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Adaptive robust control of underactuated robot manipulators

Adaptive robust control of underactuated robot manipulators

引用

IEEE/ASME (AIM) International conference on Advanced Intelligent Mechatronics

作者： Jin-Ho Shin Choon-Young Lee Ju-Jang Lee Department of Electrical Engineering Korea Advanced Institute of Science and Technology Taejon South Korea

Summary form only given as follows. A study on the control of robot manipulators with passive joints overcoming actuator failures is performed. An adaptive robust control scheme of underactuated robot manipulators using the brakes equipped at the passive joints in joint space is proposed using the dynamic coupling in the presence of parametric uncertainty and external disturbances. The proposed control scheme has two control stages, the passive joint control stage and the active joint control stage. It is assumed that the passive joints do not have actuators but have brakes in this case. Note that all the passive joints are locked by their own brakes as soon as they reach their desired set-points with zero velocity. In the other case that the passive joints have neither actuators nor brakes, an adaptive robust control scheme overcoming the uncertainties is also proposed in Cartesian space where tasks are planned. To overcome the dynamic singularity problem in the controller, a singularity-free desired Cartesian path-planning within the inside of the nonsingular regions is achieved based on a computer simulation. To illustrate the feasibility and validity of the proposed control schemes, simulation results for a three-link planar robot manipulator with a passive joint are presented.

关键词： Programmable control Adaptive control Robust control Manipulator dynamics Orbital robotics Actuators Uncertainty Robot control Path planning Computer simulation

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Integrated fault diagnosis targeting reduced simulation 96

Integrated fault diagnosis targeting reduced simulation

引用

proceedings of the 1996 IEEE/ACM international conference on Computer-aided design

作者： Vamsi Boppana W. Kent Fuchs Coordinated Science Laboratory University of Illinois Urbana IL School of Electrical and Computer Engineering Purdue University West Lafayette IN

ISBN: (纸本)9780818675973

Integrated fault diagnosis techniques attempt to overcome the limitations associated with static (pre-computed information usage) and dynamic (run-time analysis) techniques by using a limited amount of pre-computed information and coupling this with simulation at diagnosis time, for rapid fault diagnosis. A significant problem with previous integrated techniques is that the pre-computed information is not targeted specifically toward reducing the run-time costs. We present a new approach to integrated fault diagnosis, by specifically creating the precomputed information to provide later savings in the simulation costs at diagnosis time. Experimental results on the ISCAS 85 and ISCAS 89 circuits illustrate the savings achieved by this technique.

关键词： ISCAS 85 circuit

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EH/sup */-extendible hashing in a distributed environment

EH/sup */-extendible hashing in a distributed environment

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IEEE Annual International Computer Software and Applications conference (COMPSAC)

作者： V. Hilford F.B. Bastani B. Cukic Department of Computer Science University of Houston Houston TX USA Department of Electrical and Computer Engineering West Virginia University Morgantown WV USA

In today's world of computers, dealing with huge amounts of data is not unusual. The need to distribute this data in order to increase its availability and increase the performance of accessing it is more urgent than ever. For these reasons it is necessary to develop scalable distributed data structures. We propose EH*, a distributed variant of the Extendible Hashing data structure. It consists of buckets of data that are spread across multiple servers and autonomous clients that can access these buckets in parallel. EH* is scalable in the sense that it grows gracefully, one bucket at a time, to a large number of servers. The communication overhead is relatively independent of the number of servers and clients in the system. EH* offers a high query efficiency and good storage space utilization. The simulation results reveal that the method is comparable to the LH* introduced by W. Litwin (1993).

关键词： Data structures Information retrieval Computer science Contracts Distributed computing Ear Read-write memory

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A new heuristic algorithm based on GAs for multiprocessor scheduling with task duplication

A new heuristic algorithm based on GAs for multiprocessor sc...

