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intelligence computing for direct human-robot communication using natural language and cognitive graphics

Intelligence computing for direct human-robot communication ...

引用

1997 ieee International symposium on computational intelligence in Robotics and automation (CIRA 97) - Towards New computational Principles for Robotics and automation

作者： Litvintseva, LV Tanaka, T Yamafuji, K Ulyanov, VS Univ of Electro-Communications Tokyo Japan

ISBN: (纸本)0818681381

Direct human-robot communication system based on natural language (NL) and cognitive graphics (CG) as a part of a new hierarchical structure of AI control system of mobile robot for service use (MRSU) is developed, The software of simulation system for direct human-robot communication and MRSU behavior based on NL and CG is described. The NL an CG is used for description and representation of possible external worlds in the robot artificial life, This system allows us to evaluate the control algorithms of real time robot behavior and to reduce difficulties connected with such troubles as robot collisions with real objects and robot hardware damages. The mathematical background of direct NL human-robot communication and robot behavior simulation system is knowledge engineering based on spatio-temporal and action logics, default reasoning, cognitive graphics and soft computing, The main concepts, structure, conceptual model of simulation system for description of artificial life of MRSU are discussed, The example of simulation and real experimental results are described.

关键词： Intelligent control

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Adaptive control and synchronization of a class of chaotic systems in which all parameters are unknown

Adaptive control and synchronization of a class of chaotic s...

引用

3rd ieee symposium on computational intelligence in control and automation (CICA)

作者： Fuh, Chyun-Chau Tsai, Hsun-Heng Natl Taiwan Ocean Univ Dept Mech & Mechatron Engn Keelung 20224 Taiwan Natl Pingtung Univ Sci & Technol Dept Biomechatron Engn Pingtung 91201 Taiwan

ISBN: (纸本)9781467358934

This paper proposes an adaptive algorithm for the control and synchronization of a class of second order chaotic systems which exact dynamics or parameters are unknown in priori. The proposed control scheme includes a feedback controller and a feedforward compensator. Both the gains of the controller and the compensator are updated by an adaptation algorithm derived from Model Reference Adaptive control (MRAC) theory. In the proposed approach, the optimal adaptation gains are identified using the Nelder-Mead simplex algorithm. This algorithm does not require the derivatives of the performance index to be optimized, and is therefore particularly applicable to complex systems or problems with undifferentiable elements, discontinuities or uncertainties. The feasibility and effectiveness of the proposed approach are demonstrated by way of numerical simulations using general Duffing's systems for illustration purposes.

关键词： chaos adaptive control synchronization Nelder-Mead simplex algorithm

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Effects of parameter values and noise on PSO-based predictive control: An empirical study

Effects of parameter values and noise on PSO-based predictiv...

引用

ieee symposium on computational intelligence in control and automation

作者： Yousuf, Muhammad S. Al-Duwaish, Hussain N. Department of Electrical Engineering King Fahd University of Petroleum and Minerals Dhahran Saudi Arabia

ISBN: (纸本)9781424499038

In this paper, a Particle Swarm Optimization (PSO) based Model Predictive control (MPC) scheme is studied through a variety of tests to better understand its behavior and characteristics. The technique has already been presented in the literature. Here, the PSO and MPC parameters are varied to study the effects on the quality of control and system dynamics. Model mismatch and noise are also introduced to test the controller performance. The results from various tests are compared and conclusions are drawn. © 2011 ieee.

关键词： Model predictive control

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Testbed for Mobile Robot Platoon control System Evaluation 19

Testbed for Mobile Robot Platoon Control System Evaluation

引用

ieee Joint 19th International symposium on computational intelligence and Informatics / 7th International Conference on Recent Achievements in Mechatronics, automation, Computer Sciences and Robotics

作者： Feher, Aron Nagy, Lehel Marton, Lorinc Univ Pannonia Fac Informat Technol Veszprem Hungary Sapientia Hungarian Univ Transylvania Dept Elect Engn Targu Mures Romania

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

关键词： Mobile robots

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Adaptive scaling control for the Internet-based teleoperation

Adaptive scaling control for the Internet-based teleoperatio...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Liu, PX Meng, MQH Gu, JJ Univ Alberta Dept Elect & Comp Engn Edmonton AB T6G 2G7 Canada

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.

关键词： teleoperation control Internet

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Quadrotor control Using Dynamic Feedback Linearization Based on Piecewise Bilinear Models 4

Quadrotor Control Using Dynamic Feedback Linearization Based...

