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检索条件"任意字段=Proceedings of the 2019 2nd International Conference on Control and Robot Technology"

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Cartesian neuro-sliding PID control of robots for tracking under inverse Jacobian uncertainty

Cartesian neuro-sliding PID control of robots for tracking u...

引用

IEEE international conference on Industrial Informatics (IndIN)

作者： V. Parra-Vega R. Garcia-Rodriguez L. de Ia Rosa-Jimenez F. Ruiz- Sanchez Center for Advanced Technology - CIATEQ Queretaro Qro. Mexico Mechatronics Division CINVESTAV Mexico DF Mexico

An alternative approach that satisfies the problem of Cartesian tracking without using the model and without exact knowledge of Jacobian is proposed to guarantee exponential tracking. The scheme is a new sliding PID controller in Cartesian coordinates, whose control input is smooth, produces well-posed terminal attractors which gives rise to finite time convergence, a faster convergence regime than exponential one. Experimental results are present to visualize the real time stability properties of the proposed scheme

关键词： Three-term control robot control Jacobian matrices robot kinematics Uncertainty Legged locomotion Force control TV Convergence Visualization

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Local minima free neural network learning

Local minima free neural network learning

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international IEEE conference on Intelligent Systems, IS

作者： I.N. Jordanov T.A. Rafik Department of Computer Science and Software Engineering University of Portsmouth Portsmouth UK School of Product and Engineering Design University of Wales Institute of Science and Technology Cardiff UK

Global optimization algorithm applied for feedforward neural networks (NN) supervised learning is investigated. The network weights are determined by minimizing the traditional backpropagation error function. The difference is that the optimization based learning algorithm utilizes stochastic technique, based on the use of low discrepancy sequences. This technique searches the parameter space, defined by the network weights, to define initial regions of attraction with candidates for local minima, and then exploits each region to locate the minima, and to determine a global minimum. The proposed technique is initially tested on multimodal mathematical functions and subsequently applied for training NN with moderate size for solving simple benchmark problems. Finally, the results are analysed, discussed, and compared with others.

关键词： Neural networks Stochastic processes Convergence Backpropagation algorithms Supervised learning Benchmark testing Pattern recognition Function approximation Speech recognition robot control

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Dynamical image-based PID uncalibrated visual servoing with fixed camera for tracking of planar robots with a heuristical predictor

Dynamical image-based PID uncalibrated visual servoing with ...

引用

IEEE international conference on Industrial Informatics (IndIN)

作者： E.C. Dean-Leon V. Parra-Vega A. Espinosa-Romero J. Fierro Mechatronics Division CINVESTAV Mexico Mechatronics Division-CINVESTAV Mexico Center for Advanced Technology· CIATEQ Queretaro Qro Mexico Facultad de Matematicas Universidad Autónoma de Yucatán México

Based on a recent state-of-the-art image-based visual feedback control scheme in fixed uncalibrated camera proposed by the authors, the experimental verification is presented. However, image acquisition and processing for closed-loop control introduces technological challenges through the time delay induced by the CCD camera itself. Thus, to preserve the time domain algorithm and to avoid discretization of our nonlinear controller, a practical predictor is introduced to obtain rough estimates of the image at the bandwidth of the robot. The nonlinear dynamics of the planar robot is considered for the stability analysis. Exponential tracking arises due to a chattering-free visual sliding mode using PID controller based on image error trajectories. The experimental setup describes details of the implementation of our previous theoretical results using a fire wire fixed camera, and a direct drive robot for desired image trajectories. All camera and robot parameters are unknown, and experimental results confirm the theoretical results

关键词： Visual servoing robot vision systems Cameras Sliding mode control Feedback control Process control Delay effects Charge coupled devices Charge-coupled image sensors Bandwidth

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Design of FPGA-based adaptive remote calibration control system 2

Design of FPGA-based adaptive remote calibration control sys...

