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A new on-line structure and parameter learning architecture for fuzzy modeling, based on neural and fuzzy techniques 11th

引用

11th international conference on Industrial and Engineering applications of Artificial Intelligence and Expert Systems, IEA-1998-AIE

作者： Tzafestaş, Spyros G. Zikidis, Konstantinos C. Intelligent Robotics and Automation Laboratory National Technical University of Athens Zografou Campus Zografou Athens15773 Greece

ISBN: (纸本)3540645748

Functional reasoning or the Takagi-Sugeno-Kang model is a fuzzy reasoning method aiming at numerical accuracy and has found wide use in fuzzy modeling. In this method, each rule consists of a fuzzy implication and a functional consequence part. In this work, a new, online identification method for such a system is presented, for supervised learning tasks. Structure identification is executed by a fuzzy ART learning module, following the procedure of splitting fuzzy rules that tend to produce high output error. Fuzzy rules are also added wherever the error exceeds a threshold. ?dl parameters are fine tuned by the d rule, a basic learning technique in neural networks. Computer simulation exhibits the potentials of this approach, which is tested with well known benchmarks, yielding excellent results. © Springer-Verlag Berlin Heidelberg 1998.

关键词： Fuzzy rules

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START: an application builder for industrial robotics

START: an application builder for industrial robotics

引用

IEEE international conference on robotics and automation (ICRA)

作者： E. Mazer G. Boismain J.M.B. Des Tuves Y. Douillard S. Geoffroy J.M. Dubourdieu M. Tounsi F. Verdot CNRS Laboratories Gravir Inria Montbonnot Saint Martin France GEC ALSTHOM SYSTEMES ET SERVICES STÄUBLI

The repair of nuclear power plants often necessitates the development of special robots which should be operational readily. This requires a software architecture which quickly permits the design of a controller for an entire telerobotic system in a minimum period of time. We have developed such a software architecture to facilitate the design of applications dealing with nonstandard robot systems and complex industrial processes. In this paper we describe the requirements for this architecture and how we address them.

关键词： Service robots Application software Testing Computer architecture Power generation Software architecture Standards development Robot programming Software standards Costs

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Fuzzy control of a suction-based robotic gripper system

Fuzzy control of a suction-based robotic gripper system

引用

IEEE conference on Control Technology and applications (CCTA)

作者： N. Tsourveloudis R. Kolluru K. Valavanis Robotics and Automation Laboratory CACS and A CIM Center University of Southwestern Louisiana Lafayette LA USA

This paper presents a method to regulate and maintain the necessary amount of suction generated and used by a robotic gripper system to perform distortion-free manipulation of limp material. A fuzzy logic control scheme is used for both the determination and regulation of suction. Suction regulation is achieved by controlling the voltage applied to the suction generation motor. The presented approach is found to enhance the overall functionality of the existing robotic gripper system.

关键词： Fuzzy control Grippers Control systems Prototypes robotics and automation Robot sensing systems Sheet materials Service robots Atmosphere Manipulators

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A modularized sensitive skin for motion planning in uncertain environments

A modularized sensitive skin for motion planning in uncertai...

引用

IEEE international conference on robotics and automation (ICRA)

作者： D. Um B. Stankovic K. Giles T. Hammond V. Lumelsky Robotics Laboratory University of Wisconsin Madison Madison WI USA

One way to avoid obstacles without modeling the environment is to use a sensor-based sensitive skin covering the body of the robot along with proper sensor-based motion planning algorithms. Compared to prior attempts, the system developed at the UW-Madison robotics Lab and discussed here presents a system that can be easily reconfigured for a variety of applications. This is accomplished via modularized sensitive skin patches that can be connected in various ways, and a hierarchical control architecture that can be easily modified for various system configurations. In the implemented version, the skin contains about 1000 infrared sensors; it can be easily expanded, with minor changes. The system has been successfully tested in preliminary trials.

关键词： Skin Robot sensing systems Motion planning Control systems Hardware Manipulators Capacitive sensors Magnetic sensors Sensor phenomena and characterization Mobile robots

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GRAMMPS: a generalized mission planner for multiple mobile robots in unstructured environments

GRAMMPS: a generalized mission planner for multiple mobile r...

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IEEE international conference on robotics and automation (ICRA)

作者： B.L. Brumitt A. Stentz Robotics Institute Carnegie Mellon University Pittsburgh PA USA

For a system of cooperative mobile robots to be effective in real-world applications it must be able to efficiently execute a wide class of complex tasks in potentially unknown and unstructured environments. Previous research in multi-robot systems has either been limited to relatively structured domains or to small classes of feasible missions. This paper describes a field-capable system called GRAMMPS which addresses this problem by coupling a general-purpose interpreted grammar for task definition with dynamic planning techniques. GRAMMPS supports a general class of local navigation systems and heterogeneous groups of robots, providing optimal execution of missions given current world knowledge. Simulations illustrating the capabilities of this system are provided. Results showing successful runs of this system on two autonomous off-road vehicles are also given.

