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Progressive fuzzy fusion control of two coupled inverted penduli

Progressive fuzzy fusion control of two coupled inverted pen...

引用

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

作者： Zhen Song P. Sukthankar YangQuan Chen J. Gu Center for Self-organizing and Intelligent Systems Department of Electrical and Computer Engineering Utah State University Logan UT USA Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

This paper considers the control of two inverted penduli coupled with a spring using a progressive fuzzy fusion control method. The two penduli have some uncertain and unknown parameters and the coupling spring has an unknown spring constant. We assume that the lengths of the penduli and the spring are known. One of the inverted penduli is excited to generate the force disturbance to the other through the spring link. The aim of this paper is to design a controller based on the idea of fuzzy logic and the classical control methods, such that the second pendulum can reject the disturbance from the first pendulum significantly even without precise mathematical model of the system. The angular position and the angular speed for both inverted penduli are measured to feed into the fuzzy fusion controller via the proposed disturbance decoupling procedure. Based on the hardware-in-the-loop realtime simulation environment provided by MATLAB/Simulink RTW (real-time workshop) and plants in Quanser's rotary servo family, the subjective knowledge about this system in a progressive way. Extensive experimental results are reported to demonstrate how effectively benefit from the fuzzy logic control.

关键词： Fuzzy control Springs Fuzzy logic Fusion power generation Mathematical model Position measurement Velocity measurement Feeds MATLAB Real time systems

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Agent based modeling of national economy - centralized mode analysis of virtual economy by GA simulation

Agent based modeling of national economy - centralized mode ...

引用

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

作者： H. Deguchi M. Kobayashi Hao Lee Tokyo Institute of Technology Japan Tsukuba University Japan Kyoto University Japan

In this paper we analyze national economy as a socioeconomic multi-agent system. For the purpose we investigate the centralized bird's eye view model of small national economy across the terms. We analyze the model by hybrid approach between machine agent model and human gaming simulation model. We investigate effective growth path by genetic algorithm in machine agent model. We can find effective growth path by GA under complex boundary conditions. The results shows balanced growth in tern pike property as a growth path. Nevertheless economic decision path is complex and quite different from growth path.

关键词： Analytical models Economics Boundary conditions Metals industry Optimal control Multiagent systems Humans Genetic algorithms Autonomous agents Agriculture

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Physical agent system: concept and implementation

Physical agent system: concept and implementation

引用

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

作者： M. Mizukawa K. Endo T. Otsuka Y. Ando Department of Eledical Engineering Shibaura Institute of Technology Japan

In this paper, we propose the concept of the PAS (physical agent system) and its implementation. The PAS is the tele-operated autonomous robot system that acts as AGENT, and is used to support human collaboration activities over distant places using robots. The PAS consists of the autonomous mobile robot equipped with a CCD-camera, a laser-pointer and an arm. The mobile robot is controlled by the distributed microprocessor system to allow flexible system configuration and adoption of various effectors and sensors. The camera and laser-pointer system is used as active vision system to measure the distance to the object pointed by the laser beam keeping the object in the view. The mobile robot is driven by crawler. It is equipped with ultra-sonic sensors and PSDs to detect obstacles around the robot along the directed path. Using these sensors, the mobile robot autonomously avoids the obstacles keeping the goal pointed by the laser beam. Another feature of the PAS is the system description using XML (extensible markup language) to achieve flexible configuration and to adopt various devices by defining functions and specifications of the subsystems such as effectors, sensors and operation devices.