引用

2nd international conference on Field-Programmable technology (ICFPT 2003)

作者： Jeang, YL Chen, LB Huang, CP Hsu, YH Yeh, MY Yang, KM Natl Kaohsiung Univ Appl Sci Dept Elect Engn Kaohsiung Taiwan

ISBN: (纸本)0780383206

Calibration for servomotors is widely applied in various fields, especially in robot control [1,8] and factory automation. Because the real time response to system control feedbacks is a compulsory characteristic for calibration for servomotor, a hardware structure with quick response characteristic needs to be implemented to replace the software. The goal is to prevent the servomotors from out of control. In this paper, a calibration control feedbacks system with remote monitoring features and parametric designs can be built rapidly through FPGA. Users can configure the number of axis and proportional integration derivative (PID) parameters by themselves with any other servomotors. Using Internet [1,3,6] or LAN to realize the remote calibration control for servomotor system is also achievable.

关键词： Field programmable gate arrays (FPGA)

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Exploring cognitive approach through the neural network paradigm: "Trajectory planning application" 2

Exploring cognitive approach through the neural network para...

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2nd IEEE international conference on Cognitive Informatics (ICCI 2003)

作者： Berni, A Ramdane-Cherif, A Saadia, N Levy, N Univ Versailles PRiSM F-78035 Versailles France

ISBN: (纸本)0769519865

In recent years, artificial neural networks have received a great deal of attention for their ability to perform nonlinear mappings. In trajectory control of robotic devices, neural networks provide a fast method of autonomously learning the relation between a set of output states and a set of input states. In this paper, we will apply the cognitive approach to solve the problems related to the position controller using the inverse geometrical model. In order to control a robot manipulator to accomplish a task, trajectoty planning is required in advance or in real time. The desired trajectory is usually described in Cartesian coordinates and needs to be converted to Joint space for the purpose of analyzing and controlling the system behavior. In this paper, we use the memory neural network MNN to solve the optimization problem concerning the inverse of the direct geometrical model of the redundant manipulator subject to some constraints. Our approach offers substantially better accuracy, avoids the computation of the inverse or pseudoinverse Jacobian matrix and do not produce problems such as singularity, redundancy, and considerably increased computational complexity, etc.

关键词： Artificial neural networks Cognitive robotics Inverse problems Manipulators Neural networks Orbital robotics robot control robot kinematics Solid modeling Trajectory

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2nd international Workshop on Formal Approaches to Agent-Based Systems, FAABS 2002

2nd International Workshop on Formal Approaches to Agent-Bas...

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2nd international Workshop on Formal Approaches to Agent-Based Systems, FAABS 2002

ISBN: (纸本)9783540406655

The proceedings contain 36 papers. The special focus in this conference is on Formal Approaches to Agent-Based Systems. The topics include: A state chart framework for agent roles that captures expertise and learns improved behavior;formal specification of interaction in agent societies;formal verification for a next-generation space shuttle;towards interaction protocol operations for large multi-agent systems;formal modeling and supervisory control of reconfigurable robot teams;computational models for multiagent coordination analysis;bounded model checking for interpreted systems;verifiable middleware for secure agent interoperability;distributed implementation of a connection graph based on cylindric set algebra operators;using state charts and modal logics to model multiagent plans and transactions;an implementation language for agents with advanced reasoning capabilities;a model for conformance testing of mobile agents in a MASIF framework;analysis of a phase transition in a physics-based multiagent system;taking intelligent agents to the battlefield;naval applications of secure multi-agent technology;using xml for interprocess communications in a space situational awareness and control application;challenges arising from applications of agent-based system;tools and education towards formal methods practice;evaluating agent-based modeling as a tool for economists;towards a formal representation of driving behaviors;formal analysis of an agent-based medical diagnosis confirmation system and agent programming in dribble.

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2nd international Workshop on Information Processing in Sensor Networks, IPSN 2003

2nd International Workshop on Information Processing in Sens...

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2nd international Workshop on Information Processing in Sensor Networks, IPSN 2003

