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Parameterized joint densities with Gaussian mixture marginals and their potential use in nonlinear robust estimation

Parameterized joint densities with Gaussian mixture marginal...

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IEEE International conference on computer-aided design

作者： Felix Sawo Dietrich Brunn Uwe D. Hanebeck Intelligent Sensor-Actuator-Systems Laboratory Institute of Computer Science and Engineering Universität Karlsruhe Karlsruhe Germany

This paper addresses the challenges of the fusion of two random vectors with imprecisely known stochastic dependency. This problem mainly occurs in decentralized estimation, e.g. of a distributed phenomenon, where the stochastic dependencies between the individual states are not stored. To cope with such problems we propose to exploit parameterized joint densities with both Gaussian marginals and Gaussian mixture marginals. Under structural assumptions these parameterized joint densities contain all information about the stochastic dependencies between their marginal densities in terms of a generalized correlation parameter vector ξ̱. The parameterized joint densities are applied to the prediction step and the measurement step under imprecisely known correlation leading to a whole family of possible estimation results. The resulting density functions are characterized by the generalized correlation parameter vector ξ̱. Once this structure and the bounds of these parameters are known, it is possible to find bounding densities containing all possible density functions, i.e., conservative estimation results.

关键词： Robustness Stochastic processes State estimation Sensor phenomena and characterization Stochastic resonance Intelligent sensors Filters Density measurement Density functional theory Distance measurement

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Kinematic control of robot manipulators using visual feedback

Kinematic control of robot manipulators using visual feedbac...

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IEEE International conference on computer-aided design

作者： Anjan Kumar Ray Mayank Agarwal Laxmidhar Behera Department of Electrical Engineering Indian Institute of Technology Kanpur Uttar Pradesh India

This paper presents a hybrid visual motor control scheme for robot manipulators using visual feedback. The proposed scheme uses an extended Kohonen's Self Organizing Map (EKSOM) to find out the mapping from the task space to the joint space of the manipulator. Given the camera coordinates, the EKSOM has been trained to compute the joint space using visual feedback and system model. This scheme can be used to track the position of a moving object. The position-tracking of moving object is achieved using a prediction rule based on visual feedback from the camera. In the nonredundant case, this scheme is successfully implemented on a three-link manipulator for a known and unknown trajectory. In the redundant case, configuration control is used for the tracking of object position.

关键词： Robot control Manipulators Feedback Cameras Robot vision systems Biological system modeling Robot kinematics Space technology Intelligent robots Neural networks

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Using force control for fidelity in low-force medical haptic simulators

Using force control for fidelity in low-force medical haptic...

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IEEE International conference on computer-aided design

作者： Kostas Vlachos Evangelos Papadopoulos The Department of Mechanical Engineering National and Technical University of Athens Athens Greece

In this paper the effect of force control in the fidelity of a low-force five degree-of-freedom (dof) haptic mechanism is investigated. Strict conditions that guarantee stability are presented. Our effort focuses on haptic devices, able to reproduce accurate low forces in a soft virtual environment, rather than large forces in stiff virtual environments. Open and closed loop controllers are applied to a haptic mechanism, which is a part of a training medical simulator for urological operations, and consists of a two-dof, five bar linkage and a three-dof spherical joint. The force control algorithm is described and discussed. Open and closed loop schemes are compared. Simulation and experimental results of the force control law applied to the five-dof mechanism are presented and discussed. It is shown that the use of closed loop force control law increases the haptic device fidelity and the realism of the simulation. It is also shown that in case of haptic devices used in soft virtual environments, issues like signal noise and device stiffness are more critical than maintaining system stability

关键词： Force control Haptic interfaces Medical simulation Virtual environment Coupling circuits Circuit stability Endoscopes Stability criteria control systems Open loop systems

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Autonomous all-wheel car steering

Autonomous all-wheel car steering

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IEEE International conference on computer-aided design

作者： Naim Bajcinca Institute of Robotics and Mechatronics German Aerospace Center Oberpfaffenhofen Germany

The autonomous car steering problem is defined as a regulation task of yaw and relative lateral position dynamics along a given path trajectory. Therefore a control structure based on vehicle dynamics inversion is proposed to decouple the two regulation tasks. The inversion structure assumes all-wheel (joint front- and rear-axle) steering actuation. The resulting algorithm exhibits additionally integrated robust yaw stabilization and is validated by simulation of different maneuvers for different vehicle speeds and road conditions with linear and detailed nonlinear vehicle model

关键词： Remotely operated vehicles Road vehicles Displacement measurement Axles Displacement control Motion control Acceleration Character generation Vehicle dynamics Actuators

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Modeling and control of Fluidic Robotic joints with natural compliance

Modeling and Control of Fluidic Robotic Joints with natural ...

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IEEE International conference on computer-aided design

作者： Miroslav Mihajlov Matthias Hubner Oleg Ivlev Axel Graser Institute of Automation FWBI Friedrich-Wilhelm-Bessel-Institute Forschungsgesellschaft University of Brethemen Bremen Germany

This paper reports on basic properties, dynamic modeling, pressure and position control of a newly developed fluidic actuator with rotary elastic chambers (REC-actuator), intended for robots working in human environment. This actuator with natural compliance can be operated by gas or oil. Pressure control of the actuator in pneumatic realization is designed using fast on-off valves, suitable for lightweight robotic joints. A phenomenological model of the actuator is considered, in which spring, damper and torque generating element are connected in parallel. The joint stiffness and damping as functions of pressures in the actuator chambers are identified in free oscillations experiments at constant pressures. The torque-generating element is further identified in a separate series of step responses experiments, using thereby previously obtained stiffness and damping. A sliding mode control law is applied for the position control of the naturally compliant actuator.

