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An architecture for sentient GPRS-enabled MicroBots

An architecture for sentient GPRS-enabled MicroBots

引用

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

作者： D.L. de Ipina J.I. Vazquez J.R. de Garibay D. Sainz Faculty of Engineering (ESIDE) Universidad de Deusto Bilbao Spain Deusto Foundation Universidad de Deusto Bilbao Spain

Ambient intelligence is a user-centered concept which combines several computing disciplines with the purpose of enhancing/facilitating the user's daily activities. We deem that autonomous or semiautonomous (remotely controlled) sentient MicroBots may also be first-class citizens within ambient intelligence. Those MicroBots would interact with their surrounding environment assisted by their built-in sensors, effectors and communication facilities, on behalf of the users they serve. In essence, they would also profit as users do from Ambient intelligence to achieve their programmed goals. In this paper, we contribute with a solution to enable the realtime remote control of GPRS-accessible semiautonomous sentient MicroBots. Moreover, we discuss the extensions necessary to convert those MicroBots into care assistants for disabled and elderly people.

关键词： Ambient intelligence Communication system control Context Ground penetrating radar Pervasive computing Orbital robotics Robot sensing systems Intelligent sensors Service robots Mars

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Exploring the world through grasping: a developmental approach

Exploring the world through grasping: a developmental approa...

引用

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

作者： L. Natale F. Orabona G. Metta G. Sandini LIRA-Lab DIST University of Genoa Genoa Italy

This paper is about the implementation of grasping skills in a humanoid robot. Following a developmental approach, the robot is initially equipped with little perceptual and motor competencies whose role is to bootstrap learning through the exploration of the external environment. This crude form of sensorimotor coordination consists of a set of control systems and explorative behaviors as well as simple visual routines. The developmental path leads the robot from the exploration of the physics and geometry of its body to the probing of the external environment. The robot experience builds and modifies continuously its internal representations of the environment, being this, its body or the objects it encounters. We discuss the implications of our approach to the study of cognition and our effort to build a cognitive artificial system.

关键词： Robot kinematics Humanoid robots Robot sensing systems Cognitive robotics Cognition control systems Network address translation Physics computational geometry System testing

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Tele-manipulation by adhesion of micro objects

Tele-manipulation by adhesion of micro objects

引用

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

作者： D.S. Haliyo G. Venture S. Regnier Laboratoire de Robotique de Paris Univ. Paris 6 - CNRS Fontenay aux Roses France

The micromanipulation system developed in Laboratoire de Robotique de Paris (LRP) is described in this paper. This system, called [mu]MAD, is based on the use of adhesion forces and inertial effects for handling of objects which range from 1 to 100 /spl mu/m. Moreover, enhanced user interaction is provided through a 6 dof haptic interface for force feedback remote handling. Some advanced features of [mu]MAD such as mechanical characterizations and sorting are also presented.

关键词： Adhesives Robots Grippers Haptic interfaces Rough surfaces Surface roughness Gravity Electrostatics Force control Force feedback

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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

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

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

关键词： Mobile robots Particle swarm optimization Insects Optimization methods Parallel robots Intelligent control control systems Programmable control Adaptive control Robustness

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Operator Friendly Common Sense controller with Experimental Verification Using LabVIEW

Operator Friendly Common Sense Controller with Experimental ...

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ieee International symposium on Intelligent control (ISIC)

作者： F. Mrad S.H. Dandach S. Azar G. Deeb Department of Electrical and Computer Engineering American University of Beirut Beirut Lebanon

Conventional controllers are generally designed for a system with a known transfer function. This often requires computational modeling of the process, which can be complex, and sometimes unjustified. Adaptive and intelligent controllers have been proposed to handle uncertain or unknown systems. However, these general-purpose schemes require technical expertise for their design and implementation. This paper discusses the design of a fuzzy logic controller that drives an arbitrary process to a desired reference, and does not require expert control knowledge for implementation. The result is an operator-friendly, general-purpose fuzzy controller, coined "common sense controller (CSC)". Experimental verification was conducted using the graphical programming environment LabVIEWtrade

关键词： control systems Transfer functions computational modeling Programmable control Adaptive control computational intelligence Fuzzy logic Drives Fuzzy control Programming environments

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

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

引用

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

作者： H. Kawano NTT Communication Science Laboratories NTT Corporation Atsugi Kanagawa 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.