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IEEE International conference on Algorithms and Architectures for Parallel Processing (ICAP)

作者： T. Tsuchiya T. Osada T. Kikuno Department of Informatics and Mathematical Science Graduate School of Engineering Science Osaka University Toyonaka Osaka Japan

In this paper, we propose a new algorithm for scheduling parallel programs represented as directed acyclic graphs onto multiprocessors with communication delays. In such systems, task duplication is known as a useful technique for shortening the length of schedules. The proposed algorithm adopts several heuristics based on GAs as well as task duplication. To apply a GA to scheduling, we design chromosomes using list representation so that each chromosome can uniquely represent a schedule of tasks. We also design genetic operators to control the degree of replication of tasks. Through simulation studies for three kinds of parallel programs under various scheduling conditions, we compare the proposed algorithm with an established algorithm proposed by Kruatrachue. As a result, it is found that the new heuristic algorithm outperforms the previous algorithm especially when communication delays are relatively small.

关键词： Heuristic algorithms Scheduling algorithm Processor scheduling Delay Multiprocessing systems Informatics Electronic mail Biological cells Genetics Communication system control

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Orthogonal functional basis neural network for functional approximation

Orthogonal functional basis neural network for functional ap...

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International conference on Neural Networks

作者： C.L.P. Chen Y. Cao S.R. LeClair Department of Computer Science and Engineering Wright State University Dayton OH USA Writht Laboratory WL/MLIM Materials Directorate OH USA

Subset selection is a well-known technique for generating an efficient and effective neural network structure. The technique has been combined with regularization to improve the generalization performance of a neural network. In this paper, we show an incongruity involving subset selection and regularization. We present an approach to solve this dissonance wherein our subset selection is derived from a combination of functional basis. A more efficient training convergence speed is shown using the new basis which is derived from an 'orthogonal-functional-basis' transformation. With this transformation we propose a new orthogonal functional basis neural network structure which is not only more computationally tractable but also gives better generalization performance. simulation studies are presented that demonstrate the performance, behavior, and advantages of the proposed network.

关键词： Neural networks Diversity reception Working environment noise Forward contracts Computer science Convergence Computer networks Computational modeling Radial basis function networks Least squares methods

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A framework of virtual design for product customization

A framework of virtual design for product customization

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International conference on Emerging Technologies and Factory Automation (ETFA)

作者： M.M. Tseng Jianxin Jiao Chuan-Jun Su Department of Industrial Engineering & Engineering Management Hong Kong University of Science and Technology Hong Kong China

One major challenge of mass customization is how to meet two seemingly conflicting goals, namely satisfying individual customers' needs while keeping mass production efficiency. In order to help customers to select the appropriate product family so that the closest variant can be quickly generated and delivered, this paper proposes a virtual design approach by developing virtual prototypes to represent the product platform. With virtual prototypes, assessments of constant delivery can be made to facilitate the selection and negotiation process between sales and customers, thus enabling better informed customization design. The primary goal of virtual design for mass customization is to provide a multidisciplinary design definition at the product family level, and the closest product variant can be rapidly generated. Furthermore, a scenario based simulation environment for design trade-off can be done in an integrated framework. Such a design environment facilitates capturing customer needs and appropriately informing them of the capability of the firm. Ultimately, through virtual design, customers can directly interact with the CAD systems to make trade-offs among factors that are important to them. These factors can be performance, aesthetics, value, cost, urgency, and others. This paper discusses the technical issues that need to be addressed in realizing virtual design and an example is presented to illustrate the proposed approach.

关键词： Product design Product customization Mass customization Mass production Virtual manufacturing Economies of scale Virtual prototyping Design automation Costs Product development

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Model-based fuzzy control system design for magnetic bearings

Model-based fuzzy control system design for magnetic bearing...

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IEEE International conference on Fuzzy Systems (FUZZ-IEEE)

作者： T. Kosaki M. Sano K. Tanaka Department of Computer Science Hiroshima City University Hiroshima Japan Department of Human and Mechanical Systems Engineering Kanazawa University Kanazawa Japan

This paper describes the application of a model-based fuzzy control technique to active magnetic bearing systems. The stabilization problem of the magnetic bearing systems is reduced to a two degrees-of-freedom control problem about rotational motion including interaction. We derive a multivariable fuzzy controller for this problem from the fuzzy model of rotor dynamics using the concept of parallel distributed compensation. Moreover, the stability of the designed control system is proved by means of the Lyapunov stability condition. A common Lyapunov function is found by solving an optimization problem based on linear matrix inequality conditions. The performance of the developed fuzzy controller is verified through simulation.

