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Longitudinal vehicle guidance using neural networks

Longitudinal vehicle guidance using neural networks

引用

2005 ieee International symposium on computational intelligence in Robotics and automation CIRA 2005

作者： Tahirović, Adnan Konjicija, Samim Avdagić, Zikrija Meier, Gerald Wurmthaler, Christoph Department of Automatic Control and Electronics Faculty of Electrical Engineering Sarajevo Zmaja od Bosne bb Sarajevo Bosnia and Herzegovina Friedrich-Alexander-Universitaet Erlangen-Nuernberg Germany

The purpose of this paper is to show a simple ability of using neural networks in longitudinal vehicle guidance. The main motivation is an opportunity of neural networks to learn from acquired real driver data, as well as to reproduce many driver behaviour styles raging from extremely comfort to extremely sportive ones. This possibility is shown with a simulated model based longitudinal trajectory generation. This model has used an adjustable comfort parameter for different sorts of driver behaviour. Experiment results, obtained with Audi test vehicle, are also presented. © 2005 ieee.

关键词： Electronic guidance systems

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Comparison of three change detection algorithms for an electronics manufacturing process

Comparison of three change detection algorithms for an elect...

引用

2005 ieee International symposium on computational intelligence in Robotics and automation CIRA 2005

作者： Ruusunen, Mika Paavola, Marko Pirttimaa, Mika Leiviskä, Kauko Control Engineering Laboratory University of Oulu 90014 Oulun yliopisto Finland Nokia Corporation Oulu Finland VTI Technologies Helsinki Finland

In a sequential manufacturing process, a product proceeds through different manufacturing stages. At these stages, sensors monitor the features of the product. In this paper, the information produced by the sensors is employed to detect abrupt changes in process variables. The developed algorithms contribute to an on-line application to a manufacturing system. A literature survey revealed the most common methods utilized in change detection. On-line applicability and transferability to new manufacturing lines are the most important features for real applications. During both on-line and off-line tests, some of the presented methods showed satisfactory results. Real-time, on-line manufacturing environment sets also its requirements for the applications. In the future, the possibility of combining expert knowledge with the aforementioned methods is the crucial point to study. The information thus received has usage in the preventive maintenance and quality control. © 2005 ieee.

关键词： Electronic equipment manufacture

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An adaptive task assignment method for multiple mobile robots via swarm intelligence approach

An adaptive task assignment method for multiple mobile robot...

引用

2005 ieee International symposium on computational intelligence in Robotics and automation CIRA 2005

作者： Zhang, Dandan Xie, Guangming Yu, Junzhi Wang, Long Intelligent Control Laboratory Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing 100871 China

This paper describes an adaptive task assignment method for a team of fully distributed mobile robots with initially identical functionalities in unknown environments. The method is applicable for mediate- to large-scaled robot groups and tasks. A hierarchical architecture for task assignment is established for each individual robot. In the higher hierarchy, the self-reinforcement learning model inspired by the behaviors of social insects is employed to differentiate the initially identical robots into different kinds of high-level task "specialists";while in the lower hierarchy, Ant System algorithm is adopted to organize low-level task assignment. To avoid using a centralized component, "local blackboard" communication mechanism is utilized for knowledge sharing. The proposed method allows the robot team members to adapt themselves to the unknown dynamic environments, respond flexibly to the environment perturbations and robustly to the modifications in the team arising from mechanical failure. Simulations of a cooperative collection task validate the effectiveness of the presented method. © 2005 ieee.

关键词： Mobile robots

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Linear synchronous motor servo drive based on adaptive wavelet neural network

Linear synchronous motor servo drive based on adaptive wavel...

引用

2005 ieee International symposium on computational intelligence in Robotics and automation CIRA 2005

作者： Lin, Faa-Jeng Shen, Po-Hung IEEE Department of Electrical Engineering National Dong Hwa University Hualien 974 Taiwan

An adaptive wavelet neural network (AWNN) control system is proposed to control the position of the mover of a permanent magnet linear synchronous motor (PMLSM) servo drive system to track periodic reference trajectories in this study. In the proposed AWNN control system, a WNN with accurate approximation capability is employed to approximate the unknown dynamics of the PMLSM, and a robust term is proposed to confront the inevitable approximation errors due to finite number of wavelet basis functions and disturbances including the friction force. The adaptive learning algorithm that can learn the parameters of weight, dilation and translation of the WNN on line is derived using Lyapunov stability theorem. Moreover, to relax the requirement for the bound of uncertainty in robust term, which comprises a minimum approximation error, optimal parameter vectors, higher-order terms in Taylor series and friction force, an adaptive bound estimation law is investigated where a simple adaptive algorithm is utilized to estimate the bound of uncertainty. Furthermore, the experimental results due to periodic reference trajectories show that the dynamic behaviors of the proposed control systems are robust with regard to uncertainties. © 2005 ieee.

关键词： Synchronous motors

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Application of single neuron model to motion planning and control of under-actuated robot by MDP frame work

Application of single neuron model to motion planning and co...

