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Development of cooperative small mowing robots

Development of cooperative small mowing robots

引用

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

作者： K. Suzuki S. Makami J. Akita E. Osawa Future University - Hakodate Hakodate City Hokkaido Japan

It is introduced that the development of GPS based small mowing robots. The mowing robots will be expected to work at open areas like as parks. To work in the open area, the robots must keep the safety for people at first. Therefore, the robots are developed using the platform, based on the Robomower RL500, to make advantage keep safety for people. However, the performance of the small robots will become insufficient for the mowing task. In addition, several control issues arise in the practical field including obstacle avoidances and escape from stuck areas. To cover the properties of the small robots and control issues in practical world; multi-robots approach is applied. Namely, using the multiple robots, the cooperative task sharing is applied for executing the mowing task sufficiently.

关键词： Safety Robot control Delay Costs Cities and towns Global Positioning System Computer crashes Multiagent systems Human robot interaction

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A mechanical voice system and its adaptive learning for the mimicry of human vocalization

A mechanical voice system and its adaptive learning for the ...

引用

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

作者： T. Higashimoto H. Sawada Department of Intelligent Mechanical Systems Engineering Faculty of Engineering Kagawa University Japan

A mechanical model of a human vocal system is being developed based on mechatronics technology. Although various ways of vocal sound production have been actively studied, mechanical construction is considered to advantageously realize natural vocalization with its fluid dynamics. The mechanical vocal system has several motors to manipulate the vocal tract and the vocal cords. It became possible to learn the relations between motor positions and the produced vocal sounds by an auditory feedback, and produce Japanese five vowels (a, i, u, e, o) by mimicking a human speech. In addition, the mechanical model could produce some consonant sounds by attaching a nasal cavity with the dynamic control. This paper introduces an adaptive learning algorithm for the mimicry of human vocalization, and presents a listening experiment of generated sounds for the evaluation.

关键词： Adaptive systems Human voice Production Feedback Communication system control control systems Mechanical systems Acoustical engineering Fluid dynamics Speech

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

Annealing robust nonlinear adaptive inverse control with FNN...

引用

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

作者： Jin-Tsong Jeng Chen-Chia Chuang Y.C. Lee Department of Computer Science and Information Engineering National Huwei Institute of Technology Yunlin Taiwan Department of Electronic Engineering Hwa-Hsia College of Technology and Commerce Taipei Taiwan Department of Electrical Engineering National Huwei Institute of Technology Yunlin Taiwan

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.

关键词： Annealing Robust control Programmable control Adaptive control Nonlinear control systems control systems Fuzzy control Magnetic levitation Fuzzy neural networks Algorithm design and analysis

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Experiments of grasping and object-manipulation by a pair of multi-degrees of freedom robot fingers

Experiments of grasping and object-manipulation by a pair of...

引用

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

作者： S. Nakamura K. Tahara J.-H. Bae M. Sekimoto S. Arimoto Department of Robotics Faculty of Science and Engineering Ritsumeikan University Shiga Japan

This paper is concerned with experimental analysis of pinching motion by a pair of multi-degrees of freedom robot fingers with rigid hemispherical tips. The experiments were carried out in the case that a parallelepiped object is placed on a non-slippery plate in a horizontal plane and motion of the fingers and the object is confined to the plane. As predicted from the theoretical analyses, experimental results show that stable grasping in a dynamic sense is realized by a sensory feedback constructed by using measurement data of finger joint angles and the rotational angle of the object. Further, it is shown from the experiments that an additional sensory feedback works well in realizing concurrent stable grasp and orientation control of the object.

关键词： Fingers Motion analysis Rotation measurement Friction Humans Robot kinematics Optical feedback Optical sensors Position control Torque control

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Motion planning for digital humans

Motion planning for digital humans

引用

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

作者： J. Kuffner Department of Computer Science Carnegie Mellon University Pittsburgh PA USA Digital Human Laboratory National Institute for Advanced Industrial Science and Technology Kouto Tokyo Japan

Research efforts are underway to develop sophisticated computer models of human physiology, biomechanics and appearance. Applications of these "digital humans" range from medical research to virtual reality entertainment. This paper presents an overview of several motion planning techniques for automatically generating motion trajectories for digital humans. The ultimate goal is to create autonomous animated characters that are able to move naturally and realistically in response to high-level task commands. These "digital human" characters can be viewed as "virtual robots" operating in simulated environments, since developing software to control such characters shares much in common with programming real robots. Experimental results involving both simulated human characters and real humanoid robots are shown.

