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Remote Tools Using Wireless Communication for Self-Recon gurable Robot, Applied to maam Project

Remote Tools Using Wireless Communication for Self-Recon gur...

引用

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

作者： C. Gueganno D. Duhaut Valoria-University of South Brittany Lorient France

This paper presents, first, the maam project which is a self-reconfigurable robotic architecture where each module is autonomous for energy and CPU. To develop a new concept of robot requires to bring answers to the general questions of displacement of the modules, docking. This is why we focus here on the high level tools, built on a middleware including wireless communication. We show how such tools can decrease the duration of development, and facilitate the technology transfers

关键词： Wireless communication Robot kinematics Embedded software Robotics and automation Hardware control systems Robot programming Atomic layer deposition Legged locomotion Leg

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Comparison between micro-objects manipulations in dry and liquid mediums

Comparison between micro-objects manipulations in dry and li...

引用

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

作者： M. Gauthier B. Lopez-Walle C. Clevy Laboratory of Automation of BesanVoni Laboratory UMR-CNRS-6596 Besancon France

In the submillimetric objects manipulations, the adhesion (capillary force, pull-off force and Van-der-Waals force) and the electrostatic forces affect the behavior of the micro-objects. These forces decrease significantly when the micro-objects are submerged in a liquid medium. So a microassembly task is easier to perform in a submerged medium than in air. Consequently, the study of the micro-objects assembly automation in liquid mediums is a promising topic. This article introduces a review of the major differences between dry and submerged micromanipulation. The influences of the medium on electrostatic forces, pull-off force and hydrodynamic forces are presented. Adhesion perturbations are significally reduced in liquid and hydrodynamic forces are advantageous to limit the maximal micro-objects velocity. Some comparative experimental micromanipulations are described and prove the interest of the liquid medium.

关键词： Electrostatics automation Microassembly Hydrodynamics Adhesives Biological cells Assembly Automatic control Temperature control Laboratories

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Multi-robot concurrent learning of fuzzy rules for cooperation

Multi-robot concurrent learning of fuzzy rules for cooperati...

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

作者： Z. Liu M.H. Ang W. Khoon Guan Seah Electrical & Computer Engineering National University of Singapore Singapore

In this paper, a fuzzy logic based reinforcement learning algorithm is proposed for multi-robot concurrent learning of cooperative behaviors. In contrast to traditional reinforcement learning that can only learn discrete and finite behaviors, the proposed fuzzy reinforcement learning controller can generate continuous and infinite behaviors by learning the optimal fuzzy control rules. Furthermore, a distributed learning coordination algorithm is proposed to eliminate the interference among learning robots. The strategy is to control the learning speed according to the progress of learning. The fuzzy learning controller is applied to multi-robot tracking of multiple moving targets. Simulation results demonstrate the efficacy of the learning controller.

关键词： Learning Robot kinematics Fuzzy logic Fuzzy control Optimal control Multirobot systems Humans Function approximation Concurrent computing Mechanical engineering

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Mobile robot control based on fuzzy behavior and robot safety body in unknown environment

Mobile robot control based on fuzzy behavior and robot safet...

引用

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

作者： Fu Yili Xu Hongyan Wang Shuguo Liu Jianguo Xu He Li Han Robotics Institute Department of Mechanical Engineering Harbin Institute of Technology Harbin Heilongjiang China

Based on the analysis of unknown environment for mobile robot, a robot safety body, sensing body and logic body are put forward with the robot physical body together. An open fuzzy behavior-based control architecture is then proposed on the basis of robot safety body for mobile robots in complex and unstructured environments. Many sensors in various kinds are used to localize and navigate with fuzzification on target information, obstacle information and local terrain. Finally, lots of experiments of our mobile robot are carried out in many kinds of man-made complex environments, and the control architecture and the robot safety body with our robot is proved valid, which give a solid support for our further research for mobile robot in unknown environments.

关键词： Mobile robots Robot control Fuzzy control Safety Robot sensing systems Navigation Intelligent agent Fuzzy logic Intelligent control Intelligent sensors

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Multiactor approach and hexapod robot learning

Multiactor approach and hexapod robot learning

引用

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

作者： Y. Zennir P. Couturier UMR CNRS 8146 U.S. T.L.-Polytech 'Lille LAGIS Villeneuve d'Ascq France Ecole des Mines d'Alès CLGI2P-site EERIE Nimes France

This paper presents a multiactor approach of the Q-learning used to teach a hexapod robot to control its trajectory. So, each actor participating to the same global task performs its own learning process taking into account or not the other agents. As any actor "leg of hexapod robot" cannot achieve its movements without interacting with others, co-ordination may be set up. This "co-ordination with actors" approach is applied to solve the problems of displacement, trajectory and posture control of a hexapod robot in its environment. The efficiency of the approach is validated through simulation results.

