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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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Performance Evaluation Criteria for Autonomous Cleaning Robots

Performance Evaluation Criteria for Autonomous Cleaning Robo...

引用

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

作者： Sungsoo Rhim Jae-Chang Ryu Kwang-Ho Park Soon-Geul Lee Faculty of Mechanical Engineering Kyung Hee University Yongin si Gyeonggi South Korea Department of Mechanical Engineering Kyung Hee University South Korea Korean Agency of Technology and Standards Gwacheon Gyeonggi South Korea

This paper is a report on the initial trial for its kind in the development of the performance index of the autonomous mobile cleaning robot. The unique characteristic features of the cleaning robot have been identified as autonomous mobility, dust collection, and operation noise. Along with the identification of the performance indices the standardized performance-evaluation methods including the corresponding performance evaluation platform for each indices have been developed as well. The validity of the proposed performance evaluation methods has been demonstrated by applying the proposed evaluation methods on two commercial cleaning robots available in market. The proposed performance evaluation methods can be applied to general-purpose autonomous service robots which will be introduced in the consumer market in near future.

关键词： Cleaning Measurement standards Intelligent robots Mobile robots Navigation Robotics and automation IEC standards Mechanical engineering Performance evaluation Service robots

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Tools and Techniques for Managing Many-Criteria Decision-Making

Tools and Techniques for Managing Many-Criteria Decision-Mak...

引用

ieee symposium on computational intelligence in Multi-Criteria Decision-Making, MCDM

作者： Peter J. Fleming Department of Automatic Control and Systems Engineering University of Sheffield UK

Summary form only given. Design problems arising in business and industry can often be conveniently formulated as multi-criteria decision-making problems. However, these often comprise a relatively large number of criteria. Through our close association with designers in industry and business we have devised a range of machine learning tools and associated techniques to address the special requirements of many-criteria decision-making. These include visualisation and analysis tools to aid the identification of features such as "hot-spots" and non-competing criteria, preference articulation techniques to assist in interrogating the search region of interest and methods to address the special computational demands of these problems. With the aid of test problems and real design exercises, we will demonstrate these approaches and also discuss alternative methods

关键词： Decision making computational intelligence Engineering management Computer industry Machine learning Visualization Testing Electrical equipment industry Industrial control Automatic control

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Image Clustering Using Visual and Text Keywords

Image Clustering Using Visual and Text Keywords

引用

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

作者： Rajeev Agrawal Changhua Wu William I. Grosky Farshad Fotouhi Kettering University Flint MI USA University of Michigan Dearborn Dearborn MI USA Computer Science Department Wayne State University Detroit MI USA

In classical image classification approaches, low-level features have been used. But the high dimensionality of feature spaces poses a challenge in terms of feature selection and distance measurement during the clustering process. In this paper, we propose an approach to generate visual keyword and combine both visual and text keywords of the image to form a multimodal vector for image classification. This multimodality helps in extracting the image to image, text to text and text to image relations. A visual keyword is derived using vector quantization of image tiles. We arrange the visual keywords in a manner analogous to the term-document matrix in information retrieval. The visual keywords when combined with text keywords result in improvement in the quality of classification. We use a recently proposed nonlinear dimensionality reduction technique, diffusion maps, to reduce the dimensionality of the image representation. Our method is evaluated on two public datasets: LabelMe and Corel. The results support the conclusion that the proposed method of combining visual and text keywords is robust and produces good quality clusters.

关键词： Vector quantization Principal component analysis Image classification computational intelligence Robotics and automation USA Councils Frequency Laplace equations Graph theory Extraterrestrial measurements

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Opposition-Based Differential Evolution (ODE) with Variable Jumping Rate

Opposition-Based Differential Evolution (ODE) with Variable ...

引用

ieee symposium on Foundations of computational intelligence, FOCI

作者： S. Rahnamayan H.R. Tizhoosh M.M.A. Salama Pattern Analysis and Machine Intelligence (PAMI) Research Group Faculty of Engineering University of Waterloo Waterloo ONT Canada Faculty of Engineering Medical Instrument Analysis and Machine Intelligence (MIAMI) Research Group University of Waterloo Waterloo ONT Canada

In this paper, a time varying jumping rate (TVJR) model for opposition-based differential evolution (ODE) has been proposed. According to this model, the jumping rate changes linearly during the evolution based on the number of function evaluations. A test suite with 15 well-known benchmark functions has been employed to compare performance of the DE and ODE with variable jumping rate settings. Results show that a higher jumping rate is more desirable during the exploration than during the exploitation. Details for the proposed approach and the conducted experiments are provided

关键词： computational intelligence Pattern analysis Machine intelligence Evolutionary computation Convergence Genetic mutations Instruments Benchmark testing Programmable control Adaptive control

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Integrated Hybrid Channel Assignment and Distributed Power control in Wireless Cellular Networks using Evolution Strategy

Integrated Hybrid Channel Assignment and Distributed Power C...