关键词： Humans Physiology Biomechanics Application software Virtual reality Motion planning Trajectory Animation Robotics and automation Automatic control

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Simulation-based study on resources circulation - an autonomous decentralized model and agent-based simulation

Simulation-based study on resources circulation - an autonom...

引用

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

作者： T. Matsumoto H. Tamaki H. Murao S. Kitamura Graduate School of Science and Technology Kobe University Japan Department of Computer and Systems Enghieering Kobe University Japan

In this paper, a methodology for modeling and controlling of resources circulation systems is studied. We propose a model structure by introducing two kinds of submodels: a physical model and an information model. The physical model is used for simulating the flow of materials and products, while the information model is used for a decision-making on production, consumption, recycling/reuse, discard etc. Moreover, we implement an additional top-level component, a supervisor, who observes the global behavior of the system and controls it indirectly. Based on the proposed approach, we implement a prototype of simulation model. Through some computer simulations, we examine influences of the decision making as well as the indirect control on the resources circulation.

关键词： computational modeling Computer simulation Information processing Decision making control systems Humans Manufacturing Production Virtual prototyping Environmental factors

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Emergence of adaptive behavior by chaotic neural networks

Emergence of adaptive behavior by chaotic neural networks

引用

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

作者： I. Suzuki H. Yokoi Y. Kakazu Laboratory of Autonomous Systems Engineering Research Group of Complex systems Engineering Graduate School of Engineering Hokkaido University Japan

In this paper, we propose an emergent system in which an autonomous mobile robot can acquire environment oriented behavior. In the general robotic engineering, a system designer gave the model of environment and sensory-motor commands beforehand. However, we think that the autonomous robot has to be developed through the interaction between robot's behavior and the environmental information by itself. So, we construct the controller for the autonomous robot to acquire the adaptive behavior with the chaotic neural networks (CNNs). Furthermore, we make use of the dynamic learning method (DLM) as an on-line learning method. The results of the computational experiments show the chaotic search of this network plays an important role for the acquisition of the adaptive behavior.

关键词： Chaos Neural networks Robot sensing systems Learning systems Mobile robots Design engineering Systems engineering and theory Programmable control Adaptive control Cellular neural networks

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Fuzzy approach for disturbance reduction

Fuzzy approach for disturbance reduction

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

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

ISBN: (纸本)0780378660

The basic principles of the fuzzy set theory are applied to the signal restoration problems. The estimated values obtained form the fuzzy model are in the form of fuzzy numbers which present the possibility of the system structure. Both L-R and symmetric triangular type membership functions are employed to derive the fuzzy disturbance reduction. The quarter-car semi-active suspension system with unknown disturbance caused by roughness of road is provided to demonstrate the applicability and effectiveness of the proposed fuzzy algorithm in disturbance reduction problem.

关键词： Fuzzy systems State estimation Pollution measurement Fuzzy set theory Roads Filtering Noise measurement Kalman filters Colored noise Symmetric matrices

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A small biped entertainment robot SDR-4X II

A small biped entertainment robot SDR-4X II

引用

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

作者： T. Ishida Sony Corporation Entertainment Robot Company Tokyo Japan

SDR-4X II is the latest prototype model, which remains a small humanoid type robot and is expanding its capabilities for the adaptability in home environment. Some of the new key technologies have been developed for SDR-4X II. The first is newly developed small robot actuators names ISA-4, the second is real-time integrated adaptive motion control. The third is a motion creating software system, which allows us to create SDR's attractive motion performances. The fourth technology is real-time real-world space perception, and the fifth is multi-modal human robot interaction. These five technologies enable to realize a capable robot that can be adapted with human in home environment. In addition, we have explored and developed entertainment applications using these technologies. A cappella chorus performances and a high-tempo dance performance are introduced as the attractive applications.

关键词： Space technology Humanoid robots Orbital robotics Prototypes Actuators Programmable control Adaptive control Motion control Software systems Human robot interaction

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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...

引用

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

作者： A. Kiyuna K. Nakazono H. Kinjo T. Yamamoto Graduate School of Engineering University of Ryukyus Japan Faculty of Engineering University of Ryukyus Japan

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.

关键词： control system synthesis Neurocontrollers control systems Genetic engineering Design engineering Nonlinear control systems Genetic algorithms Evolutionary computation Design methodology Nonlinear dynamical systems

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