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Network inversion based neural controller for robot manipulations

Network inversion based neural controller for robot manipula...

引用

International conference on Advanced Robotics (ICAR)

作者： L. Behera Department Of Electrical and Electronics Engineering Birla Institute of Technology and Science Pilani India

This paper proposes an indirect adaptive control scheme using the concept of network inversion. The neural model of the robot manipulator was obtained by training a radial basis function network from the input-output data generated from the plant. A query based learning algorithm has been proposed to improve the model prediction which uses an extended Kalman filtering based network inversion technique. A control scheme is designed incorporating the network inversion technique. The controller ensures Lyapunov stability of the dynamic system. The proposed control scheme is implemented on a two-link manipulator through simulation. simulation results indicate that the control scheme is robust and stable and corresponding trajectory tracking is accurate.

关键词： Robot control Adaptive control Manipulators Radial basis function networks Filtering algorithms Predictive models Kalman filters Control systems Lyapunov method Control system synthesis

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ARMVLS-atomic reaction model visual language system-a new way of animating algorithms

ARMVLS-atomic reaction model visual language system-a new wa...

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International conference on Information, Communications and Signal Processing

作者： K. Warendorf Wen Jing Hsu Poh Yeen Seah School of Applied Science Nanyang Technological University Singapore

Visual language (VL) is a programming language without textual codes and algorithm animation (AA) is about visualizing a computer algorithm. Visual programming (VP) and AA are traditionally separate factions in software visualization (SV). With the atomic reaction model (ARM) project we have bridged these two major branches in SV. Due to the advancements in graphics technology, many developers have come up with graphical applications that claim to be VLs. We see in this diversity of VP systems two main categories of VLs. They are the application specific and the general programming (GP). GPVLs are be developed with the eventual aim of substituting textual programming. Currently, there are two main approaches: graphical rewrite systems and dataflow VLs. AA systems have up to this point of time used the approach pioneered by the BALSA AA system to animate algorithms. Opsis, a java applet for teaching binary tree algorithms, has shown that the visual approach to AA is more effective as a learning tool. Therefore in this project, we create a VP system that can animate most of the algorithms traditionally done by textual coding. The ARM offered an alternative to the textual codes used in BALSA systems. We have also proven that a VL is capable of solving complex problems without sacrificing its visual clarity and showed that graphical rewrite systems are not necessarily simplistic and without much flow control as compared to dataflow VLs. We have even laid down the frameworks of a heterogeneous VL. Our research has successfully opened the door to true GPVLs.

关键词： Animation Visualization Binary trees Flowcharts Computer languages Computer graphics java Education Control systems Joining processes

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Design and construction of a PC-based stack machine simulator for undergraduate computer science and engineering courses

Design and construction of a PC-based stack machine simulato...

引用

Frontiers in Education (FIE) conference

作者： F. Khan S. Anwar Department of Computer Science University of Texas Brownsville Brownsville TX USA

A senior level compiler design course in an undergraduate computer science and engineering program usually deals with teaching the students the basics of compiler construction. Since the impetus of such an undergraduate course is to deal with the issues of compiler construction rather than intricacies of different machines, it is instructive to generate the code for a simple stack machine, incorporating a hardware stack, rather than dealing with a register-based machine such as a microcomputer. However, the educational institutions have the latter as a well established computing platform. Therefore, for testing a constructed compiler for a stack machine, it is feasible to make a microcomputer-based stack machine simulator. This paper presents the working design of a PC-based stack machine simulator developed by the authors for use in an undergraduate computer science and engineering course in compiler design. This paper begins by putting forward the architecture of the virtual stack machine for which the simulator is designed and constructed. The stack machine's instruction set is explained and then followed by a discussion of its encoding scheme. The main data structures and the different stages of the simulator are elaborated upon, culminating in a description of the salient features of the simulator that make it an effective tool in a compiler construction course. This includes the simulator's different analytical features such as measuring space-time complexity to analyze the effectiveness of a compiled code.

关键词： Computational modeling Program processors Computer science Design engineering Education Hardware Microcomputers Educational institutions Testing Computer simulation

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Educational use of MOSIS

Educational use of MOSIS

引用

IEEE International conference on Microelectronic Systems Education

作者： J. Staudhammer University of Florida USA

This paper summarizes and comments on the NSF report "Integration of Education and Research in Microelectronics". MOSIS is the premier NSF grant highlighting the integration of education and research, affecting a broad section of US Computer engineering programs. An analysis of the MOSIS Project reports for 1995 has been published and its salient points are summarized here.

关键词： Circuit testing Computer science education Microelectronics Educational programs Integrated circuit testing System testing Fabrication Costs Computational modeling Circuit simulation

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Detecting changes in a dynamic environment for updating its maps by using a mobile robot

Detecting changes in a dynamic environment for updating its ...

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proceedings of the 1997 IEEE/RSJ International conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97

作者： Hongbin Zha K. Tanaka T. Hasegawa Graduate School of Information Science and Electrical Engineering Kyushu University Fukuoka Japan

For mobile robots working in a dynamic environment, there is a great need for a global environment map that is updated frequently. In the paper, we propose a new method by which a mobile robot with an original environment map automatically detects changes in the environment and modifies the map into a new version. The changes are identified by performing robot localization and change detection alternatively at some planned observation positions. To deal with robot position errors caused by dead reckoning, available information on the original map and a local map recording already detected changes is utilized as much as possible. simulation results show this method is efficient even for detecting large changes in a complex environment.

