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Applicability of qualitative reliability analysis for redundant systems

Applicability of qualitative reliability analysis for redund...

引用

ISCIII'07: 3rd International symposium on computational intelligence and Intelligent Informatics

作者： Fülep, Tímea Michelberger, Pál Nádai, László Advanced Vehicles and Vehicle Control Knowledge Center Budapest University of Technology and Economics Stoczek street 6 H-1111 Budapest Computer and Automation Research Institute Hungarian Academy of Sciences Kende street 13-17 H-1111 Budapest

ISBN: (纸本)1424411580

In this paper we consider the design problematic of safety critical systems for future commercial vehicles. The development of such systems is mainly driven by the social demand that the citizens want to see safer, more reliable vehicles on the roads, which can also handle more complex situations than the human driver can. Redundant electronic systems confront us with new challenges in reliability analysis, since handling and defining their back-up strategies is not a straightforward task by means of using qualitative approaches. It is also questionable whether the well-known approaches of classical reliability theory are appropriate for redundant electronic systems, especially if they are of safety critical nature, such as the electronic brake system that has been used in commercial vehicles in Europe for almost a decade. The paper presents a less widespread and a more widespread technique through reliability theory, which enable the designer organizing functions and subsystems, failures and logical relationships between failures from the system level up-to the last component without missing any of them. © 2007 ieee.

关键词： Systems analysis

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Nonlinear control Using a Model Based Predictive control Algorithm

Nonlinear Control Using a Model Based Predictive Control Alg...

引用

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

作者： Radu Balan Vistrian Maties Olimpiu Hancu Sergiu Stan Lapusan Ciprian Department of Mechanisms Precision Mechanics and Mechatronics Technical University of Cluj Napoca Cluj-Napoca Romania

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： Predictive models Predictive control Prediction algorithms Optimal control Force control Mechatronics Cost function control system synthesis control systems Three-term control

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Neural Fields for controlling Formation of Multiple Robots

Neural Fields for Controlling Formation of Multiple Robots

引用

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

作者： Mohamed Oubbati Gunther Palm Institute of Neural Information Processing University of Ulm (EBS) Ulm Germany

In this paper we investigate how neural fields can produce an elegant solution for the problem of moving multiple robots in formation. The objective is to acquire a target, avoid obstacles and keep a geometric configu... 详细信息

关键词： Robot kinematics Robot sensing systems Robotics and automation Intelligent robots Vehicle dynamics Mobile robots Neurophysiology Recurrent neural networks Kernel Motion control

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Redundancy control and Optimization of a 9-DoF Wheelchair-Mounted Robotic Arm System

Redundancy Control and Optimization of a 9-DoF Wheelchair-Mo...

引用

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

作者： Redwan Alqasemi Rajiv Dubey Department of Mechanical Engineering University of South Florida Tampa FL USA

A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-DoF system expands on the conventional control methods and combines the 7-DoF robotic arm control with the 2-DoF power wheelchair control. The 3-degrees of redundancy are optimized to effectively perform activities of daily living (ADLs) and overcome singularities, joint limits and some workspace limitations. The control system is designed for teleoperated or autonomous coordinated Cartesian control, and it offers expandability for future research, such as voice or sip and puff control operations and sensor assist functions.

关键词： control systems Mobile robots Robot kinematics Wheelchairs Usability Robotics and automation Manipulator dynamics USA Councils Intelligent robots Extremities

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Co-Evolution of Sensor Morphology and control on a Simulated Legged Robot

Co-Evolution of Sensor Morphology and Control on a Simulated...

引用

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

作者： Gary B. Parker Pramod J. Nathan Computer Science Connecticut College New London CT USA Connecticut College New London CT USA

This paper discusses utilizing genetic algorithms to automatically design a suitable sensor morphology and controller for a given task in categories of environments. The type of sensors, the heading angle and the range of the sensor, and the rules the controller, are co-evolved. The described method enables the system to decipher information from the environment to determine that is relevant to completing a given task while configuring a minimal controller and number of sensors, thus increasing the overall efficiency of the robot.

关键词： Morphology Legged locomotion Robot sensing systems Automatic control Robotics and automation Genetic algorithms Algorithm design and analysis control systems Sensor phenomena and characterization Sensor systems

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Intelligent control of A Multi-agent System based on Multi-objective Behavior Coordination

Intelligent Control of A Multi-agent System based on Multi-o...