关键词： Robot kinematics Legged locomotion Learning Leg Cognitive robotics Orbital robotics Robot control Displacement control Mobile robots control systems

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Great selection pressure genetic algorithm with adaptive operators for adjusting the weights of neural controller

Great selection pressure genetic algorithm with adaptive ope...

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

作者： B. Lacevic S. Konjicija C. Avdajic Electrical Engineering University of Sarajevo Sarajevo Bosnia and Herzegovina Univerzitet u Sarajevu Sarajevo BA Fac. of Electr. Eng. Univ. of Sarajevo Bosnia-Herzegovina

In this paper, capabilities of a feed-forward neural network regarding control of the complex object are investigated. Neural controllers have been trained by a genetic algorithm with adaptive mutation and crossover probabilities. A specific model of aggressive selection operator is proposed along with one way of co-evolution of the crossover and mutation rates. Also, different mechanisms of operator adaptation were compared in sense of resulting controller performance. Finally, the measurement results, taken from the object (hydraulically driven two-joint robot arm) are presented.

关键词： Genetic algorithms Programmable control Adaptive control Pressure control Weight control Genetic mutations Feedforward systems Neural networks Feedforward neural networks Robot sensing systems

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Development of Representations, Categories and Concepts - a Hypothesis

Development of Representations, Categories and Concepts - a ...

引用

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

作者： H. Valpola Laboratory of Computational Engineering Helsinki University of Technology Finland

A long-standing question in cognitive sciences and machine learning is how a system can develop high-level concepts and categories which are useful for motor and cognitive control. The author proposes an architecture which learns a hierarchy of increasingly abstract, invariant features. Invariance is achieved by selecting information which reflects distinctions present in supervisory signals conveyed by contextual inputs. The main hypothesis is that the right contextual information can be efficiently distributed by associations and attentional process. The original sources of contextual information are specialised systems which reflect the innate, hard-wired behavioural goals of the system. Sensorimotor coordination generates structured sensory stimuli and the intrinsic contextual signals can select the behaviourally significant structures

关键词： Feature extraction Shape Machine learning Evolution (biology) Data mining Laboratories control systems Computer architecture Signal generators Unsupervised learning

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Longitudinal vehicle guidance using neural networks

Longitudinal vehicle guidance using neural networks

引用

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

作者： A. Tahirovic S. Konjicija Z. Avdagic G. Meier C. Wurmthaler Department of Automatic Control and Electronics Faculty of Electrical Engineering Sarajevo Sarajevo Bosnia and Herzegovina Friedrich-Alexander-Universitat Erlangen-Nuremberg 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.

关键词： Navigation Neural networks Traffic control Acceleration Telecommunication traffic Vehicle dynamics Trajectory Testing Accelerometers Velocity measurement

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Modular neural control for a reactive behavior of walking machines

Modular neural control for a reactive behavior of walking ma...

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

作者： Poramate Manoonpong F. Pasemann J. Fischer Schloss Birlinghoven Fraunhofer Institute für Autonome Intelligente Systeme AIS Sankt Augustin Germany

A small modular neural network is presented which is able to control the sensor-driven behavior of walking machines with many degrees of freedom. The controller is composed of a so called minimal recurrent controller (MRC) for sensory signal processing, a SO(2)-network as neural oscillator to generate the rhythmic leg movements, and a velocity regulating network (VRN) which expands the steering capabilities of the walking machine. This recurrent neurocontroller enables the machine to explore an in-door environment by avoiding obstacles. It was developed and tested using a physical simulation environment, and was then successfully transferred to the physical four-legged walking machine, called AMOS-WD02.

关键词： Legged locomotion Leg Infrared sensors Tail Servomechanisms Servomotors Spine Hysteresis motors Torque Acoustic sensors

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Creating swing-up patterns of an acrobot using evolutionary computation

Creating swing-up patterns of an acrobot using evolutionary ...

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

作者： K. Kawada S. Fujisawa M. Obika T. Yamamoto Electro-Mechanical Systems Engineering Takamatsu National College of Technology Takamatsu Kagawa Japan Graduate School of Education Hiroshima University Higashihiroshima Hiroshima Japan Graduate School of Engineering University of Tokushima Tokushima Japan

In recent years, the various controller design schemes have been examined for nonlinear mechanical systems with uncertainties. As one of such mechanical systems, acrobots attract attention in last decade, which belong to nonholonomic systems. Several controller design schemes have been proposed for the acrobots. In this paper, a new approach to control the acrobot is considered, in which a suitable swing-up pattern is created using the real-coded genetic algorithm(GA). Then, the energy and the extra motion which are totally consumed in the swing-up motion, are evaluated on the fitness function. The effectiveness of the newly proposed scheme is numerically verified on some simulation results.

关键词： Evolutionary computation Mechanical systems control systems Uncertainty Optimal control Design engineering Nonlinear control systems Genetics Equations Systems engineering and theory

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