The paper presents an advanced Fuzzy self-tuning PID controller theory and it implement its applications on Data I/O's automated robotic programming systems. Considerable programming technology shift occurred in r...
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The paper presents an advanced Fuzzy self-tuning PID controller theory and it implement its applications on Data I/O's automated robotic programming systems. Considerable programming technology shift occurred in recent device programmer industry;programming density have been constantly fast growing from lowvolume to high-volume programming for all kinds of non-volatile flash memory devices such as NOR flash, NAND flash, and MMC cards, SD flash cards, serial flash device, serial flash cards, flash-based microcontrollers and flash disks as high performance M-systems DiskOnChip. Device programming mode is more demanding an automatic programming than manual operation mode. It drives the creation and implementation of a high-performance automated programming robotic systems. This paper shows how this proposed advanced Fuzzy self-tuning PID controllers work on these automated programming robotic automation systems.
The system which allows automating the visual monitoring of the spacecraft ATV rendezvous / separations with the international space station is being considered. The initial data for this complex is the video signal r...
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The system which allows automating the visual monitoring of the spacecraft ATV rendezvous / separations with the international space station is being considered. The initial data for this complex is the video signal received from the TV-camera, mounted on the station board. The offered algorithms of this video signal processing in real time allow restoring the basic characteristics of the spacecraft motion with respect to the international space station. The results of the experiments with the described software and real and virtual video data about the docking approach of the spacecraft with the international Space Station are being presented. The accuracy of the estimation of the motion characteristics and perspectives of the use of the package are being discussed.
Fully automatic driving is emerging as the approach to dramatically improve efficiency (throughput per unit of space) while at the same time leading to the goal of zero accidents. This approach, based on fully automat...
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Fully automatic driving is emerging as the approach to dramatically improve efficiency (throughput per unit of space) while at the same time leading to the goal of zero accidents. This approach, based on fully automated vehicles, might improve the efficiency of road travel in terms of space and energy used, and in terms of set-vice provided as well. For such automated operation, trajectory planning methods that produce smooth trajectories, with low level associated accelerations and jerk for providing human comfort, are required. This paper addresses this problem proposing a new approach that consists of introducing a velocity planning stage in the trajectory planner. Moreover, this paper presents the design and simulation evaluation of trajectory-tracking and path-following controllers for autonomous vehicles based on sliding mode control. A new design of sliding surface is proposed, such that lateral and angular errors are internally coupled with each other (in cartesian space) in a sliding surface leading to convergence of both variables.
This paper presents a hybrid feedback controller for path control of autonomous mobile robots. The controller combines reactive obstacle avoidance with global path replanning, enabling collision-free navigation along ...
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This paper presents a hybrid feedback controller for path control of autonomous mobile robots. The controller combines reactive obstacle avoidance with global path replanning, enabling collision-free navigation along a preplanned path. Avoidance of local obstacles is accomplished by reactively adjusting the vehicle's lateral deviation from the path trajectory. Global path replanning is performed to circumvent obstacles which cannot be avoided locally. In contrast to common approaches, this is done by searching the shortest feasible path returning to the initial trajectory beyond the obstacle. Following the description of the hybrid feedback controller, experimental results with speeds of up to 4 m/s will demonstrate the effectiveness of this approach.
This paper discusses the human postural control as an interdisciplinary problem. The goal of posture control is to maintain the orientation of the body upright. Two main approaches are presented to address the problem...
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This paper discusses the human postural control as an interdisciplinary problem. The goal of posture control is to maintain the orientation of the body upright. Two main approaches are presented to address the problem: neurological and engineering. Tackling the problem from the two perspectives aims to shed light on possible tools and techniques that may be borrowed from one field to the other. Accordingly, the two approaches are detailed first and then compared and linked. In the previously established neurological approach, the problem is described, main sensory systems are identified, sensor fusion is suggested, a control system architecture in most basic form is presented, and simulations and experiments on a special-purpose humanoid were performed yielding results similar to human performance. The engineering approach aims to yield a deeper understanding of the neurological perspective. In currently applied first steps regarding this approach, the humanoid parameters are identified, its dynamic model is derived, an external-disturbance estimation method is presented, a control concept for stabilizing the body motion and then for robust tracking of voluntary motion in the presence of external disturbances is shown in simulations. The simulation results demonstrate the validity and merits of this engineering approach. Finally, a comparison is made between the two approaches pointing out both, common and different features.
The Fourth internationalconference on informatics in control, automation, and robotics (ICINCO 2007) was held at the University of Angers from 9 through 12 May 2007. This conference sought to bring together researche...
The Fourth internationalconference on informatics in control, automation, and robotics (ICINCO 2007) was held at the University of Angers from 9 through 12 May 2007. This conference sought to bring together researchers, engineers, and practitioners interested in the application of informatics to control, automation, and robotics, with an emphasis on intelligent systems and various AI technologies, such as expert systems, evolutionary computing, neural networks, and others, in connection to signal processing, systems modeling, and control. Beside the presentation of papers addressing these general topics, several specific themes were discussed during the conference in specialized forums, including special sessions, panels, and workshops, as described in this report.
An incremental self-organizing map, called State Trajectory Generator (STRAGEN) is employed to plan state trajectories of a robot STRAGEN can deal with different criteria to construct topological maps of the problem s...
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The least squares approach works efficiently in value function approximation, given appropriate basis functions. Because of its smoothness, the Gaussian kernel is a popular and useful choice as a basis function. Howev...
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The least squares approach works efficiently in value function approximation, given appropriate basis functions. Because of its smoothness, the Gaussian kernel is a popular and useful choice as a basis function. However, it does not allow for discontinuity which typically arises in real-world reinforcement learning tasks. In this paper, we propose a new basis function based on geodesic Gaussian kernels, which exploits the non-linear manifold structure induced by the Markov decision processes. The usefulness of the proposed method is successfully demonstrated in a simulated robot arm control and Khepera robot navigation.
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