关键词： Robot control Damping Position control Pneumatic actuators Fluid dynamics Humans Petroleum Pressure control Valves Springs

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Speed control of quadrupedal bounding using a reaction wheel

Speed control of quadrupedal bounding using a reaction wheel

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IEEE International conference on computer-aided design

作者： Nicholas Cherouvim Evangelos Papadopoulos The Department of Mechanical Engineering National and Technical University of Athens Athens Greece

To date, quadruped speed control has either been achieved with two actuators per leg, or with single actuators and time consuming trial and error experimentation for controller tuning. In this paper, a novel control method is developed that uses only one actuator per leg and yet requires no controller tuning from the user, since the control parameters are computed through analytical expressions derived from the robot dynamics. One further actuator is used to drive a reaction wheel situated on the body. The control method leads to stable bounding gaits with controllable forward speed, and as the control is based on analytical results from the robot dynamics, it is applicable to a range of design parameters, rather than a specific robot. Light, off-the-shelf DC motors are shown to be adequate for successful controller operation. Results are shown of the control applied to a detailed robot model, including leg and toe mass, foot collision, DC motor model, joint friction and a foot-ground friction model allowing foot slipping.

关键词： Velocity control Wheels Actuators Leg Mobile robots Legged locomotion DC motors Foot Friction Error correction

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design of a new parallel haptic device for desktop applications 1

Design of a new parallel haptic device for desktop applicati...

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1st joint Eurohaptics conference and symposium on Haptic Interfaces for Virtual Environment and Teleoperator systems - World Haptics conference, WHC 2005

作者： Gosselin, Florian Martins, Jean-Pierre Bidard, Catherine Andriot, Claude Brisset, Julien CEA LIST Route du Panorama Fontenay-aux-Roses-Cedex92265 France

ISBN: (纸本)0769523102

In this paper, we present a new six degrees of freedom haptic device developed at CEA-LIST for desktop applications emphasizing quick and precise manipulation. This device relies on a light parallel architecture connecting the base of the robot to the mobile platform manipulated by the user. It is dimensioned and optimized to fit design requirements associated with computer aided design or virtual sculpting. The design methodology relies on a geometric and static optimization which takes into account technological constraints associated with the main off the shelf components. The control scheme of this device is also described. Finally, feedback obtained from first integration tests are presented. © 2005 IEEE.

关键词： computer aided design

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Matrix computational framework for discrete event control of wireless sensor networks with some mobile agents

Matrix computational framework for discrete event control of...

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joint conference of the 20th IEEE International symposium on Intelligent Contol/13th Mediterranean conference on control and Automation

作者： Giordano, V Lewis, F Turchiano, B Ballal, P Yeshala, V Politecn Bari Dipartimento Elettrotecn & Elettron I-70125 Bari Italy

ISBN: (纸本)0780389360

This paper presents a discrete-event controller (DEC) for the coordination of cooperating heterogeneous wireless sensors, namely unattended ground sensors and mobile robots. It describes a new method for efficient computer aided control design of a wireless sensor network. The DEC sequences the most suitable tasks for each agent according to the current perception of the environment. A novel matrix formulation makes the assignment of the mission planning straightforward and easily adaptable if agents or applications change. The matrices are direct to write down given the sequence rules for a given task. Priority rules for efficiently dispatching shared resources and handling simultaneous missions can also be easily taken into account. This architecture holds out the hope to endow a wireless sensor network with efficient self-organization mechanisms in order to accomplish a broad range of different missions in a variety of scenarios. The matrix formulation also provides a straightforward technique for computer simulation of DE systems. Simulation examples are presented to show the effectiveness and versatility of the proposed control architecture.

关键词： Discrete time control systems

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design of a new parallel haptic device for desktop applications

Design of a new parallel haptic device for desktop applicati...

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World Haptics conference

作者： F. Gosselin J.-P. Martins C. Bidard C. Andriot J. Brisset CEA LIST Fontenay-aux-Roses France

关键词： Haptic interfaces design optimization Application software Parallel architectures Joining processes Mobile robots Parallel robots design methodology Constraint optimization Feedback

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Improving the operation autonomy of SIMD processing elements by using guarded instructions and pseudo branches

Improving the operation autonomy of SIMD processing elements...

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joint Meeting of the 28th EUROMICRO conference/EUROMICRO symposium on Digital System design

作者： Anido, ML Paar, A Bagherzadeh, N Univ Fed Rio de Janeiro NCE BR-21941 Rio De Janeiro Brazil

ISBN: (纸本)0769517900;0769517919

This paper presents a novel method for improving the operation autonomy of the processing elements (PE) of SIMD-like machines. By combining guarded instructions and pseudo branches it is possible, to achieve higher operation autonomy and higher instruction level parallelism than in previous SIMD/ASIMD architectures. The paper shows that it is feasible to avoid most branches and it is also possible to emulate conditional execution on the processing elements, either by using guarded instructions or by using pseudo branches, thus avoiding unnecessary intervention by the array, control unit in data-dependant computations. Pseudo branches are used when it is not possible to use guarded instructions. Additionally, they also support the implementation of complex nested if-then-else constructs, improving the execution of irregular data-parallel applications. The paper also shows that the simplicity of the method allows it to be implemented both in fine-grain and coarse-grain SIMD/ASIMD architectures because it does not require significant additional silicon area. Finally, it is shown that pseudo branches can be used to control the power saving of those processing elements that have instructions nullified.

关键词： Acceleration Application software Centralized control computer aided instruction computer architecture Digital signal processing Microprocessors Multimedia systems Parallel processing Silicon

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