引用

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

作者： Naoyuki Kubota Naohide Aizawa Department of System Design Tokyo Metropolitan University Hachioji Tokyo Japan Department of Precision Engineering Tokyo Metropolitan University Hachioji Tokyo Japan

Recently multi-agent systems have been discussed to realize a large size of distributed autonomous systems. This paper proposes an intelligent control of multiple partner robots as one of multi-agent systems. First of all, we discuss the current state of researches on the multi-agent systems. Next, we propose a multi-objective behavior coordination to realize formation behaviors based on the integration of the intelligent control from the local viewpoint of individual intelligence and the spring model from the global viewpoint of collective intelligence. Finally, we discuss the effectiveness of the proposed method through several computer simulation results.

关键词： Intelligent control Multiagent systems Competitive intelligence Ant colony optimization Artificial intelligence Intelligent robots Computer simulation Intelligent systems Feedback Genetic algorithms

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A robust PID like state-feedback control via LMI approach: An application on a Double Inverted Pendulum System

A robust PID like state-feedback control via LMI approach: A...

引用

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

作者： Akin Delibasi Ibrahim B. Kucukdemiral Galip Cansever Department of Electrical Engineering Faculty of Electrical-Electronics Engineering Yildiz Technical University Istanbul Turkey

This paper addresses the design method for robust PID like controllers which guarantee the quadratic stability, performance in terms of H 2 and H infin specifications, pole locations and maximum output control. The approach is based on the transformation of the PID controller design problem to that of state feedback controller design thereby the convex optimization approaches can be adapted. Real time experimental results on a double inverted pendulum system demonstrates the validity and applicability of the proposed approach.

关键词： Robust control Three-term control control systems Nonlinear control systems Symmetric matrices Robust stability Optimal control Proportional control State feedback Time varying systems

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Autonomous Configuration of Transportation Network by Artificial Pheromone System

Autonomous Configuration of Transportation Network by Artifi...

引用

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

作者： Herianto Tomoaki Koiwa Daisuke Kurabayshi Tokyo Institute of technology Tokyo Japan

This paper discusses an algorithm to realize the autonomous organization of a transportation network system inspired by social insects. As social insects, a group of ants show advanced performance in their activity by using a chemical substance called pheromone. Although the pheromone shows some interesting characteristics, it is difficult to use it in real applications. By introducing artificial pheromone system composed of data carriers and autonomous robots, the robotic system creates a potential field to navigate their group. We have developed a pheromone density model to realize the function of pheromones with the help of data carriers. We intend to show the effectiveness of the proposed system by performing simulations. The pheromone potential field system can be used in a transportation network system.

关键词： Transportation Robots Multirobot systems Chemicals Navigation Insects Centralized control Communication system control computational intelligence Robotics and automation

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A Comparison Between a Fuzzy Behavioral Algorithm and a Vector Polar Histogram Algorithm for Mobile Robot Navigation

A Comparison Between a Fuzzy Behavioral Algorithm and a Vect...

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

作者： Dongqing Shi Damion Dunlap Emmanuel G. Collins Center for Intelligent Systems Control and Robotics (CISCOR) Florida A & M University Florida State University Tallahassee FL USA

The navigation of autonomous ground vehicles (AGVs) through uncertain environments has received substantial research attention. However, the literature contains very few comparisons of the navigation paradigms for AGVs, especially for algorithms using range finders. The fuzzy behavioral approach and vector field histogram (VFH) approach are well known methods that can be implemented using range finders. This paper will focus on comparing their structure, ease of programming and algorithm tuning, and performance. Both approaches are implemented on a Pioneer 2 robot, equipped with a SICK laser range finder.

关键词： Histograms Mobile robots Navigation Laser tuning Robot kinematics computational intelligence Robotics and automation Fuzzy logic Fuzzy control Fuzzy systems

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Tree Measurement in Forest by 2D Laser Scanning

Tree Measurement in Forest by 2D Laser Scanning

引用

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

作者： Jaakko Jutila Kosti Kannas Arto Visala Automation Technology Laboratory Helsinki University of Technology Finland

Measurement of tree parameters, particularly tree diameter and location, in connection to forest harvesters, is discussed. Diameters are determined from laser scanner measurements using a simple method based on edge points of a feature, in addition to the point with the shortest range to the scanner. The measurement height is equal to 1.3 m from the ground. The data for this research have been collected in a pine forest using a 2D laser scanner mounted on a mobile ATV platform. The error of the tree diameter calculations is 4% in average. The evaluation of the tree localization is based on manually measured reference data of the forest.

关键词： Particle measurements Automatic control Cranes Laser modes Parameter estimation HDTV computational intelligence Robotics and automation USA Councils Humans

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