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Calibration System for Dial Gauges

Calibration System for Dial Gauges

引用

International symposium on Applied computational intelligence and Informatics ( SACI)

作者： Gyula Hermann BrainWare Limited Budapest Hungary

The calibration of dial gauges is a time consuming, cumbersome and monotone process. Due to monotonity the probability of human errors is large both in capturing the measuring data and in it's evaluation. In order to maintain competitiveness automation became compulsory. The present paper describes the design and implementation of an automatic calibration system applying advanced computer technologies and a high precision positioning system based on novel piezomotors providing submicron accuracy.

关键词： Calibration Humans Quality management Optical control Optical arrays Capacitive sensors Stress Computer errors automation Paper technology

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Cross Dock Scheduling Using Genetic Algorithms

Cross Dock Scheduling Using Genetic Algorithms

引用

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

作者： Shayla Ley Sherif Elfayoumy IxReveal Inc. Jacksonville FL USA School of Computing University of North Florida Jacksonville FL USA

Cross docking is a distribution system in which the merchandise received at a warehouse or distribution center is not stocked but immediately prepared for onward shipment. In other words, cross docking is the transfer of inward deliveries from the point of reception directly to the point of delivery with limited or no interim storage. One way to reduce cost in a cross dock terminal is to park incoming and outgoing trucks so that the loads can be efficiently moved across the dock. This means that the distance from loading and unloading is the shortest possible distance. The problem with generating an efficient schedule for the door assignments is that for n incoming and m outgoing trucks there are n!*m! possible solutions. This paper describes a solution to the cross dock scheduling problem using genetic algorithms. To judge the efficiency and accuracy of this solution, four programs were developed to test every possible combination of for small problem sizes (four, five, six, and seven incoming trucks). The results of the efficiency and accuracy testing shows that using genetic algorithms to schedule cross dock trucking operations provides an accurate and timely solution.

关键词： Genetic algorithms Optimal scheduling Biological cells Costs Job shop scheduling Loading Testing computational intelligence Robotics and automation USA Councils

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Mixed Reinforcement Learning for Partially Observable Markov Decision Process

Mixed Reinforcement Learning for Partially Observable Markov...

引用

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

作者： Le Tien Dung Takashi Komeda Motoki Takagi Shibaura Institute of Technology Japan

Reinforcement learning has been widely used to solve problems with a little feedback from environment. Q learning can solve full observable Markov decision processes quite well. For partially observable Markov decision processes (POMDPs), a recurrent neural network (RNN) can be used to approximate Q values. However, learning time for these problems is typically very long. In this paper, Mixed Reinforcement Learning is presented to find an optimal policy for POMDPs in a shorter learning time. This method uses both a Q value table and a RNN. Q value table stores Q values for full observable states and the RNN approximates Q values for hidden states. An observable degree is calculated for each state while the agent explores the environment. If the observable degree is less than a threshold, the state is considered as a hidden state. Results of experiment in lighting grid world problem show that the proposed method enables an agent to acquire a policy, as good as the policy acquired by using only a RNN, with better learning performance.

关键词： Learning Recurrent neural networks Table lookup computational intelligence Robotics and automation USA Councils Neurofeedback History Neural networks State-space methods

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Potentially Distributable Energy: Towards Energy Autonomy in Large Population of Mobile Robots

Potentially Distributable Energy: Towards Energy Autonomy in...

引用

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

作者： Trung Dung Ngo Hector Raposo Henrik Schioler Center for Embedded Software Systems University of Aalborg Aalborg Denmark Control & Automation section Electronics Institute Aalborg Denmark

