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Hybrid system model for event-based planning and control of robot operations

Hybrid system model for event-based planning and control of ...

引用

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

作者： Yu Sun Jindong Tan Ning Xi Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA Department of Electrical and Computer Engineering Michigan Technological University Houghton MI USA

ISBN: (纸本)0780378660

This paper presents an event-based hybrid system approach for the motion planning and control of mobile robot systems. The ability of dealing with unexpected events is one of the important aspects of robot intelligence. Robotic systems can obtain environmental information from sensors and respond to environmental information by making task decisions. According to the task decisions, the system is able to modify the original planned path and control the robot to execute the task autonomously. The event based hybrid system model has three layers, one continuous layer, and two discrete layers. The hybrid system model enables the robot system to make decisions and modify original path plans. Experimental results verified the proposed approach.

关键词： Robot control Robot kinematics Robot sensing systems Motion planning Motion control control systems Intelligent robots Intelligent sensors Path planning Sensor systems

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Operating feeling based design in human-robot collaborative control systems

Operating feeling based design in human-robot collaborative ...

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

作者： N. Kanamori K. Tanaka Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications Japan

The object of this paper is to give a guideline for designing the human-robot collaborative control system attaching importance to maneuverability of the operator. The operative "feel" is quantitatively evaluated using the norm of input-output signal obtained from the sensors during operation. As an example of the human-robot collaborative system, the subjective operative "feel" of the operator is qualitatively analyzed during the sine wave following task using 1-link operation arm. In addition, the control performance of the operator is examined from the viewpoint of H/sub /spl infin// control using the measurement data during the collaborative operation. As a result, it was suggested that the operator executes the given task while adequately reforming the sensitivity function and complementary sensitivity function of the closed loop system of the collaborative system. Use of this method enables design of the control system taking into consideration the operative "feel" of maneuverability.

关键词： Collaboration control systems Humans Collaborative work Master-slave Robot sensing systems Displays Radio control Mechanical engineering Intelligent systems

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A parameter control method inspired from neuromodulators in reinforcement learning

A parameter control method inspired from neuromodulators in ...

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

作者： K. Murakoshi J. Mizuno Department of Knowledge-based Information Engineering Toyohashi University of Technology Japan

The brain gains appropriate behaviors, which get rewards and escapes punishments by trial-and-error. Reinforcement learning models such a system by an engineering approach. Neuromodulators, which project widely in the brain and adjust functions in each brain part, are matched with parameters of reinforcement learning. We propose a reinforcement learning algorithm, which can follow sudden changes in environment by considering how neuromodulators affect behaviors. This algorithm improves actions by controlling the parameters of reinforcement learning after the obtained reward decreased as compared with the past. Computer simulation shows that the robots with the proposed algorithm are able to respond flexibly to sudden environmental changes.

关键词： Learning Knowledge engineering Appropriate technology Systems engineering and theory Computer simulation Robot control Neurons Circuits Humans Animals

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Artificial evolution of pulsed neural networks on the motion pattern classification system

Artificial evolution of pulsed neural networks on the motion...

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

作者： Y. Katada K. Ohkura K. Ueda Faculty of Engineering Kobe University Japan RACE (Research into Artifacts Center for Engineering) University of Tokyo Japan

Categorization is one of the most important cognitive abilities for autonomous agents. In natural systems, animals discriminate any object not only by its figure but also by its motion pattern. In this work, we applied the standard GA to evolve pulsed neural controllers for the motion pattern classification system in order to investigate how evolved agents perform the discrimination task, its evolutionary dynamics and the process of self-organization in the neural controllers. The results demonstrate that the agent controlled by the evolved neural networks can discriminate between the objects with the different motion. In the process of evolution, the fitness is improved by the modulation in the connection weights among neurons.

关键词： Artificial neural networks Pattern classification Motion control Neural networks control systems Robot kinematics Autonomous agents Animals Neurons Humans

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Designing a robot as communication media - the effect of head and body movement on co-present's impression

Designing a robot as communication media - the effect of hea...

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

作者： H. Kuzuoka J. Kosaka S. Oyama H. Noma K. Yamazaki A. Yamazaki Institute of Engineering Mechanics and Systems University of Tsukuba Japan Communications Research Laboratory Keihanna Human Info-Communication Research Center Media Information Science Laboratory ATR Japan Department of Fine Arts Saitama University Japan Department of System Information Future University-Hakodate Japan

We have been developing robots as a communication media. This paper focuses on the latest development named GestureMan 2. We used ATLAS, which was developed at ATR to control the robot in proportion to a remote person's walking and head movement. Our experiment with the system showed that co-present persons got better impression on the robot when it was controlled with a conventional joystick. From this result, we noticed that for this kind of robot to have an affinity to people, not only its figure but also its motion should be properly designed.

关键词： Robot control Proportional control Communication system control Legged locomotion Robot sensing systems Telecommunication control Service robots Motion control Mice Humans

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System configuration of smoothed and differential values estimator by using linear and sliding mode system

System configuration of smoothed and differential values est...

