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On control system design of a human-machine cooperative system considering self-shaping characteristics of its human operator and recognition of object dynamics variation

On control system design of a human-machine cooperative syst...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Inaba, T Matsuo, Y Tokai Univ Dept Appl Comp Engn Hiratsuka Kanagawa 25912 Japan

ISBN: (纸本)0780378660

This paper deals with control of human-machine cooperative systems considering maneuverability for their human operators. At first, the general structure and the parameterization of the controlled systems axe outlined. Second, it is experimentally verified that self-shaping characteristics of a human operator exists in a human-machine cooperative system similarly in manual control systems and that the characteristics can be used for specifying desirable frequency characteristics of the maneuver transfer function, a transfer function from operational force to motion of object at the operational point. Then, a control design procedure that specifies two closed-loop transfer functions of the controlled system independently is proposed. On the procedure, the maneuver transfer function is specified suitably corresponding to the self-shaping characteristics, and the transfer function of object dynamics variation is also specified considering recognition of the variation. Finally, experiments on human-machine cooperative task to trace a boundary of object dynamics variation are carried out, and the validity of the proposed design procedure is confirmed.

关键词： control systems Man machine systems Cooperative systems Humans Character recognition Transfer functions Frequency control design Machining Manuals

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Simulation study of multitrailer control system using neurocontrollers evolved by a modified GA

Simulation study of multitrailer control system using neuroc...

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2003 ieee International symposium on computational intelligence in Robotics and automation, CIRA 2003

作者： Kiyuna, Ayaki Nakazono, Kunihiko Kinjo, Hiroshi Yamamoto, Tetsuhiko School of Engineering University of the Ryukyus Japan Faculty of Engineering University of the Ryukyus Japan

ISBN: (纸本)0780378660

In this paper, we propose a design method of neurocontrollers (NCs) evolved by a genetic algorithm (GA) for the backward movement control of multitrailer systems. In a previous study, we proposed a control method using NCs evolved by a modified GA to solve the backward movement control problem for a two-trailer-connected truck system. In the report, the modified GA which adaptively changes the number of offspring and the mutation rate according to the diversity of NC population has good control performance. However, the difficult and complexity of the backward movement control depends on the number of connected trailers, then the method of NCs with GA evolution is often not able to produce a better controller, or the GA process takes too much time to obtain NCs that can control the trailer-truck system successfully. For the multitrailer (three of more connected trailer) system, the control performance of NCs by the modified GA method is not clear. In this paper, we apply the modified GA to the multitrailer control system. The simulation results show that the modified GA still improves the search performance of NCs for the three-and four-trailer-connected systems. © 2003 ieee.

关键词： Light trailers

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A semi-autonomous replicating robotic system

A semi-autonomous replicating robotic system

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2003 ieee International symposium on computational intelligence in Robotics and automation, CIRA 2003

作者： Suthakorn, Jackrit Kwon, Yong T. Chirikjian, Gregory S. Department of Mechanical Engineering Johns Hopkins University BaltimoreMD21218 United States

ISBN: (纸本)0780378660

The concept of self-replicating machines was introduced more than fifty years ago by John von Neumann. However, a fully autonomous self-replicating robot has yet to be implemented. This paper discusses our ongoing research on self-replicating robots. Here we describe a semi-autonomous prototype that can demonstrate replication under human supervision. This work builds on our previous results in remote-controlled robotic replication with the added feature that many subtasks in the replication process are now autonomously performed by the robot. We believe this to be an important step in the realization of fully autonomous self-replicating robots. © 2003 ieee.

关键词： Remote control

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Dynamic analysis of assembly process with passive compliance for robot manipulators

Dynamic analysis of assembly process with passive compliance...

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2003 ieee International symposium on computational intelligence in Robotics and automation, CIRA 2003

作者： Du, K.-L. Zhang, Biao-Biao Huang, Xinhan Hu, Jianyuan Dept. of Electr. and Comput. Eng. Concordia Univ. MontrealQCH3G 1M8 Canada School of Aerospace and Mechanical Engineering Australian Defence Force Academy CanberraACT2600 Australia Dept. of Control Science and Engineering Huazhong University of Science and Technology Wohan430074 China

ISBN: (纸本)0780378660

Assembly automation has become a research highlight for years. Dynamics of the most fundamental peg-in-hole mating, which represents an important topic of future research, is, however, far from being resolved. To this end, the overall part-mating dynamics has been developed, and simulations have been implemented. The sensitivity analysis of each parameter on the assembly process has been made. The dynamic properties of assembly with the RCC have been concluded, which helps to implement active control. By selecting proper parameters of the dynamic remote center compliance, one can optimize assembly proceeding. © 2003 ieee.

关键词： Assembly

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Design and real-time implementation of a control system for port AGV application

Design and real-time implementation of a control system for ...