We propose a new concept, potentially distributable energy, in the field of autonomous mobile robots. Considering a system of multiple robots powered by batteries, each robot no longer works since its energy capacity is expired. To extend operating time, the robot needs to replenish energy through recharging energy. To date, except research on vaccum cleaning robots that are able to recharge battery when docking with the fixed station has been achieved, there does not exist any research of energy distribution to prolong operating time in a large population of mobile robots. This could be caused by the lack of using rechargeable battery in the fact that the robot has to normally spend the charging-time much longer than the operating time. This paper presents simulation results of mobile robots that are capable of not only self-recharging energy but also exchanging batteries to the other robots. Initially, we describe a simulation of multiple mobile robots, and then issue rules of battery exchange, which is formulated under constraints of workload, distance and remaining capacity. The simulation shows that: (a) a robot is able to be energetically autonomous if its energy can be replenished by the other robots or it is able to come back to the main charging station to replenish itself; (b) energy of a robot is always under constraints of energy distribution of the mother charging station and the other robots; (c) distributed energy balance is the main elements to decide a number of robots in a specific area and an ideal location of the repository when one wants to deploy a large population of autonomous mobile robots. Finally, based on results of the simulation we adjust rules for our real multirobot system.

关键词： Mobile robots Robot sensing systems Batteries Robotics and automation Fuels Infrared sensors Cleaning Electronic components Vehicles computational intelligence

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control of a robotic swarm for the elimination of marine oil pollutions

Control of a robotic swarm for the elimination of marine oil...

引用

ieee Swarm intelligence symposium, SIS

作者： Dennis Fritsch Kai Wegener Rolf Dieter Schraft Fraunhofer Institute for Manufacturing Engineering and Automation Stuttgart Germany

This paper presents the concept as well as first results of the EU-MOP ("elimination units for marine oil pollutions") project. The basic idea of this project is a swarm out of autonomous marine robots which are able to recover oil with the help of oil skimmers. In order to achieve a flexible and robust system, the swarm intelligence (SI) approach has been used as control paradigm for the EU-MOP robots. Within the SI approach interaction between the robots plays an important role for the performance of the whole multi robot system. Thus, three control approaches, all basing on SI, but with different levels of interaction, have been developed. Furthermore a method for the evaluation of swarms in comparison to single robot systems will be presented

关键词： Robot control Oil pollution Petroleum Robot kinematics Robotics and automation Manufacturing automation Marine vehicles Environmental economics Particle swarm optimization Intelligent robots

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Genetic Algorithms Multiobjective Optimization of a 2 DOF Micro Parallel Robot

Genetic Algorithms Multiobjective Optimization of a 2 DOF Mi...

引用

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

作者： Sergiu-Dan Stan Vistrian Maties Radu Balan Department of Mechanics and Computer Science Technical University of Cluj Napoca Cluj-Napoca Romania

This paper is aimed at presenting a study on the optimization of the Bipod micro parallel robot, which comprises a two-degree-of-freedom (DOF) micro parallel robot with variable struts. The robot workspace is characterized and the inverse kinematics equation is obtained. In the paper, design optimization is implemented with genetic algorithms (GA) for optimization considering transmission quality index, manipulability, stiffness and workspace. Here, intended to show the advantages of using the GA, we applied it to a multicriteria optimization problem of 2 DOF micro parallel robot. Genetic algorithms (GA) are so far generally the best and most robust kind of evolutionary algorithms. A GA has a number of advantages. It can quickly scan a vast solution set. Bad proposals do not affect the end solution negatively as they are simply discarded. The obtained results have shown that the use of GA in such kind of optimization problem enhances the quality of the optimization outcome, providing a better and more realistic support for the decision maker.

关键词： Genetic algorithms Parallel robots Robotics and automation Design optimization Kinematics Manipulators Sampling methods computational intelligence USA Councils Equations

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Designing the Reward System: computational and Biological Principles

Designing the Reward System: Computational and Biological Pr...

