In the recent decades the application of artificial evolution to autonomous mobile robots to enable them to adapt their behaviors to changes of the environments has attracted much attention. For example, the robots in...
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ISBN:
(纸本)0780376110
In the recent decades the application of artificial evolution to autonomous mobile robots to enable them to adapt their behaviors to changes of the environments has attracted much attention. For example, the robots in next generation should be able to carry out work in unstructured dynamic human environments. As a result, an infant research field called evolutionary robotics (ER) has been quickly developed that is primarily concerned with the use of computation intelligence techniques for the automatic design of adaptive robots. The paper intends to discuss the applications of computationalintelligence in the field of autonomous robotics. As an innovative and effective solution to autonomous robot controller design, it can derive adaptive robotic controllers capable of elegantly dealing with continuous changes in unstructured environments in an efficient manner. In the paper, the basic concepts regarding computationalintelligence and evolutionary robotics are introduced, and then a variety of successful applications of computationalintelligence in autonomous robotics along the dimension of computation intelligence adopted are surveyed and discussed. Future research in this field is also suggested. Finally, conclusions are drawn.
Due to unbounded and random delays in the Internet based teleoperation, for a teleoperated task, if the phase lag is too large, the system may be unstable or the system performance may degrade greatly. To solve this p...
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ISBN:
(纸本)0780372034
Due to unbounded and random delays in the Internet based teleoperation, for a teleoperated task, if the phase lag is too large, the system may be unstable or the system performance may degrade greatly. To solve this problem, a dynamic task allocation method and a corresponding adaptive scaling control algorithm are introduced. A simple teleoperated mobile navigation example is used to show the feasibility of this approach.
In animated simulation of human-robot coordination, the voice command is a useful feature to free the human operator's hand during the compliance control stage. The purpose of developing the simulation program is ...
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ISBN:
(纸本)0780372034
In animated simulation of human-robot coordination, the voice command is a useful feature to free the human operator's hand during the compliance control stage. The purpose of developing the simulation program is to perform the simulation before any physical experiments with robot hardware are conducted. The outcome of the simulation may give an insight into any unexpected interactions which may endanger the human operator as well as equipment. The human operator may learn from these experiences and be aware of the problems which may appear when physical experiments are performed.
Human hyper dynamic manipulations are defined hear as those in which hyper skill is needed to execute a dynamic manipulation by human, e.g. golf swing. This paper discusses the motion control skill in the human golf s...
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ISBN:
(纸本)0780372034
Human hyper dynamic manipulations are defined hear as those in which hyper skill is needed to execute a dynamic manipulation by human, e.g. golf swing. This paper discusses the motion control skill in the human golf swing. The optimization of the swing motion according to a simplified model of human is described. By comparing generated optimal swing motions corresponding to various cost functions, with human swing motions, some useful hints on human motion control skill are obtained.
This paper describes the supervisory control of mobile robots using a biologically inspired short-term memory structure called a Sensory EgoSphere. The EgoSphere is implemented as a virtual geodesic dome upon which se...
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ISBN:
(纸本)0780372034
This paper describes the supervisory control of mobile robots using a biologically inspired short-term memory structure called a Sensory EgoSphere. The EgoSphere is implemented as a virtual geodesic dome upon which sensory data from the surroundings of the robot are written. The EgoSphere is managed by a distinct agent in a distributed agent-based robot control architecture called the Intelligent Machine Architecture. The paper also describes a human-robot interface and a testbed for evaluating the control system.
This paper proposes a control method of the behavioral dimension in multiobjective behavior coordination of a mobile robot. The behavioral dimension of multiobjective behavior coordination is proposed. Simulation resu...
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ISBN:
(纸本)0780372034
This paper proposes a control method of the behavioral dimension in multiobjective behavior coordination of a mobile robot. The behavioral dimension of multiobjective behavior coordination is proposed. Simulation results of collision avoidance behaviors of multiple robots using multiobjective behavior coordination are shown.
Simulation tools now occupy a place of particular importance in many fields of engineering. Some of these tools have come to be regarded as standard and/or as a point of departure for the replication of results obtain...
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ISBN:
(纸本)0780372034
Simulation tools now occupy a place of particular importance in many fields of engineering. Some of these tools have come to be regarded as standard and/or as a point of departure for the replication of results obtained in scientific papers. The present paper describes the use of one of these tools, Matlab/Simulink, used in order to simulate and validate in real time the results concerning the guidance, navigation and control techniques applied to a low cost mobile platform.
This paper introduces a novel controller for the process control of tobacco leaf fermentation with Double Loop CS910 Programmable Regulator. As a result, higher technological specifications can be met and leaf losses ...
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ISBN:
(纸本)0780372034
This paper introduces a novel controller for the process control of tobacco leaf fermentation with Double Loop CS910 Programmable Regulator. As a result, higher technological specifications can be met and leaf losses can be reduced. The control system adopts a DCS (Distributed control System) structure in which CS910 Programmable Regulators are the low-level computers. Each CS910 Programmable regulator is responsible for the process control of tobacco leaf fermentation in one fermentation room, while one high-level industrial control computer is used to supervise the work of all the regulators in the whole storehouse. The patterns of cascade temperature and humidity control are also discussed in details in this paper.
In this paper, a novel path tracking control method with both kinematic and dynamic constraints is proposed for a nonholonomic mobile robot. By incorporating a biologically inspired shunting model into the conventiona...
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ISBN:
(纸本)0780372034
In this paper, a novel path tracking control method with both kinematic and dynamic constraints is proposed for a nonholonomic mobile robot. By incorporating a biologically inspired shunting model into the conventional bang-bang control technique, the proposed novel tracking controller is capable of generating real-time acceleration commands that can produce smooth, continuous robot velocities, and drive the mobile robot to track the desired trajectories. In the controller design, the accelerations are bounded and the nonholonomic kinematic constraints are satisfied. The stability of the control system and the convergence of tracking errors to zero are proved using a Lyapunov stability theory. The effectiveness of the proposed tracking controller is demonstrated by simulation studies.
In this paper, we propose a decoupled adaptive fuzzy sliding-mode control scheme for a class of fourth-order nonlinear systems. The system is decoupled into two second-order systems, where each subsystem has a separat...
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ISBN:
(纸本)0780372034
In this paper, we propose a decoupled adaptive fuzzy sliding-mode control scheme for a class of fourth-order nonlinear systems. The system is decoupled into two second-order systems, where each subsystem has a separate control purpose expressed in terms of a sliding surface. Then, using the information from the secondary target conditions, the main target generates a control action to make both subsystems move toward their sliding surfaces, respectively. Two sets of fuzzy rule bases are utilized to represent the equivalent control input with unknown system functions of the main target. The membership functions of the THEN-part, which is used to construct a suitable equivalent control of SMC (Sliding Mode control), are changed according to the adaptive law.
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