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Neural inverse modeling and control of a base-excited inverted pendulum

Neural inverse modeling and control of a base-excited invert...

引用

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

作者： Q. Wu N. Sepehri Department of Mechanical and Industrial Engineering University of Manitoba Winnipeg MAN Canada

In this paper multilayer neural networks are used to control the balancing of a base-excited inverted pendulum. The pendulum has two degrees of rotational freedom and the base-point moves freely in the 3D space. The goal is to apply control torques to keep the pendulum in a prescribed orientation in spite of disturbing base-point movement. The inclusion of the base-point motion leads to a nonautonomous dynamic system with time-varying parametric excitation. The controlling neural networks are updated online. Furthermore, since the pendulum's base-point movement is considered unmeasurable, a novel neural inverse model is employed to estimate it from measurable variables. The performance of the proposed neural controller has been compared with the performance of the recently developed control law on the same problem. It is shown that the proposed neural controller produces fast, yet well maintained damped responses with reasonable control torques and without a knowledge of the model or model parameters. Additionally, the developed controller does not require measurement of the base-point accelerations, which are difficult to obtain in practice.

关键词： Inverse problems Neural networks Torque control Acceleration Motion control control systems Multi-layer neural network Biological system modeling Humans Stability

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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...

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

作者： T. Yamada K. Watanabe K. Kiguchi K. Izumi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University Honjomachi Saga Japan

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： Fuzzy control Robots Motion control Genetic algorithms Motion analysis Biomechanics control engineering Mechanical engineering Performance evaluation Humans

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Simplified predictive control of dynamical systems based on incremental type of cause-effect models

Simplified predictive control of dynamical systems based on ...

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

作者： G. Vachkov T. Fukuda Department of Micro System Engineering University of Nagoya Nagoya Japan Center for Cooperative Research in Advanced Science and Technology University of Nagoya Nagoya Japan

An incremental cause-effect type of dynamical model is proposed for use in a predictive control scheme. The model parameters comprise of a scaling factor, a memory length and the shape of a specially introduced membership function. This function represents the normalized degrees of the cause-effect relationships between the past time changes of the control input and the current change of the plant output. The model of the plant dynamics can be identified from the experimental data by the least mean squares (LMS) algorithm. A special algorithm for reduced size identification that uses tuning of a 1D Takagi-Sugeno fuzzy model by the LMS algorithm is shown. An improved version of the predictive control scheme is also introduced that leads to a reduction of the prediction errors caused by the inaccuracy of the plant model. Finally, numerical simulations are shown to illustrate the performance of proposed control algorithm that lead to a conclusion for applicability of the method.

关键词： Predictive control Predictive models Least squares approximation Sampling methods Systems engineering and theory Shape Numerical simulation Optimization methods Process control Delay effects

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Finite elements, mass-spring-damper systems and haptic rendering

Finite elements, mass-spring-damper systems and haptic rende...

引用

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

作者： S. Payandeh N. Azouz Experimental Robotics Laboratory of School of Engineering Science of Simon Fraser University of Burnaby BC Canada Centre d'Etudes de Mecanique d'Ile-de-France Evry France

Haptic feedback can be classified as a branch of robotic force (compliant) control (computation) area. In the traditional force control areas, the objective is to regulate the desired contact force between a robotic agent an environment through design of a control law which has some model of the compliance embedded into it. For the haptic feedback environment, the user interacts with the graphical environment through a robotic device (force-feedback mechanism). The feedback force at the hand of the user is generated through computational model of how the virtual object reacts to the input from the user when it is penetrating the model of an environment. There are a number of computational elements involve in creating a haptic environment. This paper concerns with haptic rendering which is a complementary module to the graphical rendering of the virtual scene. Haptic rendering is the computation of the reaction forces and deformation as a function of the geometrical interaction of the user with the environment. This paper presents an overview of a number of approaches, which has been used to model the environment and presents a new computationally efficient approach for modeling compliance of the environment.

关键词： Finite element methods Haptic interfaces Force control Force feedback Rendering (computer graphics) Layout Robot control Delay effects Robot sensing systems Interference

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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 ...

