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Evolving multirobot excavation controllers and choice of platforms using an artificial neural tissue paradigm

Evolving multirobot excavation controllers and choice of pla...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Jekanthan Thangavelautham Nader Abu El Samid Paul Grouchy Ernest Earon Terence Fu Nagina Nagrani Gabriele M. T. D'Eleuterio Mechanical Engineering Dept. Massachusetts Institute of Technology Cambridge MA USA Institute for Aerospace Studies University of Toronto Toronto Canada

ISBN: (纸本)9781424448081

Autonomous robotic excavation has often been limited to a single robotic platform using a specified excavation vehicle. This paper presents a novel method for developing scalable controllers for use in multirobot scenarios and that do not require human defined operations scripts nor extensive modeling of the kinematics and dynamics of the excavation vehicles. Furthermore, the control system does not require specifying an excavation vehicle type such as a bulldozer, front-loader or bucket-wheel and it can evolve to select for an appropriate choice of excavation vehicles to successfully complete a task. The ¿artificial neural tissue¿ (ANT) architecture is used as a control system for autonomous multirobot excavation and clearing tasks. This control architecture combines a variable-topology neural-network structure with a coarse-coding strategy that permits specialized areas to develop in the tissue. Training is done in a low-fidelity grid world simulation environment and where a single global fitness function and a set of allowable basis behaviors need be specified. This approach is found to provide improved training performance over fixed-topology neural networks and can be easily ported onto different robot platforms. Aspects of the controller functionality have been tested using high fidelity dynamics simulation and in hardware. An evolutionary training process discovers novel decentralized methods of cooperation employing aggregation behaviors (via synchronized movements). These aggregation behaviors are found to improve controller scalability (with increasing robot density) and better handle robot interference (antagonism) that reduces the overall efficiency of the group.

关键词： Remotely operated vehicles Vehicle dynamics control systems Mobile robots Humans Kinematics Neural networks Testing Hardware Scalability

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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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On the stable design of stable fuzzy control systems with iterative learning control

On the stable design of stable fuzzy control systems with it...

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9th International symposium of Hungarian Researchers on computational intelligence and Informatics, CINTI 2008

作者： Preitl, Stefan Precup, Radu-Emil Radac, Mircea-Bogdan Dragoş, Claudia-Adina Tar, József K. Fodor, János Department of Automation and Applied Informatics Politehnica University of Timisoara Bd. v. Parvan 2 RO-300223 Timisoara Romania Institute of Intelligent Engineering Systems Budapest Tech Polytechnical Institution Bécsi úT 96/B H-1034 Budapest Hungary

The paper proposes the stable design of a new generation of fuzzy control systems using Mamdani PI-fuzzy controllers (PI-FCs) in four control system structures based on the combination beetween feedback control structures and Iterative Learning control (ILC) algorithms. The design is backed up by a stability analysis method expressed in terms of the specific matrix approach with nonlinearity vectors defined in the matrix space. Part of the theoretical results is validated in controlling servo systems considered as second-order integral type benchmarks.

关键词： Iterative methods

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3d virtual model for intelligent space

3d virtual model for intelligent space

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9th International symposium of Hungarian Researchers on computational intelligence and Informatics, CINTI 2008

作者： Zanaty, Péter Sziebig, Gábor Korondi, Péter Frei, Zsolt Department of Automation and Applied Informatics Budapest University of Technology and Economics Hungary Department of Industrial Engineering Narvik University College Norway Institute of Physics Eötvös University Hungary

By virtually re-creating and visualizing an intelligent space (iSpace) geographically far from the original version, one opens up the possibility of remote control and interaction between the real iSpace and the virtual copy. Here we present the required components for such a mixed environment: the actual iSpace in a form of a laboratory built for such experiments, the stereoscopic (real 3D) visualization tool at the far end to reproduce the original iSpace, and the middleware embodied by the computer network that connects the two. To remotely operate in the iSpace one has to overcome the important problem of synchronization that is made difficult by the time delay in the computer network. Here we present our first approach to solve this problem by demonstrating a successful remote control of a mobile robot in this mixed environment.

关键词： Remote control

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9th International symposium of Hungarian Researchers on computational intelligence and Informatics, CINTI 2008

9th International Symposium of Hungarian Researchers on Comp...

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9th International symposium of Hungarian Researchers on computational intelligence and Informatics, CINTI 2008

The proceedings contain 45 papers. The topics discussed include: searching for possible life signatures on planet mars;integrals based on non-additive measures;vector control of the cage induction motor with dual field orientation;structural description of a class of involutive uninorms by skew-symmetrization;a hybrid approach to computing the measure of success of computing tasks in a grid;switching fuzzy classifier for classification of EEG spectrograms;an application conform method to enhance intelligence at automation of product definition;applying fuzzy rule interpolation for the task of controlling guidance and obstacle avoidance behaviour of a robot;safe robot control in the intelligent space using mobile code technology;branch and bound method for discrete tomography reconstruction of hv-convex binary matrices;universal domain-specific code generator;and applicability of fuzzy fli-flops in the implementation of neural networks.

