This paper presents the development of a testbed for mobile robot platoons based on modern microcontroller units. The sensor/actuator interfacing capacity, the general-purpose communication module and the simple progr...
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ISBN:
(纸本)9781728156255
This paper presents the development of a testbed for mobile robot platoons based on modern microcontroller units. The sensor/actuator interfacing capacity, the general-purpose communication module and the simple programming environment of the applied controller enable the rapid and flexible development of the robot platoon control system. In spite of the low implementation costs, the testbed allows the implementation and testing of advanced control strategies and communication protocols. The paper presents both the software and hardware development of the testbed. Real-time experimental measurements are also presented to show the applicability of the developed system.Y
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.
We analyzed the Co-emergence process on the cooperative walks between two humans. As the results, we found the cyclic process based on the following two control processes. One is the process to realize the footsteps&#...
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ISBN:
(纸本)0780378660
We analyzed the Co-emergence process on the cooperative walks between two humans. As the results, we found the cyclic process based on the following two control processes. One is the process to realize the footsteps' coherence between the cooperative walkers. The other is the process to control the coherence by the mutual relations with the fluctuations of the arms' swing, connected with the attention. Additionally we found that the arms' fluctuations take flexible synchronizations between the cooperative walkers. These results suggest that the synchronization of the cyclic process realize the Co-emergence of the cooperative walk flexibly.
Mechatronic multicontact systems-MMS are a challenging subclass of hybrid - discrete-continuous - dynamical systems (HDS). Depending on the typically integer-valued number of (unilateral) contacts the structure of dyn...
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ISBN:
(纸本)0780378660
Mechatronic multicontact systems-MMS are a challenging subclass of hybrid - discrete-continuous - dynamical systems (HDS). Depending on the typically integer-valued number of (unilateral) contacts the structure of dynamic models varies. Typical hybrid control applications of MMS are multi-fingered robotic hands, multi-legged walking machines, or cars. In this paper the hybrid state model is presented as a general model for a wide class of hybrid dynamical systems. Hybrid feedback and optimal control concepts are proposed. A cooperative multi-arm transport task is presented as an application example.
People with diabetes, clinicians and researchers alike need appropriate metrics to manage diabetes, assess the quality of blood glucose control, and guide the development of new therapies and control methods. In this ...
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ISBN:
(纸本)9798350398823
People with diabetes, clinicians and researchers alike need appropriate metrics to manage diabetes, assess the quality of blood glucose control, and guide the development of new therapies and control methods. In this paper, we review some commonly used metrics with their advantages and disadvantages. We analyze the glucose data of a CGM user to compare the results of different metrics and determine which of these gives the most complete picture of glycemic control in silico trials of artificial pancreas systems.
ABB has launched its fifth generation robot controller, the IRC5. The basic motion control of the IRC5 controller includes the TrueMove and QuickMove functionality for best possible production rate and quality. In add...
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ABB has launched its fifth generation robot controller, the IRC5. The basic motion control of the IRC5 controller includes the TrueMove and QuickMove functionality for best possible production rate and quality. In addition to this, the MultiMove function enables new production concepts and more cost-effective solutions. To penetrate new market segments, ease-of-use, high precision and cost-effectiveness are important factors. The availability of low-cost computational power and, in some cases, sensor integration enables the use of cost-effective industrial robots for high-precision tasks.
The proceedings contains 59 papers from the 1997 ieee International symposium on computationalintelligence in Robotics and automation. Topics discussed include: robot learning;motion control;navigational map construc...
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The proceedings contains 59 papers from the 1997 ieee International symposium on computationalintelligence in Robotics and automation. Topics discussed include: robot learning;motion control;navigational map construction and localization;sensor-based manipulation;intelligent control;path planning;learning and control for locomotion;sonar;Q-learning;neural networks;sequential decision-making;sensor data fusion;behavioral synthesis;evolutionary computation;robot dynamics;robot vision;robot skills;and vision-based tracking.
This paper addresses the robust fuzzy control problem using the Lyapunov synthesis approach, in which the fuzzy model is viewed as the approximator, which is referred to as fuzzy approximator, to deal with the unknown...
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ISBN:
(纸本)0780378660
This paper addresses the robust fuzzy control problem using the Lyapunov synthesis approach, in which the fuzzy model is viewed as the approximator, which is referred to as fuzzy approximator, to deal with the unknown functions in the plant to be controlled. In order to deal with the case that the system state is unavailable to be used in the system development, state observer involving the fuzzy approximator is proposed. It is shown that the robust fuzzy controllers presented guarantee the tracking error, between the output of the considered system and the desired value, to be shrunken to zero or an arbitrarily small bound asymptotically, while maintaining all signals involved in the system stable.
This paper presents a solution to the time-optimal control of the relative formation of multiple vehicles. This is a problem in cooperative time-optimal control with a free terminal state constraint. In this paper, a ...
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ISBN:
(纸本)0780378660
This paper presents a solution to the time-optimal control of the relative formation of multiple vehicles. This is a problem in cooperative time-optimal control with a free terminal state constraint. In this paper, a canonical formulation of the problem is first derived. Then, a numerical technique to solve this class of problem is proposed. Numerical results demonstrate the efficacy of the proposed formulation and solution of this problem. The techniques described offer a solution to the problem of expeditiously building and controlling formations of cooperative autonomous vehicles.
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