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Multifunctional behaviors of reconfigurable superbot robots

Multifunctional behaviors of reconfigurable superbot robots

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2007 IEEE/RSJ international conference on intelligent Robots and Systems

作者： Wei-Min Shen Behnam Salemi Mark Moll Mike Rubenstein Harris C.H. Chiu Jacob Everist Feili Hou Nadeesha Ranasinghe Polymorphic Robotics Lab Information Sciences Institute University of Southern California USA Polymorphic Robotics Lab University of Southern California

Superbot consists of Lego-like but autonomous robotic modules that can reconfigure into different systems for different tasks. Examples of configurable systems include rolling tracks or wheels (for efficient travel), spiders or centipedes (for climbing), snakes (for burrowing in ground), and climbers (for inspection and repair in space). This video shows several configurations and behaviors that are new for modular and reconfigurable robots. Each SuperBot module is a complete robotic system and has a power supply, micro- controllers, sensors, communication, three degrees of freedom, and six connecting faces (front, back, left, right, up and down) to dynamically connect to other modules. This design allows flexible bending, docking, and continuous rotation. A single module can move forward, back, left, right, flip-over, and rotate as a wheel. Modules can communication with each other for totally distributed control and can support arbitrary module reshuffling during their operation. The modules have both internal and external sensors for monitoring self-status and environmental parameters. They can form arbitrary configurations (graphs) and can control these configurations for different functionality such as locomotion, manipulation, and self-repair. This video shows the latest status the SuperBot modules and all these behaviors were made in just one week. The fact that SuperBot can achieve so much in so short a time demonstrates the unique value of modular, multifunctional and self-reconfigurable robots.

关键词： Mobile robots Orbital robotics Wheels Robot sensing systems Communication system control Inspection Space exploration Power supplies control systems Sensor systems

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intelligent and learning-based approaches for health monitoring and fault diagnosis of RADARSAT-1 attitude control system

Intelligent and learning-based approaches for health monitor...

引用

IEEE international conference on Systems, Man and Cybernetics

作者： A. Joshi V. Gavriloiu A. Barua A. Garabedian P. Sinha K. Khorasani GlobVision Inc. QUE Canada Department of Electrical & Computer Engineering Concordia University Montreal QUE Canada

The objective of this research is to develop to the proof-of-concept stage, a fault tolerant diagnosis system for the RADARSAT-1 attitude control system (ACS) telemetry. The proposed system is using computational intelligence (CI) to detect and isolate faults and also to infer cause of failures from the telemetry data time series history using functional models of satellite ACS. The proposed work is based on a distributed nonlinear, self-learning and self-adapting models (that can learn and improve themselves overtime) adjusting to the environment and constraints to which the real data is subjected. The key research and development issue is to create prototype models that will be able to integrate telemetry data and address the fault diagnosis problem without human intervention and expertise. The proposed work aims to support space industries' future interests in on-board fault diagnosis for next generation spacecraft by utilizing CI techniques as well as to help ground system operators in performing calibrations, anomaly detection, isolation and recovery, or testing of components.

关键词： monitoring Fault diagnosis Telemetry Computational intelligence Fault detection Competitive intelligence Fault tolerant systems Radar detection History Satellites

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A Dynamic Merge Metering-Based Unconventional Alternative to Traffic control at Highway Bottlenecks

A Dynamic Merge Metering-Based Unconventional Alternative to...

引用

international conference on intelligent Transportation

作者： Heng Wei Manojkumar Pavithran Qing-An Zeng Department of Civil and Environmental Engineering University of Cincinnati Cincinnati OH USA Y. S. Mantri and Associates Limited Liability Company Chandler AZ USA Department of Computer Science University of Cincinnati Cincinnati OH USA

This paper presents an unconventional alternative to integrating the dynamic late merge with a merge metering at the downstream taper area of a physical bottleneck (e.g., work zone), termed as D̲ynamic ̲erge ̲etering T̲r̲a̲ffic C̲ontrol S̲ystem for work zones (DMM-Tracs). The architecture and communication system for the DMM-Tracs, including system components, communication technologies and operation mechanism, are introduced. With this system, the merge metering control will be activated depending on the volume detected at an upstream location of the work zone. If the thresholds of control parameters are met, a merge metering signal installed at the taper area will be activated and approaching vehicles will be instructed in the advance areas of the work zone. To reduce forced merges and potentials of merge conflicts, the control scheme will adjusted on the realtime basis depending on the detected traffic conditions. The delay penalty is distributed equally in all lanes. This potentially increases the efficiency with which the traffic is discharged into the open lane inside the work zone. A portable controller is the "brain" of the DMM-Tracs System to receive data from detectors, to process the data, and to control the merge metering signal via wireless communications. The efficacy of the DMM-Tracs is evaluated via a micro-simulation test bed with VISSIM. Meanwhile, the volume threshold values are also determined via the simulation.