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control of embedded system via internet

Control of embedded system via internet

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9th International symposium of Hungarian Researchers on computational intelligence and Informatics, CINTI 2008

作者： Szekeres, Péter Takarics, Béla Sziebig, Gábor Korondi, Péter Department of Automation and Applied Informatics Budapest University of Technology and Economics Goldmann György Tér 3 H-1111 Budapest Hungary

The paper presents a complete multimedia educational program of DC servo drive for distant learning. The program contains three parts: animation, simulation and internet-based measurement. The animation program gives the operation of DC motors as well as its time- and frequency-domain equations, transfer functions and the theoretical background necessary to design a controller for DC servo motors. The simulation model of the DC servo motor and the controller can be designed by the students based on the animation program. The students can also test their controllers by the internet based measurement, which is the most important part from engineering point of view. The exercises the students can do are programming the D/A and A/D cards of the embedded system and to design different types of controllers. First, a simple PI controller can be designed, but advanced students can also design more sophisticated controllers such as the sliding mode controller. After the measurement is executed, the students can download the measured data and compare them to the simulation results.

关键词： controllers

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Safe robot control in the intelligent space using mobile code technology

Safe robot control in the intelligent space using mobile cod...

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9th International symposium of Hungarian Researchers on computational intelligence and Informatics, CINTI 2008

作者： Jeni, László A. Istenes, Zoltán Tejfel, Máté Korondi, Péter Hashimoto, Hideki Institute of Industrial Science University of Tokyo Japan Dep. of Software Technology and Methodology Eötvös Loránd University Hungary Dep. of Automation and Applied Informatics Budapest University of Technology and Economics Hungary

This paper describes how the safe mobile code technology can be integrated into the Intelligent Space environment. In the Intelligent Space, several Distributed Intelligent Network Devices communicate and share their information about a human environment. In this environment mobile robots can be controlled with mobile code technology. The mobile code is a program-component obtained from a remote system, transferred across a network and dynamically downloaded and executed on the robots. This code is created, verified, stored and transmitted to the robot using the CPPCC architecture, where properties and their proofs also attached to the code. The receiver can verify the proofs and it can decide whether to use or to refuse the received mobile component. Information about the robot's environment is also sent to the robot from the Intelligent Space. Robots contain explicit and formally expressed security requirements. Explicit and formal properties of the mobile code are attached to the mobile code. Then a formal verification system can verify the mobile code properties correspondence against the robots requirements. The robot refuses to execute those mobile code tasks violating it's requirements.

关键词： Mobile robots

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Artificial neural network application to a building hybrid illumination system

Artificial neural network application to a building hybrid i...

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ieee International symposium on Industrial Electronics (ISIE)

作者： Robson R. Cardoso Augusto F. Brandao PEA EPUSP-Department of Electrical and Automation Engineering Polytechnic School of University of São Paulo Brazil

The search for new control systems which present advances in energy consumption programs has increased in the last decades, not only due to the widespread use of microprocessors in the different sectors of engineering but also to the advent of the techniques of artificial intelligence. The purpose of this paper is to show the possibility of the use and to analyze automated systems that make use of the artificial lighting in addition to the natural one. An algorithm based on neural computation was developed to analyze the energetic performance of this system, in a multi floor building employed for a commercial office. The hybrid lighting automated systems shall be analyzed taking in mind the influence of natural factors, constructive details of the building and others that define the energetic efficiency of the building. The use of neural computation makes possible a predictive model to operate these systems, increasing the availability and the reliability of the diagnostics, and is a computational tool with a large performance to the solution of problems that are very complex with the traditional mathematic modeling.

关键词： Artificial neural networks Lighting Buildings Predictive models control systems Energy consumption Microprocessors Power engineering and energy Artificial intelligence Performance analysis

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A study on EMG-Based human motion prediction for power assist exoskeletons

A study on EMG-Based human motion prediction for power assis...

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International symposium on computational intelligence in Robotics and automation

作者： Kiguchi, Kazuo Saga Univ Saga 8408502 Japan

ISBN: (纸本)9781424407897

A power-assist exoskeleton robot, which is directly attached to the user's body and assist the motion in accordance with the user's intension, is one of the most effective human assist robots for the physically weak persons. Many studies on power-assist robots have been carried out to help the motion of physically weak persons such as disabled, injured, and/or elderly persons. EMG-based control (i.e., control based on the skin surface electromyogram (EMG) signals of the user) is one of the most effective control methods for the power-assist robots, since EMG signals of user's muscles directly reflect the user's motion intension. However, the EMG-based control is not easy to be realized because of many reasons. The paper presents an effective human motion prediction method from the EMG signals using a neuro-fuzzy technique for the control of power-assist exoskeleton robots.

关键词： Humans Exoskeletons Electromyography Muscles Motion control Senior citizens Rehabilitation robotics Fuzzy control Service robots control systems

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Nonlinear control using a model based predictive control algorithm

Nonlinear control using a model based predictive control alg...

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International symposium on computational intelligence in Robotics and automation

作者： Balan, Radu Maties, Vistrian Hancu, Olimpiu Stan, Sergiu Ciprian, Lapusan Tech Univ Cluj Napoca Dept Mech Precis Mech & Mechatron 103-105 Bdul Muncii Cluj Napoca 400641 Romania

ISBN: (纸本)9781424407897

This paper presents some applications of a Model Based Predictive control (MBPC) type algorithm which is applied to nonlinear processes. The basic idea of the algorithm is the on-line simulation of the future behaviour of the control system, by using a few candidate control sequences. Then, using rule based control these simulations are used to obtain the 'optimal' control signal. The efficiency and applicability of the proposed algorithm are demonstrated through applications.

关键词： Model predictive control

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