引用

ieee symposium on computational intelligence in Image and Signal Processing, CIISP

作者： Tahira Farid Alioune Ngom Arunita Jaekel School of Computer Science University of Windsor Windsor ONT Canada

The channel assignment problem is the problem of determining an optimal allocation of channels to mobile users that minimizes call-blocking and call-dropping probabilities. The power control problem is the problem of determining an optimal allocation of power levels to transmitters such that minimizes power consumption. In wireless mobile networks, channels and transmitter powers are limited resources and an efficient use of both these resources can greatly increase the network's capacity. However, very few papers have attempted to concurrently optimize both resource with significant success. We propose a multi-objective evolution strategy that combines the optimizations of channel assignment and power control. Preliminary results show substantial increase in network's capacity when compared with some current channel assignment method

关键词： Power control Land mobile radio cellular systems Base stations Transmitters Frequency Interference constraints Energy consumption computational intelligence Signal processing Computer science

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Toward Automating Airspace Management

Toward Automating Airspace Management

引用

ieee symposium on computational intelligence in Security and Defense Applications, CISDA

作者： Glenn Taylor Brian Stensrud Susan Eitelman Cory Dunham Echo Harger Soar Technology Inc. Ann Arbor MI USA

Military airspace is increasingly crowded with traditional aircraft competing with new loitering munitions and UAVs. Managing the airspace is therefore more challenging, requiring closer coordination among all the stakeholders. In this paper, we describe the motivation and design of a knowledge-based system that attempts to automate aspects of airspace management, including the detection and resolution of airspace conflicts. We then describe a formative evaluation of the system as compared to human performance of the same task, the evaluation setup, results, and analysis

关键词： Air traffic control Aerospace control Military aircraft Technology management Weapons Knowledge management Environmental management Space technology Humans Command and control systems

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Stability of Optimal Solutions: Multi- and Single-Objective Approaches

Stability of Optimal Solutions: Multi- and Single-Objective ...

引用

ieee symposium on computational intelligence in Multi-Criteria Decision-Making, MCDM

作者： A.R. Podgaets W.J. Ockels Delft University of Technnology Delft Netherlands

This paper deals with assessing stability of optimal solutions. Two ways are considered: introducing stochastic stability based on Lyapunov's stability as constraints in a single-objective optimization problem and using it as a second objective. The problem from the field of wind energy is taken $optimization of electricity production with a novel wind power concept called Laddermill. Due to the multi-objectiveness of the second approach both problems are programmed with an algorithm based on a modification of Pareto-optimization. The main conclusion is that multi-objectiveness makes problem statement more transparent and also easier to implement and faster to compute which makes multi-objective formulation desirable for the class of robust optimal control problems

关键词： Stability Optimal control Robust control Wind energy Production computational intelligence Decision making Paper technology Aerospace engineering Design optimization

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A Simple control Solution for Traction Motor Used in Hybrid Vehicles

A Simple Control Solution for Traction Motor Used in Hybrid ...

引用

International symposium on Applied computational intelligence and Informatics ( SACI)

作者： Zsuzsa Preitl Peter Bauer Jozsef Bokor Department of Control and Transport Automation Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

Electric motors (EM) are widely used in industry for a large variety of applications, such as traction motors used in electric and hybrid vehicles. In this paper a hybrid electric vehicle is considered, which contains both an internal combustion engine and an EM. Without focusing on the other components of the vehicle, the EM is treated in detail, both regarding modelling aspects and control solutions. After a brief modelling of the plant, two cascade speed control solutions are presented: first a classical PI+PI cascade control solution is presented. Then a correction term is introduced as a PI + a non-homogenous structured PI controller solution. The controllers are developed using the Modulus-Optimum method for the inner loop, and the extended symmetrical optimum method, corrected based on the 2p-SO-method, for the outer loop (for a more efficient disturbance rejection). Simulations were performed using numerical values taken from a real application consisting in a hybrid vehicle prototype, showing satisfactory behaviour.

关键词： Traction motors Hybrid electric vehicles Power system modeling Mathematical model Automatic control automation Internal combustion engines Velocity control control systems Generators

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