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2003 ieee International symposium on computational intelligence in Robotics and automation, CIRA 2003

作者： Lou, Kok-Yong Goh, Cher-Hiang DSO National Laboratories Singapore

ISBN: (纸本)0780378660

This article presents the design and real-time implementation of a control system for an Automated Ground Vehicle (AGV) (similar to that shown in Figure 1 from [2]) for use in port application. The control system consists of a Navigation System (NS) and a communication system (CS) that link the NS to the host computer. The design and development took about 4 years to complete of which 1.5 years were spent on the site trial testing of the design. The final design provides a AGV system with an accuracy of about +1 cm. In this paper, we describes the overall system approach of the NS design and highlights the use of H∞ loop-shaping method for controller design and Extended Kalman Filter (EKF) for estimator design of the position sensors. The issues related to the implementation of the design using real-time embedded software are also discussed. We conclude the paper by presenting sample test results from the extensive site trials conducted. These trial results verify and demonstrate achieved system performance in term of position accuracy and maneuvers. © 2003 ieee.

关键词： Navigation systems

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Proceedings of ieee International symposium on computational intelligence in Robotics and automation, CIRA

Proceedings of IEEE International Symposium on Computational...

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2003 ieee International symposium on computational intelligence in Robotics and automation, CIRA 2003

ISBN: (纸本)0780378660

The proceedings contain 266 papers. The topics discussed include: on using discretized cohen-Grossberg node dynamics for model-free actor-critic neural learning in non-Markovian domains;a parameter control method inspired from neuromodulators in reinforcement learning;manipulation of hidden units activities for fault tolerant multi-layer neural networks;state estimation for flexible joint manipulators using stable neural networks;a text processing kohonen neural network;software tool development for marker making operations in textile industry;genetic design of decentralized controllers for 5dof robotic manipulator;design of sliding mode power system stabilizer via genetic algorithm;an operation planning method for a demand-bus system based on local search of autonomous agents;and an analysis of U-mart experiments by machine and human agents.

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Proceedings of ieee International symposium on computational intelligence in Robotics and automation, CIRA

Proceedings of IEEE International Symposium on Computational...

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2003 ieee International symposium on computational intelligence in Robotics and automation, CIRA 2003

ISBN: (纸本)0780378660

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Proceedings of ieee International symposium on computational intelligence in Robotics and automation, CIRA

Proceedings of IEEE International Symposium on Computational...

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2003 ieee International symposium on computational intelligence in Robotics and automation, CIRA 2003

ISBN: (纸本)0780378660

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Behavior selection architecture for tangible agent

Behavior selection architecture for tangible agent

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2003 ieee International symposium on computational intelligence in Robotics and automation, CIRA 2003

作者： Kim, Kyung-Joong Cho, Sung-Bae Oh, Sang-Rok Dept. of Computer Science Yonsei University Korea Republic of Intelligent System Control Research Center KIST Korea Republic of

ISBN: (纸本)0780378660

Tangible agent (TA) is a new medium that communicates the senses of sight, hearing, touch, smell, and taste of human to computer. Intelligent behavior is a key property to realize the agent because it must interact with human to grasp all the information. We have adopted a behavior-based approach for high-level behaviors such as navigation of office, conversation with human, and cleaning of room. Behavior-based method can control unexpected situation without prior knowledge and generate high-level behavior with behavior selection. However, TA requires improvements of behavior selection architecture for better communication with human. In this paper, we propose an intelligent behavior selection architecture that contains interferencing, learning and planning capability to TA. In this paper, overview of technical details and experimental results on physical device (Khepera robot) are presented. Preliminary results show the possibility of the proposed behavior selection for TA. © 2003 ieee.

关键词： Audition

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Annealing robust nonlinear adaptive inverse control with FNNBSVR for magnetic bearing systems

Annealing robust nonlinear adaptive inverse control with FNN...

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2003 ieee International symposium on computational intelligence in Robotics and automation, CIRA 2003

作者： Jeng, Jin-Tsong Chuang, Chen-Chia Lee, Y.C. Department of Computer Science and Information Engineering National Huwei Institute of Technology P.O. BOX 6-058 Yunlm County632 Taiwan Department of Electronic Engineering Hwa-Hsia College of Technology and Commerce 11 1 Hwa-Shin Street Chung-Ho City235 Taiwan Department of Electrical Engineering National Huwei Institute of Technology Yunlin County632 Taiwan

ISBN: (纸本)0780378660

In this paper, a new design procedure of nonlinear adaptive inverse control with the fuzzy neural networks based on support vector regression (FNNBSVR) and annealing robust learning algorithm (ARLA) is proposed for the magnetic bearing systems. The FNNBSVR is used to overcome initial structure problem and long training time in the nonlinear adaptive inverse control. Besides, the ARLA is proposed to overcome the outlier in the training procedure. It turns out that the proposed method can use less training time to get the FNNBSVR plant, inverse FNNBSVR plant and fuzzy neural network (FNN) controller to overcome the outlier in noise. Finally, this proposed method is applied to control magnetic bearing system. The experimental results show that the proposed method provides a greater flexibility and better performance in controlling magnetic bearing systems. © 2003 ieee.

关键词： Fuzzy neural networks

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