关键词： Mobile robots Robot sensing systems Sensor systems Laser beams XML Humans Collaboration Laser theory Distributed control Robot control

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Fast 3D position measurement with two unsynchronized cameras

Fast 3D position measurement with two unsynchronized cameras

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

作者： H. Fujiyoshi S. Shimizu T. Nishi Y. Nagasaka T. Takahashi Dept. of Computer Science Chubu University Japan Dept. of Electronic Engineering Chubu University Dept. of Information Science Meijo University Japan

Stereo vision systems have been proposed and used in various fields. They require cameras to synchronize with each other for tracking objects. In this paper, we present a vision system, which uses two normal, unsynchronized cameras for calculating the 3D position of objects. The unsynchronization in shutter timing of cameras is used to process more images per second than a synchronized camera system. 3D positions of an object are measured as a crossing point of lines in 3D through the detected position on the latest frame and estimated 3D position calculated by fast frames. This makes it possible for our system to consist of two unsynchronized cameras and allows for a PC to calculate the 3D position of the moving object at 60 fps. This can be useful for controlling a robot as a fast visual feedback system.

关键词： Position measurement Cameras Stereo vision Machine vision Timing Object detection Robot vision systems Robot control control systems Feedback

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Identify household burning smell using an electronic nose system with artificial neural networks

Identify household burning smell using an electronic nose sy...

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

作者： B. Charumporn M. Yoshioka T. Fujinaka S. Omatu Division of Computer and Systems Science Graduate School of Engineering Osaka Prefecture University Sakai Osaka Japan

This paper presents the ability of a new electronic nose (EN) system to identify various sources of burning smell. The EN has been developed based on the concept of human olfactory system by using various kinds of metal oxide gas sensors (MOGSs) as the olfactory receptors. The headspace of the EN is put directly over the tested smell and the time series signals during the MOGSs absorbing the smell are collected. By controlling the temperature and the humidity inside the tested chamber, the signals data from the same source of burning smell in every repetition data are highly correlated and each source of burning smell has a unique pattern of time series data. Therefore, the error back propagation neural network (BPNN) is able to identify 99.6% of the tested data accurately by using only a single training data from each source of smell. The results show the high possibility to apply the EN as a reliable fire detecting system.

关键词： Electronic noses Artificial neural networks Testing Olfactory Humans Gas detectors Humidity control Temperature control Temperature sensors Neural networks

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A behavior monitoring architecture for a mobile robot: enhancing intelligence to behavior-based robotics

A behavior monitoring architecture for a mobile robot: enhan...

引用

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

作者： S. Suksakulchai D.M. Wilkes K. Kawamura Electrical Technology Education King Mongkut's University of Technology Thonburi Thailand Center for Intelligent Systems Vanderbilt University USA

This paper presents a new behavior-based architecture for a mobile robot. The architecture coordinates behaviors based on a robot's internal condition and environment information. This approach combines the subsumption and schema-based approaches together with a unique feature called request or redundant mode. By monitoring a behavior's expected outcome, an unproductive behavior can request its redundant behavior to take over a task. On the other hand, when the requesting behavior can do the task again, it can take the task back. The results show that a system with the new architecture yields better performance than a system without it. Moreover, the new architecture can change behaviors' level and modes, add new behaviors, delete unused behaviors, and create new behaviors or tasks from existing behaviors at run-time, without reprogramming or restarting the entire system.

关键词： Mobile robots Monitoring Pain Power line communications Protection Organizing control systems

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Skill acquisition from human demonstration using FCM clustering of qualitative contact states

Skill acquisition from human demonstration using FCM cluster...

引用

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

作者： Qin Wang Ruqing Yang Weijun Zhang Research Institute of Robotics Shanghai Jiaotong University Shanghai China

ISBN: (纸本)0780378660

The reliance on precision positioning of current robots creates problems in both controlling and programming. The motivation behind this work is to transfer force-based skills to robots and to realize programming by demonstration for tasks in contact states. For this purpose, we model the skill as qualitative contact states and desired transitions between them. Element Contact Formation (ECF) is proposed to describe contact state. For different ECF has different force clustering, the modified FCM clustering is used for automatic classification of ECF in demonstration based forces information. Then from demonstration data the sequence of contact states and desired distances and velocities for transitions are obtained. The ECF identifier can be built with the similar degree between the force information and clustering. The skill acquisition module is implemented in robot controller with open architecture. Petri net is used for merging different sequences and simplifying the skill.