关键词： Fuzzy control Magnetic levitation Control systems Motion control Stability Lyapunov method Sliding mode control Fuzzy systems Electromagnets Nonlinear control systems

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Force propagation models in laparoscopic tools and trainers

Force propagation models in laparoscopic tools and trainers

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Annual International conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： S. Payandeh Experimental Robotics Laboratory (ERL) School of Engineering Science Simon Fraser University Burnaby BC Canada

Most of the tools that are used in performing manipulation tasks in laparoscopic surgery are graspers and needle drivers. Although the operation of such basic tools is rather simple, their combination with remote access to the surgical site and an indirect field of view makes the usage of such mechanisms challenging. This means that surgeons have to undergo a series of training sessions in order to gain proper hand/eye coordination. In addition, due to the structure of these mechanisms, the sense of touch has been reduced to a minimum. One challenge of research and development has been to design a force-reflective grasper that can reflect the sense of touch back into the handle. In addition, considerable efforts are being focused on developing a virtual laparoscopic trainer where the sense of touch in manipulating virtual tissues and organs can be reflected back to the hand of the surgeon through the proper design of haptic interfaces. This paper presents force propagation models which can be used in the modelling, design and interpretation of the force sensing system and reflecting devices. The proposed models agree with the experimental observation previously published in the literature for describing the relationships between the magnitude of the grasping force and the applied force at the handle.

关键词： Laparoscopes Grasping Force measurement Haptic interfaces Computational modeling Kinematics Minimally invasive surgery Needles Computer simulation Robots

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A new multiuser detector for optical code division multiple access communications systems

A new multiuser detector for optical code division multiple ...

引用

IEEE International conference on Communications (ICC)

作者： J.T.K. Tang K.B. Letaief Electrical and Electronic Engineering Department Hong Kong University of Science and Technology Hong Kong China

Optical code division multiple access has been proposed as an alternative multiple access scheme for multiuser fiber-optic communication systems. Many previous works on the receivers for such systems have focused on the correlation receiver which is optimal in the single user case. However, it has been shown that the performance of the correlation receiver is unsatisfactory when there is a large number of interferers. Multiuser detection becomes an appealing method to improve the system performance. In this paper, a new multiuser detector for optical code division multiple access communication systems, referred to as the multistage decorrelating receiver, is proposed. Its structure is much simpler than the optimal multiuser detector at the expense of slight performance degradation. Both simulation and analysis of the receiver are carried out. Comparison of the proposed detector with several other receivers is also presented.

关键词： Optical detectors Multiaccess communication Optical receivers Multiple access interference Decorrelation Optical fiber communication Multiuser detection Degradation Spread spectrum communication Intensity modulation

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Characterization of monoped equilibrium gaits

Characterization of monoped equilibrium gaits

引用

IEEE International conference on Robotics and Automation (ICRA)

作者： W.J. Schwind D.E. Koditschek Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA University of Michigan Ann Arbor MI US

We characterize equilibrium gaits of a small knee monoped in terms of manifest parameters by recourse to approximate closed form expressions. We first eliminate gravity during stance and choose a very special model of potential energy storage in the knee. Next, we introduce simple closed form approximations, motivated by the mean value theorem, to the elliptic integrals arising in the more general case. In so doing, we derive a conjectured generalization applicable to small knee monopeds with an arbitrary knee potential. Finally, we introduce a new closed form perturbation intended to adjust the approximate coordinate transformations to the presence of gravity. simulation data is offered as evidence for the efficacy (to within roughly 5-10% accuracy) of both the proposed generalization across knee potentials and the proposed perturbation for the presence of gravity during stance.

关键词： Knee Gravity Leg Biomechanics Springs Potential energy Energy storage Robot kinematics Actuators Power supplies

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