关键词： Neurons Motion planning Motion control Robot control Robot motion Vehicle dynamics Communication system control Process planning Robot kinematics Manipulators

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Genetic algorithm for a fuzzy spiking neural network of a mobile robot

Genetic algorithm for a fuzzy spiking neural network of a mo...

引用

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

作者： N. Kubota H. Sasaki Department of System Design Tokyo Metropolitan University Hachioji Tokyo Japan Department of Artificial Intelligence Systems University of Fukui Bunkyo Fukui Japan

It is very difficult to design the learning structure of a robot beforehand in an unknown and dynamic environment, because the dynamics of the environment is unknown. Therefore, this paper proposes a fuzzy spiking neural network (FSNN) for behavior learning of a mobile robot. Furthermore, the network structure of the FSNN should be adaptive to the environmental condition. In this paper, we apply a steady-state genetic algorithm for acquiring the suitable network structure through the interaction with the environment. The simulation results show the robot can update the network structure and learn the weights of FSNN according to the spatio-temporal context of the facing environment.

关键词： Genetic algorithms Fuzzy neural networks Neural networks Mobile robots Robot sensing systems Artificial neural networks Intelligent robots Fuzzy control Learning Fuzzy systems

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Low-cost positioning system for agricultural vehicles

Low-cost positioning system for agricultural vehicles

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

作者： T. Oksanen M. Linja A. Visala Automation Technology Laboratory Helsinki University of Technology Finland

Accurate positioning is needed for agricultural vehicles now and in the future. Position is currently needed for mapping, precision farming, auto-steering vehicles and light-bar navigation and in the future for agrorobotic solutions. Although the accuracy of GPS based positioning can be improved using differential or RTK-solutions, such application may be too highly-priced. In this paper tractor positioning with a cheap GPS-receiver is improved by using inertial navigation and odometry. Kalman filtering is used for sensor fusion. In compensation of the bias type slow error in GPS measurements the low cost additional measurements are not sufficient. However, positioning in blind areas of GPS can be done with them.

关键词： Vehicles Agricultural machinery Global Positioning System Sensor fusion Costs Position measurement Navigation Automatic control Wheels ISO standards

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Is structure needed for omnidirectional visual homing?

Is structure needed for omnidirectional visual homing?

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

作者： T. Goedeme T. Tuytelaars L. Van Gool D. Vanhooydonck E. Demeester M. Nuttin VISICS-PSI-ESAT University of Leuven Belgium PMA-Department of Mechanical Engineering University of Leuven Belgium

Upcoming fast vision techniques for finding image correspondences enable reliable real-time visual homing, i.e. the guidance of a mobile robot from a arbitrary start pose towards a goal pose defined by an image taken there. Two approaches emerge in the field that differ in the fact that the structure of the scene is estimated or not. In this paper, we compare these two approaches for the general case and especially for our application, being automatic wheelchair navigation.

关键词： Mobile robots Robot kinematics Biosensors Robot sensing systems Navigation Image sensors Mechanical sensors Biomedical optical imaging Optical sensors Optical variables control

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Linear synchronous motor servo drive based on adaptive wavelet neural network

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

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

作者： Faa-Jeng Lin Po-Hung Shen Department of Electrical Engineering National Dong Hwa University Hualien 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.

关键词： Synchronous motors Servomechanisms Adaptive systems Neural networks control systems Uncertainty Robust control Approximation error Friction Programmable control

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