关键词： Mobile robots Robot kinematics Motion planning Navigation Multirobot systems Vehicle dynamics Remotely operated vehicles Engines Mobile communication Orbital robotics

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Control in robotics: open problems and future directions

Control in robotics: open problems and future directions

引用

IEEE conference on Control Technology and applications (CCTA)

作者： B. Siciliano PRISMA Laboratory Dipartimento di Informatica e Sistemistica Universita degli Studi di Napoli Federico II Mapoli Italy

This paper focuses on the state-of-the-art of control problems in robotics. Beyond its tutorial value, the work aims at identifying challenging control problems that must be addressed to meet future needs and demands, as well as at indicating preliminary solutions to the identified problems. Various topics are covered starting from the closest issues related to industrial robotics, such as force control, multirobots and dexterous hands, to the most advanced issues related to underactuated and nonholonomic systems, as well as to teleoperation, haptic interfaces and visual servoing.

关键词： Robot control Force control Service robots robotics and automation Force sensors Industrial control Automatic control Orbital robotics Position control Electrical equipment industry

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Distributed event-based control of unifunctional multiple manipulator system

Distributed event-based control of unifunctional multiple ma...

引用

IEEE international conference on robotics and automation (ICRA)

作者： K. Munawar M. Uchiyama Department of Aeronautics and Space Engineering University of Tohoku Sendai Japan

Many different control procedures and task execution strategies have been developed for multiple robots cooperation. Most of them are centralized and hence become very complex with increase in number of robots or their complexity. For this reason, the distributed control approach is found very attractive and the event-based control has enhanced its effectiveness. However, they demand the robots to be autonomous in all respects, and hence have found their applications for autonomous mobile robots or manipulator arms with abundant sensors and actuators. This paper, in contrast, has used these control approaches for a immobile multiple manipulator system with robots having only two degrees of freedom, while one of them is passive and with minimal sensory informations. Computer simulations show that it is also practicable to execute these schemes for an under-actuated system.

关键词： Distributed control Control systems Manipulators Robot sensing systems Mobile robots Robot kinematics Automatic control Centralized control Orbital robotics Arm

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Integrated precision 3-DOF position sensor for planar linear motors

Integrated precision 3-DOF position sensor for planar linear...

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IEEE international conference on robotics and automation (ICRA)

作者： Z.J. Butler A.A. Rizzi R.L. Hollis The Robotics Institute Carnegie Mellon University USA

Planar linear motors have been shown to be capable of fast accurate 2-DOF motions, making them useful for assembly tasks. However, the lack of sensing capability has limited their applications. Previous planar motor sensors were precise but bulky and sensed only a single direction of motion. We present a small integrated 3-DOF sensor capable of 0.2 /spl mu/m position resolution (1/spl sigma/) which has been integrated with an existing planar linear motor without changing its overall size. Physical design of the sensor is presented as well as the custom electronics used to produce a low-noise DC output from the small signal levels of the sensor. Finally, we present results that demonstrate the resolution and accuracy of the complete sensor system.

关键词： Planar motors Teeth Magnetic sensors Magnetic flux Coils Robotic assembly Electric variables control Couplings Robot sensing systems Steel

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Executing motion plans for robots with many degrees of freedom in dynamic environments

Executing motion plans for robots with many degrees of freed...

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IEEE international conference on robotics and automation (ICRA)

作者： O. Brock O. Khatib Robotics Lab. Stanford Univ. CA USA

In many robotic applications motions must be executed robustly in dynamic and partially unknown environments. Despite this requirement most motion planning algorithms assume the environment to be known and changes to be predictable. The planning problem in dynamic environments can be decomposed into a planning and an execution phase. In this paper we describe a new framework for the execution of motion plans for robots with many degrees of freedom in dynamic environments. An initial valid trajectory is incrementally modified according to changes in the environment to maintain a collision free path. This framework achieves real-time performance for robots with many degrees of freedom. It is particularly well suited for redundant systems and mobile manipulation, since it allows motion specification of a subset of the degrees of freedom of the robot, greatly simplifying the task of robot programming.

关键词： Process design Service robots Product design Computer industry Design engineering Information technology Software design Hardware Psychology

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Camera-based observation of obstacle motions to derive statistical data for mobile robot motion planning

Camera-based observation of obstacle motions to derive stati...

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IEEE international conference on robotics and automation (ICRA)

作者： E. Kruse F.M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany

Mobile robots for advanced applications have to act in environments which contain moving obstacles. Motions of obstacles (e.g. humans) usually are not precisely predictable, but neither they are completely random. Long-term observation of obstacle behavior may yield knowledge about prevailing motion patterns. This paper presents concepts and results of an experimental system. Using cameras mounted at the ceiling, the workspace is observed. The image data is processed and transformed into a compact statistical representation of motion patterns. Mobile robot motion planning benefits from such additional knowledge: trajectories are rated in terms of collision probability and expected time for reaching the goal; planning yields efficient paths which are adapted to obstacle behavior.

关键词： Mobile robots Robot sensing systems Motion planning Humans Robot vision systems Cameras Intelligent sensors Intelligent robots Path planning Costs

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