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Planar spline trajectory following for an autonomous helicopter

Planar spline trajectory following for an autonomous helicop...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Harbick, K Montgomery, JF Sukhatme, GS Univ So Calif Dept Comp Sci Robot Res Labs Robot Embedded Syst Lab Los Angeles CA 90089 USA

ISBN: (纸本)0780372034

This paper proposes a technique for planar trajectory following for an autonomous aerial robot. A trajectory is modeled as a planar spline. A behavior-based control system which stabilizes the robot and enforces trajectory following, ha, ban implemented and tested on an autonomous helicopter. Results from two flight experiments are presented. The trajectory tracking error is on the order of the size of the robot (1.8 m). Given the inherent error in GPS positioning, and environmental disturbances (wind), this is quite reasonable.

关键词： helicopters environmental di GPS positioning error autonomous aerial robot stabilization behavior-based control system autonomous helicopter planar spline trajectory following stability splines (mathematics) mobile robots aircraft control

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Neural network detection and identification of actuator faults in a pneumatic process control valve

Neural network detection and identification of actuator faul...

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ieee International symposium on computational intelligence in Robotics and automation

作者： Karpenko, M Sepehri, N Scuse, D Univ Manitoba Winnipeg MB R3T 5V6 Canada

ISBN: (纸本)0780372034

This paper establishes a scheme for detection and identification of actuator faults in a pneumatic process control valve using neural networks. First, experimental performance parameters related to the valve step responses, including dead time, rise time, overshoot, and the steady state error are obtained directly from a commercially available software package for a variety of faulty operating conditions. Acquiring training data in this way has eliminated the need for additional instrumentation of the valve. Next, the experimentally determined performance parameters are used to train a multi-layer perceptron network to detect and identify incorrect supply pressure, actuator vent blockage and diaphragm leakage faults. The scheme presented here is novel in that it demonstrates that a pattern recognition approach to fault detection and identification, for pneumatic process control valves, using features of the valve step response alone, is possible.

关键词： Network layers

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Acquisition of exercise skill represented by fuzzy control rules for a rings gymnastic robot

Acquisition of exercise skill represented by fuzzy control r...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Yamada, T Watanabe, K Kiguchi, K Izumi, K Saga Univ Grad Sch Sci & Technol Dept Adv Syst Control Engn Saga 8408502 Japan

ISBN: (纸本)0780372034

We have focused on rings that are one event of men's apparatus gymnastics. The ring exercises have the characteristics that the apparatus can move in all directions freely unlike horizontal bar exercises that have the constraint between hands and the horizontal bar. Realizing the robot that performs rings practically, we can expect a contribution to the coaching. Therefore we have already proposed the "rings gymnastic robot" that performs gripping the rings suspended by a rope. In this paper, our goal is to acquire an exercise skill represented by fuzzy control rules. A backward giant circle from handstand to handstand is selected as the exercise to simulate. The skill to realize the exercise is obtained by a genetic algorithm, in which an evaluation method using five subgroups with independent evaluation is introduced.

关键词： Genetic algorithms

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Learning for cooperation in multirobot team competitions

Learning for cooperation in multirobot team competitions

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Song, KT Tang, CC Natl Chiao Tung Univ Dept Elect & Control Engn Hsinchu 300 Taiwan

ISBN: (纸本)0780372034

We propose in this paper a learning architecture for cooperation in multirobot team competitions. This is a fully distributed, behavior-based software architecture, which facilitates flexible and reliable coordination on a team of robots performing tasks that may be subverted by another team of robots. Through the use of genetic algorithm, the robot team learns from past task execution experiences and improves its cooperation between the robots. The team performance in a game competition can be effectively improved. The feasibility of this architecture is demonstrated through simulation and practical experiments on a team of robots performing 3-on-3 robot soccer game.

关键词： Genetic algorithms

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Humanoid walk control with feedforward dynamic pattern and feedback sensory reflection

Humanoid walk control with feedforward dynamic pattern and f...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Huang, Q Li, KJ Nakamura, Y Beijing Inst Technol Dept Mechatron Beijing 100081 Peoples R China

ISBN: (纸本)0780372034

Since a biped humanoid inherently suffers from instability and always risks itself to tipping over, ensuring high stability and reliability of walk is one of the most important goals. This paper proposes a walk control consisting of a feedforward dynamic pattern and a feedback sensory reflex. The dynamic pattern is a rhythmic and periodic motion, which satisfies the constraints of dynamic stability and ground conditions, and is generated assuming that the models of the humanoid and the environment are known. The sensory reflex is a simple, but rapid motion programmed in respect to sensory information. The sensory reflex, we propose in this paper, consists of the body posture control, the actual ZMP (Zero Moment Point) control, and the landing time control. With the dynamic pattern and the sensory reflex, it is possible for the humanoid to walk rhythmically and to adapt itself to environmental uncertainties. The effectiveness of our proposed method was confirmed by walk experiments of an actual 26 DOF humanoid on an unknown rough terrain and in the presence of disturbances.

