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international conference on control of Oscillations and Chaos

作者： K.D. Mombaur H.G. Bock R.W. Longman IWR Universität Heidelberg Heidelberg Germany Department of Mechanical Engineering Columbia University NY USA

We study the periodic motion of passive open-loop-controlled walking robots that are modelled as nonlinear oscillatory systems including discontinuities in the state variables. A numerically efficient method for finding periodic orbits and analysing their stability is presented. The effects of model parameter variations and different objective functions on the stability and other properties of the trajectories are discussed.

关键词： Legged locomotion Chaos Feedback Leg Open loop systems Motion control control systems robot kinematics Thigh Equations

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On some possibilities of adaptive coordinate-parametric control by oscillations of the automated space robotic module with changing structure

On some possibilities of adaptive coordinate-parametric cont...

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international conference on control of Oscillations and Chaos

作者： V.M. Glumov S.D. Zemlyakov V.Yu. Rutkovsky V.M. Sukhanov Institute of Control Scinces V.A. Trapeznikov RAS Moscow Russia

ISBN: (纸本)0780364341

The orientation control system of the automated space robotic module with changing structure is considered. The distinctive property of such a space object is an essential uncertainty and nonstationarity of the control devices effectiveness. Such an uncertainty may cause undesirable oscillations during the angular rotation and undesirable parameters of auto-oscillations during the angular object orientation. In this paper some automatic control algorithms are presented that provide the optimal angular rotation and the minimal fuel consumption in orientation mode in spite of such uncertainty and nonstationarity.

关键词： Programmable control Adaptive control Automatic control Uncertainty Space stations robot kinematics Orbital robotics robotics and automation control systems Position control

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control of a tube crawling machine

International Conference on Control of Oscillations and Chao...

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international conference on control of Oscillations and Chaos, proceedings 2000年第3期 586-591页

作者： Pfeiffer, F. Rossmann, Th. Loeffler, K. Technische Universitaet Muenchen Garching Germany

The project of an eight legged pipe crawling robot is presented. First the mechanical design is described with particular emphasis on the sensors and actuators of the robot. These provide the input to the nonlinear controller, that is organized hierarchically. According to the mechanical structure of the system, the control task is distributed to a central level, controlling the overall system behavior and a decentral level, corresponding to the individual legs. Both on the central and on the decentral level, the control problem covers coordinative tasks, concerning the sequence of phases in the gait pattern and operative tasks, concerning the control of the forces during each phase of the gait. On the central level, the forces are controlled based on linear theory and distributed to the legs. According to the demands of the overall system, the decentral controllers are designed to adjust the forces of each leg employing the method of feedback linearization.

关键词： Mobile robots

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A problem of on-line continuous-time estimation of parameters of polyharmonic function

A problem of on-line continuous-time estimation of parameter...

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international conference on control of Oscillations and Chaos

作者： A.A. Bobtsov A.V. Lyamin Saint Petersburg State Institute of Fine Meclianics and Optics (Technical University) Saint Petersburg Russia Sankt-Peterburgskij politehniceskij universitet Petra Velikogo Sankt-Peterburg LeningradskaÃ¢ oblast' RU

ISBN: (纸本)0780364341

A problem of on-line continuous-time estimation of parameters (frequencies and amplitudes) of a polyharmonic function is considered. Given problem is a classical problem of the systems theory. Nonlinear dependency of the function from its parameters prevents using standard well-known methods of adaptive control and identification, since the presentation of periodic function as output of a dynamic system leads to the problem of simultaneous estimation of state variables and unknown parameters, that presents the special difficulty in continuous-time. In the recent papers dedicated to the given problem the algorithms of estimation of frequency of the measured sinusoidal signal J=Asin(/spl omega/t+/spl phi/) were proposed. However these algorithms can not be developed for the estimation of parameters of a polyharmonic signal. A solution of considered problem can find wide practical application in self-learning of robotic systems and adaptive noise damping systems. For example, the problem of overcoming of function uncertainties in control laws arises from the design of mobile robot control systems for a motion along physically detectable, but analytically unknown paths (border of physical object). Solution of this problem is based an using a strategy of self-learning and an algorithm of the approximation of the unknown periodic functional dependencies. Analytical conditions of existence of the solution are presented for the case of on-line continuous-time estimation of the parameters of a polyharmonic function. The design procedure of the estimation algorithm is proposed.