引用

ieee symposium on computational intelligence in control and automation (CICA)

作者： Taniguchi, Tadanari Eciolaza, Luka Sugeno, Michio Tokai Univ IT Educ Ctr Hiratsuka Kanagawa 2591292 Japan European Ctr Soft Comp Mieres 33600 Asturias Spain

ISBN: (纸本)9781479945306

This paper proposes a tracking controller for a four rotors helicopter robot using dynamic feedback linearization based on piecewise bilinear (PB) models. The approximated model is fully parametric. Input-output (I/O) dynamic feedback linearization is applied to stabilize PB control system. Although the controller is simpler than the conventional I/O feedback linearization controller, the control performance based on PB model is the same as the conventional one. Examples are shown to confirm the feasibility of our proposals by computer simulations.

关键词： aerospace robotics bilinear systems feedback helicopters position control I-O feedback linearization controller PB control system PB models computer simulations helicopter robot input-output dynamic feedback linearization piecewise bilinear models quadrotor control tracking controller Aerospace electronics computational modeling control systems Helicopters Mathematical model Robots Rotors Helicopters tracking controller aerospace robotics avionics Rotors bilinear systems control systems Robot Feedback Computer Simulation Position control computational modeling Mathematical Model Linearization

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Glycemic control metrics for in silico testing of artificial pancreas systems 22

Glycemic control metrics for in silico testing of artificial...

引用

ieee Joint 22nd International symposium on computational intelligence and Informatics / 8th ieee International Conference on Recent Achievements in Mechatronics, automation, Computer Science and Robotics (CINTI-MACRo)

作者： Novak, Kamilla Kovacs, Levente Drexler, Daniel Andras Eigner, Gyorgy Obuda Univ Physiol Controls Res Ctr Becsi St 96-B H-1034 Budapest Hungary Obuda Univ John von Neumann Fac Informat Biomat & Appl Artificial Intelligence Inst Becsi St 96-B H-1034 Budapest Hungary Obuda Univ Appl Informat & Appl Math Doctoral Sch Becsi St 96-B H-1034 Budapest Hungary

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.

关键词： Glucose

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Extreme Learning ANFIS for control Applications 4

Extreme Learning ANFIS for Control Applications

引用

ieee symposium on computational intelligence in control and automation (CICA)

作者： Pillai, G. N. Pushpak, Jagtap Nisha, M. Germin Indian Inst Technol Roorkee Dept Elect Engn Roorkee Uttar Pradesh India

ISBN: (纸本)9781479945306

This paper proposes a new neuro -fuzzy learning machine called extreme learning adaptive neuro-fuzzy inference system (ELANFIS) which can be applied to control of nonlinear systems. The new learning machine combines the learning capabilities of neural networks and the explicit knowledge of the fuzzy systems as in the case of conventional adaptive neuro-fuzzy inference system (ANFIS). The parameters of the fuzzy layer of ELANFIS are not tuned to achieve faster learning speed without sacrificing the generalization capability. The proposed learning machine is used for inverse control and model predictive control of nonlinear systems. Simulation results show improved performance with very less computation time which is much essential for real time control.

关键词： extreme learning machines fuzzy neural systems nonlinear model predictive control inverse control

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An architecture for the interconnecting heterogeneous fieldbuses in industrial automation

An architecture for the interconnecting heterogeneous fieldb...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Qu, RT Lim, R Singapore Inst Mfg Technol Singapore 638075 Singapore

ISBN: (纸本)0780378660

A wide variety of fieldbuses have been set up in the industrial automation system in different time periods under different environment. Therefore, during the development of industrial automation systems and control applications, the developer has to consider the interconnection of heterogeneous fieldbuses. In the paper, a Heterogeneous Fieldbuses Interconnection Architecture (HFIA) is presented to interconnect heterogeneous fieldbuses in wide area industrial automation system. The HFIA provides an integrated software framework to interconnect heterogeneous fieldbuses. With the help of the HFIA, it is easy and fast to interconnect heterogeneous fieldbuses. At the same time, the HFIA can be used for high-level industrial applications to control, monitor and optimize the operations of the fieldbuses systems. Profilbus, CANbus and Ethernet/IP are adopted as case studies for the HFIA architecture.

关键词： Factory automation

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Co-emergence process on the humans cooperation for walk-support

Co-emergence process on the humans cooperation for walk-supp...

引用

ieee International symposium on computational intelligence in Robotics and automation

作者： Muto, T Miyake, Y Tokyo Inst Technol Dept Computat Intelligence & Syst Sci Tokyo 152 Japan

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.

关键词： Process control

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