ISBN: (纸本)9783540021117

The proceedings contain 44 papers. The special focus in this conference is on Information Processing in Sensor Networks. The topics include: Distributed sampling for dense sensor networks;energy-quality tradeoffs for target tracking in wireless sensor networks;adaptive and decentralized operator placement for in-network query processing;toward sophisticated sensing with queries;boundary estimation in sensor networks;scalable control of decentralised sensor platforms;distributed group management for track initiation and maintenance in target localization applications;using predictable observer mobility for power efficient design of sensor networks;bounds on achievable rates for general multi-terminal networks with practical constraints;source-channel communication in sensor networks;on rate-constrained estimation in unreliable sensor networks;collaborative signal processing for distributed classification in sensor networks;multi-target sensor management using alpha-divergence measures;a distributed algorithm for managing multi-target identities in wireless ad-hoc sensor networks;energy-constrained collaborative processing for target detection, tracking, and geolocation;energy based acoustic source localization;a collaborative approach to in-place sensor calibration;on the error characteristics of multihop node localization in ad-hoc sensor networks;a performance evaluation of intrusion-tolerant routing in wireless sensor networks;scalable decentralized control for sensor networks via distributed lattices;coverage, exploration, and deployment by a mobile robot and communication network;maximum mutual information principle for dynamic sensor query problems;sensor placement for isotropic source localization;just-in-time multicast for sensor networks under spatiotemporal constraints and sentry-based power management in wireless sensor networks.

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A new method of increasing numerical aperture of microlens for biophotonic MEMS 2

A new method of increasing numerical aperture of microlens f...

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2nd Annual international IEEE/EMBS conference on Microtechnologies in Medicine and Biology

作者： Jeong, KH Lee, LP Univ Calif Berkeley Berkeley Sensor & Actuator Ctr Dept Bioengn Berkeley CA 94720 USA

ISBN: (纸本)0780374800

A novel method for increasing numerical aperture of microlens for biophotonic applications is presented in this paper. It is based on the control of UV curable polymer lenslet volume and surface energy of substrates.. The volume control of polymer lenslets for tuning the focal length is accomplished on the substrates with different surface energies by a microdispensing method. Microlens with high numerical aperture is fabricated on the control layer of a hydrophobic polymer deposited on the cover substrate of a microfluidic chip. Microlenses with different numerical apertures have been designed and characterized. The high numerical aperture microlens integrated on a microfluidic chip will allow high-resolution and high signal to noise detection in biophotonic MEMS applications.

关键词： microlens numerical aperture control focal length control

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Analysis and design of a multi-link mobile robot (Serpentine)

Analysis and design of a multi-link mobile robot (Serpentine...

引用

IEEE international conference on Industrial technology

作者： Wiriyacharoensunthorn, P Laowattana, S KMUTT Inst FIeld RoBOt FIBO Bangkok 10140 Thailand

ISBN: (纸本)0780376579

This paper is a study on dynamic behavior of a snake robot, called Serpentine robot, 2(nd) version (SR#2). The SR#2 is the latest version of snake robots developed at FIBO as a research platform for studying serpentine gaits. The gait is in form of sinusoidal curve, considered one of the most effectiveness crawling pattern in the natural world. The Active Cord Mechanism (ACM) assumption, initiated by Hirose, is implemented. The robot motion results from different joint torques and frictional reacting forces in each wheel. In this study, we proposed a modified serpeniod function with steering command to control the robot's direction. We also performed dynamic analysis using Kane's method. Holonomic constraints under frictional forces and nonholonomic constraints unders velocities were considered. We verified our algorithm for directional control on this Serpentine robot both simulation and experiment.

关键词： Serpentine Gait Active Cord Mechanism (ACM) steering control Kane's Method holonomic motion nonholonomic motion

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Bi-articular muscle as a principle keyword for Biomimetic motor link system. 2

Bi-articular muscle as a principle keyword for Biomimetic mo...

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2nd Annual international IEEE/EMBS conference on Microtechnologies in Medicine and Biology

作者： Kumamoto, M Oshima, T Fujikawa, T Lab Image Informat Sci & Technol Bunkyo Ku Tokyo Japan

ISBN: (纸本)0780374800

Unique functional properties of the bi-articular muscles were examined and discussed hi terms of EMG kinesiology with human subjects and robotics utilizing mechanical two-joint link model provided with bi-articular actuators as well as mono-articular actuators. It was revealed that one antagonistic pair of the bi-articular muscles and two antagonistic pairs of the mono-articular muscles demonstrated perfectly coordinating activity pattern and contributed to output force direction control at the endpoint of the extremities. The coordinating activities of three pairs of antagonistic muscles were able to reproduce by single command signal informing force direction via a simple spinal level neural network proposed. Thus, the existence of the bi-articular muscles in animals might mechanically support to produce animal like unique motor control properties with very simple control mechanism.

关键词： bi-articular muscle inter muscular coordination force direction control two joint link model motor link system

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