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

作者： T. Emaru T. Tsuchiya Department of Mechanical Engineering and Intelligent Systems Graduate School of Eng University of Electro-Communications Japan Graduate School of Eng Hokkaido University Japan

We have proposed the new nonlinear filter to estimate the smoothed and differential values by using sliding mode system (ESDS). It works very effectively to eliminate the impulse noise by keeping the sudden shift of the signals. In order to construct ESDS, it requires the system that is globally uniform and asymptotically stable at the origin. As the stable system, the minimum time system that is one of the sliding mode systems has been used. In this paper, we apply the linear system and sliding mode system that has a linear switching line as the stable system, and we clarify the validity of our theorem and configuration of ESDS.

关键词： Electrostatic discharge Linear systems Convergence Intelligent systems Nonlinear filters Digital filters Variable structure systems Optimal control Sliding mode control Societies

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Minimum-energy neural-fuzzy approach for current/voltage-controlled electromagnetic suspension system

Minimum-energy neural-fuzzy approach for current/voltage-con...

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

作者： Yen-Chen Chang Shinq-Jen Wu Tsu-Tian Lee Department of Electrical Engineering Da Yeh University Changhua Taiwan Department of Electrical and Control Engineering National Chiao Tung University Hsinchu Taiwan

ISBN: (纸本)0780378660

In this paper, the electromagnetic suspension system is modeled as a neural-based linear T-S fuzzy system, and then the optimal fuzzy control design scheme is proposed to control the current and voltage-controlled system with minimum current and voltage-controlled system with minimum current and voltage consumption, respectively. The proposed linear self-constructing neural fuzzy inference network is a six layer neural network (linear SONFIN) modified form the well-known SONFIN network, which can construct a linear T-S fuzzy model of the system just by the input and output (I/O) information. Based on the linear T-S model, we can construct the optimal fuzzy control scheme to efficiently regulate the highly nonlinear complex and uncertain electromagnetic suspension system to the equilibrium state.

关键词： Voltage Magnetic levitation Nonlinear control systems Electromagnetic forces Fuzzy systems Sliding mode control Iron Nonlinear systems Design engineering Electromagnetic modeling

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On dynamic whole body manipulation

On dynamic whole body manipulation

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

作者： F. Asano Y. Saitoh K. Watanabe Zhi-Wei Luo M. Yamakita Environment Adaptive Robotic Systems Laboratory Bio-Mimetic Control Research Center Japan Department of BiWSystem Engineering Faculty of Engineering Yamagata University Japan Department of Mechanical and Control Systems Engineering Tokyo Institute of Technology Japan

Dextrous manipulation of objects by a robot arm is one of the central problems in robotics research. This paper first studies basic modeling and dynamic control problems of whole body manipulation systems by the assumption of using sensitive skin. As an example, we treat a 2-link planar whole arm manipulation system with a circle object. We first formulate the system dynamics with sliding contact and rolling friction constrains between the robot link and the object. We then develop a model-based tracking control algorithm for the robot to manipulate the center of mass of the object. Further, modeling in the presence of dynamic friction is considered. The validity of the proposed method is investigated by numerical simulations.

关键词： Manipulator dynamics control systems Robot sensing systems Friction Humans Service robots Power engineering and energy Adaptive systems Sliding mode control Skin

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Fuzzy neural network for nonlinear-systems model identification

Fuzzy neural network for nonlinear-systems model identificat...

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

作者： Dong-hai Zhai Li Li Fan Jin School of Computer and Communication Engineering Southwest Jiaotong University Chengdu China

ISBN: (纸本)0780378660

This paper presents a model identification approach of nonlinear systems where only the input-output data of the identified system are available. To automatically acquire the fuzzy rule-base and the initial parameters of the fuzzy model, an unsupervised clustering method is used in structure identification. Based on the cluster result, a fuzzy neural network (FNN) is constructed to match with it. The FNN is trained by its learning algorithm to obtain a precise fuzzy model and realize parameter identification. The network has universal approximation capability, a property very useful in, e.g. modeling and control application. Finally, the effectiveness of the proposed technique is confirmed by the simulation results of two nonlinear systems.

关键词： Fuzzy neural networks Nonlinear systems Clustering algorithms Fuzzy systems Fuzzy control Parameter estimation Data engineering Clustering methods Linear systems Mathematics

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Development of PC-based 3D dynamic human interactive robot simulator

Development of PC-based 3D dynamic human interactive robot s...

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

作者： M. Onishi T. Odashima F. Asano Zhiwei Luo Bio-Mimetic Control Research Center RIKEN Japan

PC-based immersion-type display integrated with a motion capture system as well as a 3D dynamic simulator has been successfully constructed in our laboratory, as a first universal development environment of human interactive robot within Japan. This system makes it possible for us to design and examine the next generation of human interactive robot easily and safely. Experiments of a virtual robot interact with human and perform dynamic motion show the effectiveness of our system.

关键词： Human robot interaction Service robots Computer displays Intelligent robots computational modeling Auditory displays Robot sensing systems Three dimensional displays Production systems Production facilities

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