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ieee symposium on Foundations of computational intelligence, FOCI

作者： Kenji Doya Okinawa Institute of Science and Technology Japan

Summary form only given. In the standard framework of optimal control and reinforcement learning, a "cost" or "reward" function is given a priori, and an intelligent agent is supposed to optimize it. In real life, control engineers and machine learning researchers are often faced with the problem of how to design a good objective function to let the agent attain an intended goal efficiently and reliably. Such meta-level tuning of adaptive processes is the major challenge in bringing intelligent agents to real-world applications. While development of theoretical frameworks for 'meta-learning' of adaptive agents is an urgent engineering problem, it is an important biological question to ask what kind of meta-learning mechanisms our brain implements to enable robust and flexible control and learning. We are putting together computational, neurobiological, and robotic approaches to attack these dual problems of computational theory and biological implementation of meta-learning

关键词： Biology computing Intelligent agent Reliability engineering Optimal control Cost function Design engineering Machine learning Programmable control Adaptive control Robust control

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Stochastic Model for Adaptation Using Basin Hopping Dynamics

Stochastic Model for Adaptation Using Basin Hopping Dynamics

引用

ieee symposium on Foundations of computational intelligence, FOCI

作者： Peter Davis NTT Communication Science Laboratories Kyoto Japan

An analysis is presented for adaptive selection of modes using bifurcation of mode-hopping dynamics in a multi-basin system. The analysis utilizes a formalism based on coarse-grained state transitions. Stochastic state transition probabilities are used to derive expressions for mode search times and adaptation rates. This approach can be applied to the tuning of dynamical instabilities in flexible control systems

关键词： Stochastic processes Adaptation model Chaos Switches Stochastic resonance computational intelligence Bifurcation Chaotic communication Neurofeedback Laser feedback

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A field experiment of autonomous mobility: Operator workload for one and two robots 07

A field experiment of autonomous mobility: Operator workload...

引用

HRI 2007: 2007 ACM/ieee Conference on Human-Robot Interaction - Robot as Team Member

作者： Hill, Susan G. Bodt, Barry U.S. Army Research Laboratory Human Research and Engineering Directorate Aberdeen Proving Ground MD 21005 U.S. Army Research Laboratory Computational and Information Sciences Directorate Aberdeen Proving Ground MD 21005

ISBN: (纸本)1595936173

An experiment was conducted on aspects of human-robot interaction in a field environment using the U.S. Army's Experimental Unmanned Vehicle (XUV). Goals of this experiment were to examine the use of scalable interfaces and to examine operator span of control when controlling one versus two autonomous unmanned ground vehicles. We collected workload ratings from two Soldiers after they had performed missions that included monitoring, downloading and reporting on simulated reconnaissance, surveillance, and target acquisition (RSTA) images, and responding to unplanned operator intervention requests from the XUV. Several observations are made based on workload data, experimenter notes, and informal interviews with operators. Copyright 2007 ACM.

关键词： Mobile robots

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Real-Time Disturbance Compensation with Accelerometers & Piezoelectric-Driven Mechanism

Real-Time Disturbance Compensation with Accelerometers & Pie...

引用

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

作者： U. X. Tan W. T. Latt M. Tanjaya H. T. Wirawan C. Y. Shee W. T. Ang School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore

Disturbance / vibration reduction is critical in many applications. One example is disk drive industry. With the advance in optical disk drive technology, the off-track or off-focusing error caused by disturbance is limiting the performance. Instead of going with the more familiar approach like vibration absorber, a real-time disturbance compensation without much phase lag is proposed. In this paper, to illustrate the idea of real-time compensation, a one dof cancellation of tremor is performed. Instantaneous motion due to the disturbance is sensed by an accelerometer inertial measurement unit (IMU). Modeling of the accelerometer is done to provide better readings. The compensation motion is provided by manipulating a piezoelectric-driven flexure-based mechanism. Due to the existence of backslash in revolute joints, flexure-based mechanism is proposed to achieve better result. Piezoelectric actuator is proposed because of its high frequency and precision. The hysteretic non-linearity of the piezoelectric actuator is modeled using Prandtl-Ishlinskii operator. Based on this model, an open-loop inverse feed-forward controller is implemented to accurately provide the required motion.

关键词： Accelerometers Disk drives Piezoelectric actuators Optical sensors Measurement units Frequency Hysteresis Inverse problems Feedforward systems Motion control

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