关键词： Traffic control Road transportation Communication system control Vehicle dynamics control systems Communication system traffic control Communications technology Vehicles Force control Delay

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The Upper Bound of the Number of Nodes on Fixed Energy Budget in Wireless Sensor Networks

The Upper Bound of the Number of Nodes on Fixed Energy Budge...

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ACIS international conference on Software Engineering, Artificial Intelligence, Networking, and Parallel/distributed Computing (SNPD)

作者： Fang Wang Guifa Teng Lisheng Ren College of Information Science & Technology University of Hebei agriculture China

Wireless sensor networks are consist of large number of embedded devices that are each capable of sensing, communicating, and computing. Sensor networks have a wide variety of applications in both military and civil environment (Akyildiz et al., 2002). Most sensors are equipped with non-rechargeable batteries that have limited lifetime (Wang and Xiao, 2006). Sensor nodes monitor some surrounding environmental phenomenon, process the data obtained and forward this data towards a base station located on the periphery of the sensor network. Base station(s) collect the data from the sensor nodes and transmit this data to some remote control station. Sensor network models considered by most researchers have a single static base station located on the periphery of the sensor network (Pottie, 1998). Following development of technology, the number of the nodes would increase highly. The upper bound of the number of the nodes becoming more and more important. In this work, we develop closed-form expressions of the upper bound of the number of nodes in energy-efficient wireless sensor networks.

关键词： Upper bound Wireless sensor networks Sensor phenomena and characterization Military computing Base stations computer networks Embedded computing Batteries Remote monitoring Closed-form solution

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An Agent Based Framework to Monitor and control High Performance Data Transfers

An Agent Based Framework to Monitor and Control High Perform...

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EUROCON 2007 - The international conference on " computer as a Tool" (EUROCON 2007), vol.4

作者： Ciprian M. Dobre Ramiro Voicu Adrian Muraru Iosif C. Legrand Politehnica University of Bucharest Romania California Institute of Technology USA European Center for Nuclear Research-CERN Geneva Switzerland

We present a distributed agent based system used to monitor, configure and control complex, large scale data transfers in the Wide Area Network. The Localhost Information Service Agent (LISA) is a lightweight dynamic service that provides complete system and applications monitoring, is capable to dynamically configure system parameters and can help in optimizing distributed applications. As part of the MonALISA (monitoring Agents in A Large Integrated Services Architecture) system, LISA is an end host agent capable to collect any type of monitoring information, to distribute them, and to take actions based on local or global decision units. The system has been used for the Bandwidth Challenge at Supercomputing 2006 to coordinate global large scale data transfers using Fast Data Transfer (FDT) application between hundreds of servers distributed on major Grid sites involved in processing High Energy Physics data for the future Large Hadron Collider experiments.

关键词： monitoring distributed information systems intelligent control control plane Peer-to-peer

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Statistical Processes monitoring Based on Improved ICA and SVDD

Statistical Processes Monitoring Based on Improved ICA and S...

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international conference on intelligent Computing (ICIC)

作者： Xie, Lei Kruger, Uwe Zhejiang Univ Natl Key Lab Ind Control Technol Inst Adv Proc Control Hangzhou 310027 Peoples R China Queens Univ Belfast Intelligent Syst & Ctrl Res Grp Belfast BT9 5AH Antrim North Ireland

ISBN: (纸本)9783540372714

An industrial process often has a large number of measured variables, which are usually driven by fewer essential variables. An improved independent component analysis based on particle swarm optimization (PSO-ICA) is presented to extract these essential variables. Process faults can be detected more efficiently by monitoring the independent components. To monitor the non-Gaussian distributed independent components obtained by PSO-ICA, the one-class SVDD (Support Vector Data Description) is employed to find the separating boundary between the normal operational data and the rest of independent component feature space. The proposed approach is illustrated by the application to the Tennessee Eastman challenging process.

关键词： Independent component analysis

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Identifying and localizing distributed cracks in a complex continuum

Identifying and localizing distributed cracks in a complex c...