关键词： Parameter estimation Frequency estimation Motion control control systems Amplitude estimation Adaptive control Nonlinear dynamical systems State estimation Frequency measurement robots

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Representation of behavioral history for learning in nonstationary conditions

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robotICS And AUTONOMOUS SYSTEMS 1999年第2-3期29卷 187-200页

作者： Michaud, F Mataric, MJ Univ Sherbrooke Dept Elect & Comp Engn Sherbrooke PQ J1K 2R1 Canada Univ So Calif Dept Comp Sci Los Angeles CA 90089 USA

A robot having to operate in nonstationary conditions needs to learn how to modify its control policy to adapt to the changing dynamics of the environment. Using the behavior-based approach to manage the interactions between the robot and its environment, we propose a method that models these interactions and adapts the selection of behaviors according to the history of behavior use. The learning and the use of this "Interaction Model" are validated using a vision- and sonar-based Pioneer I robot in the context of a multi-robot foraging task. Results show the effectiveness of the approach in taking advantage of any regularities experienced in the world, leading to fast and adaptable specialization for the learning robot. (C) 1999 Elsevier Science B.V. All right reserved.

关键词： robot learning multi-robot experiments nonstationary conditions behavior-based representation self-evaluation of performance

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robot-assisted diagnostic ultrasound - Design and feasibility experiments 2nd

Robot-assisted diagnostic ultrasound - Design and feasibilit...

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2nd international conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI 99)

作者： Salcudean, SE Bell, G Bachmann, S Zhu, WH Abolmaesumi, P Lawrence, PD Univ British Columbia Dept Elect & Comp Engn Vancouver BC V6T 1Z4 Canada

ISBN: (纸本)354066503X

Motivated by the need for providing a better user interface for ultrasound technicians, a teleoperation approach to diagnostic ultrasound examinations is proposed in this paper. In this approach, the ultrasound probe is positioned by a robot, with the operator, the robot controller, and an ultrasound image processor having shared control over its motion. An inherently safe, light, backdrivable, counterbalanced robot has been designed for carotid artery examinations. Its design, as well as experiments demonstrating effective free-motion and force control, are presented. The feasibility of using visual servoing for motion in the plane of the ultrasound probe has also been addressed. Using a modified image correlation algorithm, tracking of the carotid artery for periods of time in excess of ten seconds has been demonstrated.

关键词： robots

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The CMUnited-97 robotic soccer team: Perception and multi-agent control

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robotICS And AUTONOMOUS SYSTEMS 1999年第2-3期29卷 133-143页

作者： Veloso, M Stone, P Han, K Carnegie Mellon Univ Dept Comp Sci Pittsburgh PA 15213 USA

robotic soccer is a challenging research domain which involves multiple agents that need to collaborate in an adversarial environment to achieve specific objectives. In this paper, we describe CMUnited-97, the team of small robotic agents that we developed to enter the RoboCup-97 competition. We designed and built the robotic agents, devised the appropriate vision algorithm, and developed and implemented algorithms for strategic collaboration between the robots in an uncertain and dynamic environment. The robots can organize themselves in formations, hold specific roles, and pursue their goals. In game situations, they have demonstrated their collaborative behaviors on multiple occasions. The robots can also switch roles to maximize the overall performance of the team. We present an overview of the vision processing algorithm which successfully tracks multiple moving objects and predicts trajectories. The paper then focuses on the agent behaviors ranging from low-level individual behaviors to coordinated, strategic team behaviors. CMUnited-97 won the RoboCup-97 small-robot competition at IJCAI-97 in Nagoya, Japan. (C) 1999 Elsevier Science B.V. All rights reserved.

关键词： multi-agent robotic systems collaborative behavior robotic soccer

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Synthetic image modalities generated from matched CT and MRI data: A new approach for using MRI in brachytherapy 2nd

Synthetic image modalities generated from matched CT and MRI...