关键词： Feedback

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Dynamic control of curve-constrained hyper-redundant manipulators

Dynamic control of curve-constrained hyper-redundant manipul...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Ma, SG Watanabe, M Kondo, H Ibaraki Univ Fac Engn Dept Syst Engn Hitachi Ibaraki 3168511 Japan

ISBN: (纸本)0780372034

Hyper-redundant manipulators have large number of kinematic degrees of freedom, thus possessing some unconventional features such as the ability to enter a narrow space while avoiding obstacles. To control these hyper-redundant manipulators accurately, the manipulator dynamics must be included into consideration. This is however time-expansive and causes implementation of the real-time control difficult. In this paper, we propose a dynamic control scheme for hyper-redundant manipulators, which is based on analysis in the defined posture space where three parameters were used to determine the manipulator posture. The manipulator dynamics is modeled in the parameterized form with the parameter of the posture space path and the posture space path-tracking feedforward controller is formulated on the basis of the parameterized dynamic equation. Computer simulation was executed to show the validity of the proposed technique, where a hyper-redundant manipulator traces the posture space path well by the proposed feedforward. controller. As a result, it is proven that the hyper-redundant manipulator can track the workspace path accurately.

关键词： Real time control

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A model for time-delays for teleoperation over the Internet

A model for time-delays for teleoperation over the Internet

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Mirfakhrai, T Payandeh, S Simon Fraser Univ Expt Robot Lab Burnaby BC V5A 1S6 Canada

ISBN: (纸本)0780372034

The stochastic nature of the communication delay in teleoperation systems makes it hard to predict the behavior of such systems. Although achieving a general-purpose model for the Internet is not easy, if possible at all, stochastic models for specific cases enable us design predictors, which can help in stabilizing the teleoperation systems. In this paper we have developed an initial notion to create an autoregressive model for delays over the Internet. By probing the system behavior at different times of the day for a period of time, the general behavior of the delay can be comprehended and so partially predicted. Introducing a predictor in the teleoperation system can improve the system behavior through for example gain scheduling at the master controller.

关键词： Remote control

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Robot formations using only local sensing and control

Robot formations using only local sensing and control

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Fredslund, J Mataric, MJ Aarhus Univ Dept Comp Sci DK-8200 Aarhus N Denmark

ISBN: (纸本)0780372034

We study the problem of achieving global behavior in a group of robots using only local sensing and interaction, in the context of formations, where the goal is to have N mobile robots establish and maintain some predetermined geometric shape. We have devised a simple, general, robust, localized, behavior-based algorithm that solves the problem for N robots each equipped with sonar, laser, camera, and a radio link for communicating with other robots. The method uses the idea of keeping a single friend at a desired angle (by panning the camera and keeping the friend centered in the image), and only communicating heartbeat messages. We also developed a general analytical method for evaluating formations and applied it to our algorithm. We validate our algorithm both in simulation and with physical robots.

关键词： mobile robots heartbeat messages radio link camera laser sonar geometric shape local interaction local control local sensing robot formations cooperative systems position control multi-robot systems Mobile robots Radio links Geometric forms multi-robot systems sonar cooperative systems Cameras Position control Robot partial control Geologic Formations Laser

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High-speed wall following and obstacle avoidance of wheeled mobile robots using hybrid behavior specifications

High-speed wall following and obstacle avoidance of wheeled ...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Lim, MS Lim, JH Oh, SR Dept. of Mechatronics Kyonggi Institute of Technology South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea Dept. of Electronic Engineering Hanyang University South Korea

ISBN: (纸本)0780372034

In this paper, we propose a new approach to the high-speed wall following of wheeled mobile robots using hybrid control system. The proposed hybrid system consists of the discrete state system as the high-level process and the continuous state system as the low-level process. In discrete state system, the discrete states are defined by the user-defined constraints and the reference motion commands are specified in the abstracted motions. The reference motion commands are translated into the control inputs for each wheel in the continuous state system. The hybrid control system applied for wheeled mobile robots can combine the motion planning and autonomous navigation with obstacle avoidance in indoor navigation problem. Simulation results show that hybrid system approach is an effective method for the autonomous navigation. In the experiments of the indoor environments, we proved that the performance of the high-speed navigation is excellent.

关键词： Mobile robots

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Evolving cyclic control for a hexapod robot performing area coverage

Evolving cyclic control for a hexapod robot performing area ...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Parker, GB Connecticut Coll Dept Comp Sci New London CT 06320 USA

ISBN: (纸本)0780372034

For a robot to search an entire area, it must follow a path that allows the range of its sensors to cover all parts of the area. This problem is a subset of path planning called area coverage. Most work done in this type of path planning has concentrated on ways of dividing the area up to avoid obstacles while covering the area. This is an important step in the process, but often takes for granted the movement of the robot within clear areas. This is not a problem if the robot has sufficient calibration to ensure the accuracy of calculated turns or if it has accurate enough navigational devices to keep track of its location. However, simple legged robots usually lack both of these attributes. It is difficult to make turns that fit a specified arch and sufficient on board navigational devices are expensive and/or too large to carry. In this paper, we use cyclic genetic algorithms to learn the control cycles required to make an actual hexapod robot perform area coverage.

关键词： Motion planning

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