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2nd international conference on Structural Health monitoring of intelligent Infrastructure

作者： Casciati, S. Univ Pavia Dept Struct Mech I-27100 Pavia Italy

ISBN: (纸本)9780415396509

A statistical approach for damage detection and localization was recently developed by the author to meet the requirements of an algorithm to be implemented in a wireless sensor microprocessor (smart sensor). To evaluate the performance of the method when applied to real-case situations, the data be collected from a complex continuum exposed to environmental conditions are used. The investigated structure is a masonry wall affected by distributed cracking. Within the framework of the MS thesis by Fabio Beni, the cracks were repaired by mortar injections, and measurements of the structural response were taken before and after the retrofit operation, by applying different excitation methods. The environmental vibration data were elaborated by the author in a previous work, and they showed how the proposed damage index can successfully detect and localize the repaired cracks on the structure. This paper emphasizes how useful information about the damage can be obtained also from the tests with an instrumented hammer.

关键词： Damage detection

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Computational nanomechatronics: A pathway for control and manufacturing nanorobots

Computational nanomechatronics: A pathway for control and ma...

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CIMCA 2006: international conference on Computational Intelligence for Modelling, control and Automation, Jointly with IAWTIC 2006: international conference on intelligent Agents Web Technologies and international Commerce

作者： Cavalcanti, Adriano Wood, Warren W. Kretly, Luiz C. Shirinzadeh, Bijan Robotics and Mechatronics Research Lab. Dept. of Mechanical Eng. Monash University Clayton Melbourne VIC 3800 Australia Department of Integrative Studies Michigan State University East Lansing MI 48824 United States Microwave and Optics Dept. Electrical and Computer Eng. School University of Campinas Campinas SP 13083 Brazil CAN Center for Automation in Nanobiotech Sao Paulo SP 01540 Brazil

ISBN: (纸本)0769527310

This paper describes an innovative work for nanorobot design and manufacturing, using a computer simulation and system on chip prototyping approach. The use of CMOS as integrated circuits, with the miniaturization from micro towards nanoelectronics, and the respective advances of nanowires are considered into the proposed model design and discussed as a practical pathway to enable embedded sensors for manufacturing nanorobots. The proposed nanorobot model is applied to hydrology monitoring. It can be useful for agriculture or environmental monitoring and management. © 2006 IEEE.

关键词： Mechatronics

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Bayesian estimation of distributed phenomena using discretized representations of partial differential equations

Bayesian estimation of distributed phenomena using discretiz...

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3rd international conference on Informatics in control, Automation and Robotics

作者： Sawo, Felix Roberts, Kathrin Hanebeck, Uwe D. Univ Karlsruhe TH Inst Comp Sci & Engn Intelligent Sensor Actuator Syst Lab Karlsruhe Germany

ISBN: (纸本)9728865619

This paper addresses a systematic method for the reconstruction and the prediction of a distributed phenomenon characterized by partial differential equations, which is monitored by a sensor network. In the first step, the infinite-dimensional partial differential equation, i.e. distributed-parameter system, is spatially and temporally decomposed leading to a finite-dimensional state space form. In the next step, the state of the resulting lumped-parameter system, which provides an approximation of the solution of the underlying partial differential equations, is dynamically estimated under consideration of uncertainties both occurring in the system and arising from noisy measurements. By using the estimation results, several additional tasks can be achieved by the sensor network, e.g. optimal sensor placement, optimal scheduling, and model improvement. The performance of the proposed model-based reconstruction method is demonstrated by means of simulations.

关键词： stochastic systems Baysian estimation model-based reconstruction distributed phenomenon environmental monitoring sensor-actuator-network

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Negotiating monitoring task allocation for orbiters

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8th international conference on distributed Computing and Networking

作者： Chakraborty, Doran Saha, Sabyasachi Sen, Sandip Clement, Bradley Univ Tulsa Dept Math & Comp Sci Tulsa OK 74104 USA Jet Prop Lab Pasadena CA USA

ISBN: (纸本)9783540681397

We are interested in the problem of coordination of ground-based control stations and orbiting space probes for allocating monitoring tasks for emerging environmental situations that have the potential to become catastrophic events threatening life and property. We assume that ground based sensor networks have recognized seismic, geological, atmospheric, or some other natural phenomena that has created a rapidly evolving event which needs immediate, detailed and continuous monitoring. control stations can calculate the resources needed to monitor such situations, but must concurrently negotiate with multiple autonomous orbiters to allocate the monitoring tasks. While control stations may prefer some orbiters over others based on their position, trajectory, equipment, etc, orbiters too have prior commitments to fulfill. We evaluate three different negotiation schemes that, can be used by the control station and the orbiters to complete the monitoring task assignment. We use utilitarian and egalitarian social welfare as the metric to be maximized and discuss the relative performances of these mechanisms under different preference and resource constraints.

关键词： Sensor networks

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