关键词： Humans Robot programming Robotics and automation Robot control Robot sensing systems Merging Robot vision systems Education Uncertainty Service robots

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Development of rehabilitation support system for reaching exercise of upper limb

Development of rehabilitation support system for reaching ex...

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

作者： H. Maeda Y. Morita E. Yamamoto H. Kakami H. Ukai N. Matsui Department Electrical and Computer Engineering Nagoya Institute of Technology Japan Department System Management and Engineering Nagoya Institute of Technology Japan

Form the social need for aging the rehabilitation robot will be expected to become one of the most significant application fields of robotics. Although many researches have been reported in this field, there have been only a few cases of the application for the upper limbs. From these backgrounds, we have been developing a rehabilitation support system for reaching exercises of the upper limb motor function. In this paper, we introduce the rehabilitation support system, which we have developed. In this system, the exercise for the subject is accomplished as follows: A subject grasps the grip. The grip and a tracing pattern are shown on the display. Then, the subject is instructed to move the grip so as to trace the pattern while watching the display. During this operation his/her traces that are off-trace are corrected to the desired pattern by the aid of servomechanism. This function is called a motion assistance function. Through this exercise, the subject is expected to increase the reaching ability and to acquire the stable reaching motion. In order to realize this function, we proposed a control method is based on impedance control. In order to confirm the effectiveness of the proposed control method, we applied the proposed system to a healthy student before applying it to patients. Some basic experimental results show that the proposed motion control is effective to achieve the reaching exercise.

关键词： Rehabilitation robotics Motion control Medical treatment Aging Displays control systems Technology management Engineering management Systems engineering and theory Application software

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Trajectory generation for a 2-dof over-actuated parallel manipulator with actuator speed and torque limits consideration

Trajectory generation for a 2-dof over-actuated parallel man...

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

作者： Y.K. Yiu Z.X. Li Department of EEE Hong Kong University of Science and Technology Hong Kong China

This paper discusses the problem of generating trajectory for a 2-dof parallel manipulator with actuator redundancy. We investigate how to transform the speed and torque limits of the actuators to the velocity and acceleration limits in the end-effector space where the desired trajectory is normally specified. How these limits vary over the workspace is also investigated in details for the particular platform. With these limits, the automatic trajectory generation algorithm for traditional x-y table is modified to suit our parallel manipulator with actuator redundancy. Our trajectory generation algorithm can automatically generate symmetric straight line point-to-point trapezoidal trajectory for the parallel manipulator given the start point, the end point, and the desired traveling time. If it is impossible for the parallel manipulator to travel the distance within the desired traveling time under the velocity and acceleration limits, the shortest time trajectory will be generated instead.

关键词： Actuators Torque Space technology Hardware Trajectory Acceleration Laboratories control systems Manipulators Robot kinematics

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Systems identification using type-2 fuzzy neural network (type-2 FNN) systems

Systems identification using type-2 fuzzy neural network (ty...

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

作者： Ching-Hung Lee Yu-Ching Lin Wei-Yu Lai Department of Electrical Engineering Yuan-Ze University Taoyuan Taiwan

ISBN: (纸本)0780378660

This paper presents a type-2 fuzzy neural network system (type-2 FNN) and its learning algorithm using back-propagation algorithm. In our previous results, the FNN system using type-1 fuzzy logic systems (FLS) is called type-1 FNN system. It has the properties of parallel computation scheme, easy to implement, fuzzy logic inference system, and parameters convergence. For considering the fuzzy rules uncertainties, we use the type-2 FLSs to develop a type-2 FNN system. The type-2 fuzzy sets let us model and minimize the effects of uncertainties in rule-based fuzzy logic systems (FLSs). In this paper, the previous results of type-1 FNN are extended to a type-2 one. In addition, the corresponding learning algorithm is derived by back-program algorithm. Several examples are presented to illustrate the effectiveness of our approach.

关键词： Fuzzy neural networks System identification Fuzzy logic Fuzzy sets Signal processing algorithms Neural networks Fuzzy control Uncertainty Fuzzy systems Convergence

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