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2nd international conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI 99)

作者： Krempien, R Grabowski, HA Harms, W Hensley, FW Hassfeld, S Mende, U Treiber, M Wannenmacher, M Univ Heidelberg Dept Clin Radiol Clin Radiol D-69120 Heidelberg Germany Univ Karlsruhe Dept Comp Sci Inst Proc Control & Robot D-76128 Karlsruhe Germany Univ Heidelberg Clin CranioMaxilloFacial Surg D-69120 Heidelberg Germany

ISBN: (纸本)354066503X

Target definition and dosimetric evaluation of brachytherapy procedures is crucial in developing proper technique and has prognostic implications. Accurate definition of tumour volume and organs at risk is essential for treatment planing. CT accurately localise sources, but often poorly delineates tumour volume. Magnetic resonance imaging (MRI) has introduced several imaging benefits such as improved soft tissue definition and unrestricted multiplanar and volumetric imaging. However, MRI has not yet seriously challenged CT for brachytherapy planing in most sites. One main reasons for this is the poor imaging of the applicator dummy markers required for detecting the source dwell positions. Therefore a new system generating synthetic image modalities from matched and fused CT and MRI-data has been developed. The system presented consists of five modules serving for viewing, matching, segmentation, fusion and validation. With the presented new system manual or automatic image registration and fusion of CT and MR-images can be done, enabling the use of the imaging advantages of MRI and CT in brachytherapy planing. Tumour structures or source dwell positions could be measured in any plane in one imaging modality and then copied into the other. With synthetic image-based brachytherapy planing a optimisation of target volume covering and dose distribution to treatment volume and structures at risk could be achieved. These preliminary data show that image registration and fusion is feasible for brachytherapy planing. The procedure integrating synthetic images from CT and MRI into brachytherapy planing has the advantage of precise target volume definition and of better determination of dose within this target taking into account the critical dose at structures at risk. Synthetic images may lead to an improved tumour control and reduced side effects by brachytherapy.

关键词： Magnetic resonance imaging

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Cerebellar control of robot arms

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CONNECTION SCIENCE 1998年第3-4期10卷 301-320页

作者： van der Smagt, P DLR Oberpfaffenhofen German Aerosp Ctr Inst Robot & Syst Dynam D-82230 Wessling Germany

Decades of research into the structure and function of the cerebellum have led to a clear understanding of many of its cells, as well as how learning takes place. Furthermore, there are many theories on what signals the cerebellum operates on, and how it works in concert with other parts of the nervous system. Nevertheless, the application of computational cerebella, models to the control of robot dynamics remains in its infant state. To date, a few applications have been realized, but limited to the control of traditional robot structures which, strictly speaking, do not require adaptive control for the tasks that are performed since their dynamic structures are relatively simple. The currently emerging family of light-weight robots (Hirzinger;G. (1996) In proceedings of the 2nd international conference on Advanced robotics, Intelligent Automation, and Active Systems, Vienna, Austria) poses a new challenge to robot control: owing to their complex dynamics, traditional methods, depending on a full analysis of the dynamics of the system, are no longer applicable since the joints influence each other's dynamics during movement. Can artificial cerebellar models compete here? In this paper, we present a succinct introduction of the cerebellum, and discuss where it could be applied to tackle problems in robotics. without conclusively answering the above question, an overview of several applications of cerebellar models to robot control is given.

关键词： cerebellum robot dynamics robot arm control computational cerebellar models neural networks

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From theory to practice: The UTEP robot in the AAAI 96 and AAAI 97 robot contests

From theory to practice: The UTEP robot in the AAAI 96 and A...

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proceedings of the 1998 2nd international conference on Autonomous Agents

作者： Baral, C. Floriano, L. Hardesty, A. Morales, D. Nogueira, M. Son, T.C. Univ of Texas at El Paso El Paso TX United States

In this paper we describe the control aspects of Diablo, the UTEP mobile robot participant in two AAAI robot competitions. In the first competition, event one of the AAAI 96 robot contest, Diablo consistently scored 285 out of a total of 295 points. In the second competition, our robot won the first place in the event `Tidy Up' of the home vacuum contest. The main goal in this paper will be to show how the agent theories - based on action theories - developed at UTEP and by Saffiotti et al. was used in the building of Diablo.

关键词： Mobile robots

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