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

作者： Mee-Seub Lim Joonhong Lim Sang-Rok Oh Department of Mechatronics Kyonggi Institute of Technology South Korea Department of Electronic Engineering Hanyang University South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea

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 control systems Motion control Wheels Motion planning Navigation Discrete event systems Robot control Indoor environments Collision avoidance

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Dynamic control of curve-constrained hyper-redundant manipulators

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

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

作者： Shugen Ma M. Watanabe H. Kondo Department of Systems Engineering Faculty of Engineering Ibaraki University Hitachi Japan

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-expensive and makes 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： Manipulator dynamics Kinematics Orbital robotics Service robots Computer simulation Systems engineering and theory Electrical equipment industry Real time systems control systems Torque control

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Distributed multiple hypotheses testing with serial distributed decision fusion

Distributed multiple hypotheses testing with serial distribu...

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

作者： Xiao-Gang Wang M. Moallem R.V. Patel School of Mechanical Eng. and Automation Shanghai University Shanghai China Department of Electrical & Computer Eng. University of Western Ontario London ONT Canada

In this paper we present a multiple hypothesis testing strategy for serial (so-called tandem) distributed decision networks. Comparing with parallel decision networks, some nice properties of tandem networks are also of interest. Applying our flexible multiple Hypotheses Testing methods to serial distributed multisensor systems, the decision risk functions are provided, the decision rules for each individual sensor (viewed as middle nodes) as well as fusion sensor (as final node) are derived. It is also shown how to compute sensor performance and system performance in terms of variety of probability masses. A numerical example is given to demonstrate the efficacy of the proposed method.

关键词： Sensor systems Multisensor systems Decision making Bayesian methods Computer networks Distributed computing automation Automatic testing System testing Command and control systems

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Composable robot controllers

Composable robot controllers

引用

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

作者： J. Peterson G. Hager A. Serjentov Yale University USA Department Computer Science Johns Hopkins University USA Department Computer Science University of Cambridge UK

Software for controlling robots is often difficult to develop and maintain. Specialized robot programming languages make this task more manageable. These languages may be either created from scratch or incorporated within an existing language. In this paper, we demonstrate the latter technique: an embedded domain-specific language called Frob (for functional robotics) built within Haskell, a purely functional programming language. We use basic techniques of programming, transformation and composition, to create high-level controllers that are concise, understandable, and easily modifiable. Frob is constructed using functional reactive programming, a system that describes interactive computations using functions. In this paper, we demonstrate the use of Frob in the context of the Robocup robotic soccer competition. We develop a set of control systems for Robocup and show how these systems can be composed into complex soccer strategies.

关键词： Robot control Fiber reinforced plastics Robot programming Functional programming Computer science Software maintenance control systems Typesetting Page description languages Databases

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A human scale tele-operating system for microoperation

A human scale tele-operating system for microoperation

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

作者： Shuxiang Guo K. Sugimoto S. Hata Department of lntelligent Mechanical Systems Eng'g Kagawa University Takamatsu Japan

In the medical field and in biotechnology application, a new type of human scale teleoperating system that can carry out three-dimensional high-speed micromanipulation has urgently been demanded. It is our purpose to develop a new type of human scale operating system for microoperation that can manipulate a microobject In this paper, we deal with a human scale teleoperating system. In order to operate microobject in human scale, the working table and micromanipulator with multi DOF are demanded to be developed. So we propose a macro/micro mechanism for the system. Firstly, we design a precision parallel micromechanism with 6 DOF (10 /spl mu/ m Moving Range, 10nm Resolving Power), and compose the macro/micro mechanism. Then, we also did the complex control for the macro/micro mechanism. The experimental results indicate that the proposed Macro/micro mechanism can be controlled by teleoperation, and it is very useful for human scale microoperation system.

关键词： Humans Power system modeling Micromanipulators Force control Medical diagnostic imaging Biotechnology Operating systems Medical control systems control systems Biomedical engineering

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Evolving cyclic control for a hexapod robot performing area coverage

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

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

作者： G.B. Parker Department of Computer Science Connecticut College New London CT USA

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： Robot sensing systems Path planning Mobile robots Dead reckoning Testing Navigation Actuators Computer science Educational institutions Calibration

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