引用

2005 ieee International symposium on computational intelligence in Robotics and automation CIRA 2005

作者： Kawano, Hiroshi NTT Communication Science Laboratories NTT Corporation 3-1 Wakamiya Morinosato Kanagawa Prefecture 243-0198 Japan

Motion planning of robots based on the Markov decision process (MDP) is now one of the most important topics of robotics research. In motion planning of robots by the MDP, an efficient way to divide robot motion is essential because discrete expressions of states and transitions are used in the calculation. In preparing the discrete expressions of robot motion, it is important that the motion follows the MDP, second, that the time and the amount of memory for the planning calculation are reduced, and that the maneuverability and smoothness of the robot motion are not lost. This paper proposes a new discrete expression of robot motion that can meet these requirements considering the effect of robot dynamics to robot kinematics. The method uses a continuous-time continuous-variable neuron model, which has the stimulation and adaptation properties. The performance of the proposed method was examined by simulation of the motion planning of an under actuated underwater robot and under actuated manipulator with a free joint. The results show the high reliability and flexibility of the method. © 2005 ieee.

关键词： Mobile robots

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Realtime estimation of human hand posture for robot hand control

Realtime estimation of human hand posture for robot hand con...

引用

2005 ieee International symposium on computational intelligence in Robotics and automation CIRA 2005

作者： Hoshino, Kiyoshi Tanimoto, Takanobu Institute of Engineering Mechanics and Systems University of Tsukuba 1-1-1 Tennodai Tsukuba Ibaraki 305-8573 Japan

The authors propose a system for searching the shape of human hands and fingers in real time and with high accuracy, without using any special peripheral equipment such as range sensor, PC cluster, etc., by a method of retrieving similar image quickly with high accuracy from a large volume of image database containing the complicated shapes and self-occlusions. In designing the system, we constructed a database in a way to be adaptable even to differences among individuals, and searched CG images of hand similar to unknown hand image, through extraction of characteristics using high-order local auto- correlational patterns, reduction of the amount of characteristics centering on principal component analysis, and prior rearrange- ment of data corresponding to the amount of characteristics. As a result of experiments, our system performed high-accuracy estimation of human hand shape where mean error was 7 degrees in finger joint angles, with the processing speed of 30 fps or over. © 2005 ieee.

关键词： Robotic arms

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A Petri Net modelling of an adaptive learning control applied to an electric wheelchair

A Petri Net modelling of an adaptive learning control applie...

引用

2005 ieee International symposium on computational intelligence in Robotics and automation CIRA 2005

作者： Abellard, Alexandre Khelifa, Mohamed Moncef Ben Bouchouicha, Moez STIC Laboratory Toulon-Var Southern University BP 20132 83957 La Garde Cedex France

The aim of this paper is to present a Petri Net based approach of a codesign methodology, in order to obtain optimized hardware/software solutions. An example of application is given for a neural control lever of a wheelchair. The research of solutions to the problem of hardware/software codesign, is a major task in the definition of a unique, structured and automatic methodology, providing the acceleration of design process and the dynamic evaluation of different compromises. Data Flow Petri Nets are an efficient solution to make it possible and the use of a hardware description language, allows their implementation on programmable chips. The example described in this paper deals with a wheelchair whose commands can adapt to handicap. For some handicapped people, the use of a wheelchair can be difficult, due to weak physical capacities or cognitive troubles. So, the human-machine interface must be modular, configurable and easy to implement. It must bring reliability and use non specific material as often as possible. Therefore, the FRACAH project (Fauteuil Roulant A Commande Adaptée au Handicap) has been developed in order to proceed to evaluations. For example, its lever is handled by an artificial neural network that records functional limitations of the hand, and then compensates them. Some experiments have been done with hand disabled students. © 2005 ieee.

关键词： Petri nets

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computational intelligence for high-precision industrial robots

Computational intelligence for high-precision industrial rob...

引用

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

作者： S. Moberg ABB Automation Technologies-Robotics Sweden

Summary form only given. ABB has launched its fifth generation robot controller, the IRC5. The basic motion control of the IRC5 controller includes the TrueMove and QuickMove functionality for best possible production rate and quality. In addition to this, the MultiMove function enables new production concepts and more cost-effective solutions. To penetrate new market segments, ease-of-use, high precision and cost-effectiveness are important factors. The availability of low-cost computational power and, in some cases, sensor integration enables the use of cost-effective industrial robots for high-precision tasks.

关键词： computational intelligence Computer industry Service robots Intelligent robots Robotics and automation Motion control Automatic control Motion planning Production Physics

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CoRoBA, an open framework for multi-sensor robotic system integration

CoRoBA, an open framework for multi-sensor robotic system in...

引用

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

作者： E. Colon Hichem Sahli Unmanned Ground Vehicles Center Royal Military Academy Brussels Belgium Department Electronics & Information Processing Vrije Universiteit Brussel Brussels Belgium

This paper presents the recent developments of a distributed framework for integrating multi-sensor robotic systems and controlling robots. It is based on the communication middleware CORBA.

关键词： Robots Communication system control Middleware Libraries Application software Ambient intelligence Military computing control systems Distributed computing Colon

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Application of multivariate process control on particle size analyzer

Application of multivariate process control on particle size...

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

作者： M. Mattila K. Koskinen K. Saloheimo Information and Computer systems in Automation Helsinki University of Technology Finland Outokumpu Technology Minerals Espoo Finland

On this paper new measurement disturbance detection method based on Q-chart is presented. The disturbance detection is used on multiplexed particle size analyzer to detect air bubbles appearing on end of measurement s... 详细信息

关键词： Process control Size measurement Particle measurements Minerals Diffraction Slurries Laser theory Velocity measurement Mechanical variables measurement Optical attenuators

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