRD causes challenges for damping control of the suspension system using this device with high performance. Therefore, the development of an accurate modeling method for a MRD is necessary to take advantage of its unique characteristics. This paper focuses on the development of a nonlinear black box model to identify and verify behaviors of a MR damper. The model is built by using an online self tuning fuzzy (OSTF) method based on neural technique. The behavior of the MRD is directly estimated through the box. A series of experiments and modeling analysis had been done on test rigs to validate the effectiveness of the design nonlinear black box in predicting the damping force.

关键词： Minimal Residual Disease Suspension System DAMPER Boxes Buxus sempervirens BOX MODELS Verification damped control black nonlinearity

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Modern control solutions for mechatronic servosystems. Comparative case studies

Modern control solutions for mechatronic servosystems. Compa...

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10th International symposium of Hungarian Researchers on computational intelligence and Informatics, CINTI 2009

作者： Dragoş, Claudia-Adina Preitl, Stefan Precup, Radu-Emil Cretiu, Marian Fodor, János Department of Automation and Applied Informatics Politehnica University of Timisoara Bd. V. Parvan 2 300223 Timisoara Romania Budapest Tech Polytechnical Institution Bécsi út 96/B H-1034 Budapest Hungary

The paper presents a comparison between several modern control solutions for mechatronic systems. A synthesis of the structures included in the modern based-design solutions is presented. They deal with model predictive control, fuzzy control, adaptive control and combination between different strategies and control structures. Digital simulation results are based on step and rectangular modifications of the reference input.

关键词： Fuzzy control

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