关键词： Mobile robots Robotics and automation Robot sensing systems Navigation Orbital robotics Sonar Information science Sprites (computer) Buildings Process planning

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State vector equation based computer simulation approach of digitally controlled power conversion circuits and systems

State vector equation based computer simulation approach of ...

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Power Conversion conference

作者： S.M. Ulhaq M. Nakaoka H. Takano Department of Electrical and Electronic Engineering The Graduate School of Engineering and Science Yamaguchi University Ube Yamaguchi Japan Research and Development Department Hitachi Medical Company Limited Chiba Japan

An efficient simulation approach is presented in order to analyze digitally-controlled switching mode power converter circuits and systems with feedback and feedforward control loops. The general computer-aided simulation procedure is based on a circuit and system equation modeled by time-varying resistors which substitute active power switches and the passive diodes of the converter circuits in addition to a state equation for the inductors and the capacitors, an algebraic computation method to transform the matrices of the circuit equation into the matrices of the state equation. In this approach, the numerical integration is achieved with rather less numerical calculation steps because of the small matrice size of the state equation. The effectiveness of this approach are proved by introducing a newly-developed PWM DC-DC high-power converter operating at high-voltage transformer parasitic circuit parameters under a digital control scheme.

关键词： Equations Computer simulation Matrix converters Computational modeling Circuit simulation Switching converters Circuits and systems Matrices Analytical models Switching circuits

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Stabilization of integrator chains in the presence of magnitude and rate saturations: a gain scheduling approach

Stabilization of integrator chains in the presence of magnit...

引用

IEEE conference on Decision and Control

作者： T. Lauvdal R.M. Murray T.I. Fossen Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway Mechanical Engineering California Institute of Technology Pasadena CA USA

We present a gain scheduling technique for stabilizing integrator chains in the presence of magnitude and rate limitations on the input. The controller was first presented by Lauvdal et al. (1997), where they showed excellent experimental results on a pitch axis flight control experiment at Caltech in the case of input rate limits only. The controller has several interesting features: it is easy to tune and it gives a minimal loss in performance. These properties are illustrated in a simulation study.

关键词： Aerospace control Stability Nonlinear control systems Actuators Control systems Control system synthesis Control nonlinearities Control design Aircraft Computer crashes

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A comparison of missile autopilot designs using /spl Hscr//sub /spl infin// control with gain scheduling and nonlinear dynamic inversion

A comparison of missile autopilot designs using /spl Hscr//s...

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American Control conference (ACC)

作者： C. Schumacher P. Khargonekar Department of Aerospace Engineering University of Michigan Ann Arbor MI USA Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

We present two nonlinear controller designs for a bank-to-turn, air-to-air missile. The first controller is a gain-scheduled /spl Hscr//sub /spl infin// design and the second is a nonlinear dynamic inversion design using a two time scale separation. We carried out a number of time and frequency domain analysis procedures on the resulting designs, and tested their performance on a nonlinear simulation of the missile. We compare the controller designs for nominal performance, robustness to uncertainties in the aerodynamic coefficients, and sensitivity to measurement noise.

关键词： Missiles Aerodynamics Open loop systems Linear feedback control systems Processor scheduling Dynamic scheduling State feedback Frequency domain analysis Testing Noise robustness

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Genetic algorithm involving coevolution mechanism to search for effective genetic information

Genetic algorithm involving coevolution mechanism to search ...

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IEEE International conference on Evolutionary Computation

作者： H. Handa N. Baba O. Katai T. Sawaragi T. Horiuchi Department of Precision Engineering Kyoto University Sakyo Kyoto Japan Department of Arts and Science Osaka Educational University Kashihara Osaka Japan

A new genetic algorithm which exploits an idea of "coevolution" is proposed. The proposed method consists of two GAs: Host GA and Parasite GA. The Host GA searches for the solutions, and these two GAs are closely related to each other. The Parasite GA plays an important role in searching for useful schemata in the Host GA. Furthermore, two methods of fitness evaluation of Parasite GA are examined: differentiating method and averaging method. The differentiating method will yield the search for schemata that are not yet discovered by the Host GA. The averaging method will yield the search for schemata that have high average of fitness. Various computer simulations confirm the effectiveness of the proposed methods.

关键词： Genetic algorithms Computer simulation Evolutionary computation Stochastic processes Cultural differences Precision engineering Art Cities and towns Search methods Biological cells

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Controlling chaos in a manufacturing system with two machines and two part-types based on the Hogg-Huberman strategy

Controlling chaos in a manufacturing system with two machine...

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International conference on Control of Oscillations and Chaos

作者： T. Ushio N. Motonaka Department of Systems and Human Science Osaka University Toyonaka Osaka Japan Syst. & Electronics Division 2nd Engineering Department Systems Engineering Section Sumitomo Electric Industries Limited Japan

This paper considers a resource allocation problem in a manufacturing system consisting of two machines and two types of parts. We introduce a discrete-time model of the system and examine stability and bifurcation phenomena. We show by computer simulation that chaotic behaviors are observed after successive occurrence of period-doubling bifurcations. It is also shown that the optimal state of the system is stabilized by a reward mechanism proposed by Hogg and Huberman (1991).

关键词： Control systems Chaos Manufacturing systems Biological system modeling Assembly systems Bifurcation Multiagent systems Resource management Delay Humans

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