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Conference on sensor fusion and Distributed robotic Agents

作者： Thomopoulos, SCA Braught, G INTELNET Inc. (United States)

ISBN: (纸本)0819423076

Intelligent control, inspired by biological and AI (artificial intelligence) principles, has increased the understanding of controlling complex processes without precise mathematical model of the controlled process. Through customized applications, intelligent control has demonstrated that it is a step in the right direction. However, intelligent control has yet to provide a complete solution to the problem of integrated manufacturing systems via intelligent reconfiguration of the robotics systems. The aim of this paper is to present an intelligent control architecture and design methodology based on biological principles that govern self-organization of autonomous agents. Two key structural elements of the proposed control architecture have been tested individually on key pilot applications and shown promising results. The proposed intelligent control design is inspired by observed individual and collective biological behavior in colonies of living organisms that are capable of self-organization into groups of specialized individuals capable of collectively achieving a set of prescribed or emerging objectives. The nervous and brain system in the proposed control architecture is based on reinforcement learning principles and conditioning and modeled using adaptive neurocontrollers. Mathematical control theory (e.g. optimal control, adaptive control, and neurocontrol) is used to coordinate the interactions of multiple robotics agents.

关键词： robotics Robots control systems sensors Nervous system Adaptive control Mathematical modeling Process control robotic systems Manufacturing

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systems Engineering Education through Participation in Engineering Competitions

Systems Engineering Education through Participation in Engin...

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ASEE Annual Conference

作者： Gonzalez, Fernando Garcia Texas A&M Int Univ Engn Laredo TX 78041 USA

ISBN: (纸本)9780878232413

There are many student competitions involving complex engineering designs and in particular involving robotics or robotic vehicles. In the Department of Defense's Intelligent Ground Vehicle Competition, IGVC, Students create autonomous vehicles that navigate an obstacle course using only its own systems with no human interaction. This results in the vehicle having very complex and sophisticated engineering systems including vision, a laser range finder, global positioning systems and many other sensory devises. It also involves very sophisticated software to perform the autonomous navigation using the sensor inputs. The complexity of the project necessitates the involvement of a relatively large group of students working together on different parts of the system. The robotics Laboratory at the University of Central Florida has been participating in the annual IGVC competition since 2002. In this project the students learn about most of the engineering disciplines that are typically included in a complex robotic project such as software design, computer vision, sensor data interpretation and fusion, robotic motion planning, vehicle navigation, vehicle design and construction, electric motor control, computer interfaces to various components and many others. Naturally this education compliments the core engineering education they receive during their course education. However one very important engineering discipline that they learn is systems engineering. The success of the project involves a strong systems engineering effort to integrate all the individual components, to design the overall system, to consider the complete life cycle, and to coordinate and oversee the project and its team members. The team generally shares the systems engineering responsibility as they are all involved in the higher level decisions that need to be made. This exposes all of the students in the team to systems engineering education which is especially beneficial when you consider that

关键词： Students

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Intelligent modelling and control for autonomous systems

Intelligent modelling and control for autonomous systems

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Proceedings of the 1996 IEE Colloquium on autonomous Underwater Vehicles and Their systems - Recent Developments and Future Prospects

作者： Harris, C.J. Univ of Southampton Southampton United Kingdom

Recent technological advancements in the field of automation and control have made it possible to develop autonomous underwater vehicles (AUV). The development of decentralized distributed systems architectures which offer ease of systems integration, interoperability, scalability, portability and modularity, inherent robustness, and survivability are very useful for the effective operation of AUVs. Improved quality of estimation, robustness and fault tolerance are achieved with multiple disparate sensors. Multi-sensor data fusion, together with developments in estimation algorithms, are also useful for vehicle localization and obstacle detection.

关键词： Submersibles

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Integrating sensorimotor systems in a robot model of cricket behavior

Integrating sensorimotor systems in a robot model of cricket...

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Conference on sensor fusion and decentralized control in robotic systems III

作者： Webb, B Harrison, RR Univ Stirling Dept Psychol Ctr Cognit & Computat Neurosci Stirling FK9 4LA Scotland

ISBN: (纸本)0819438618

The mechanisms by which animals manage sensorimotor integration and coordination of different behaviors can be investigated in robot models. In previous work the first author has built a robot that localizes sound based on close modeling of the auditory and neural system in the cricket. It is known that the cricket combines its response to sound with other sensorimotor activities such as an optomotor reflex and reactions to mechanical stimulation of the antennae and cerci. Behavioral evidence suggests some ways these behaviors may be integrated. We have tested the addition of an optomotor response, using an analog VLSI circuit developed by the second author, to the sound localizing behavior and have shown that it can, as in the cricket, improve the directness of the robot's path to sound. In particular it substantially improves behavior when the robot is subject to a motor disturbance. Our aim is to better understand how the insect brain functions in controlling complex combinations of behavior, with the hope that this will also suggest novel mechanisms for sensory integration on robots.

关键词： sound localization insect vision biorobotics sensorimotor integration

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Supervised control of cooperative multi-agent robotic vehicles 34

Supervised control of cooperative multi-agent robotic vehicl...

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34th Southeastern Symposium on System Theory

作者： Shirkhodaie, A Tennessee State Univ Dept Mech Engn Intelligent Tact Mobil Robot Lab Nashville TN 37209 USA

ISBN: (纸本)0780373391

In this paper, we will address some of technical challenges associated with supervised tactical mobility behaviors modeling and control of a group of cooperative multi-agent robotic vehicles. Cooperative task planning of robotic systems is a dynamic and complex problem and very challenging. The challenge comes from many avenues including task decomposition, assignment, resource allocation, and task execution and monitoring. Furthermore, the behavior-based control system requires having deliberative and reactive task planning capability for execution of cooperative tasks of mobile robots as well as adequate adaptability to learn new cooperative schemes to improve system performance in over-time. Another challenge of this problem is associated with sensory data gathering, distributed data processing, and centralized/decentralized data fusion, and intelligent world perception modeling and comprehension of cooperative mobile robots. We have proposed a multilayered supervisory control architecture for coordinated task planning of a group of multi-agent robots. The supervisory controller allows control of robotic vehicles in either tele-operation, semi-autonomous, and/or autonomous modes.

关键词： cooperative robots supervisory control system

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The Syncline Model - Analyzing the Impact of Time Synchronization in sensor fusion

The Syncline Model - Analyzing the Impact of Time Synchroniz...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Jellum, Erling R. Bryne, Torleiv H. Johansen, Tor Arne Orlandic, Milica Norwegian Univ Sci & Tech Dept Engn Cybernet Ctr Autonomous Marine Operat & Syst Trondheim Norway Norwegian Univ Sci & Tech Dept Elect Syst Trondheim Norway

ISBN: (数字)9781665473385

ISBN: (纸本)9781665473385

The accuracy of sensor fusion algorithms are limited by either the intrinsic sensor noise, or by the quality of time synchronization of the sensors. While the intrinsic sensor noise only depends on the respective sensors, the error induced by quality of, or lack of, synchronization depends on the dynamics of the vehicles and robotic system and the magnitude of time synchronization errors. To meet their sensor fusion requirements, system designers must consider both which sensor to use and also how to synchronize them. This paper presents the Syncline model, a simple visual model of how time synchronization affects the accuracy of sensor fusion for different mobile robot platform. The model can serve as a simple tool to determine which synchronization mechanisms should be used.

关键词： Visualization Heuristic algorithms sensor fusion Robot sensing systems Data models Synchronization Mobile robots

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Toward controlling Perturbations in robotic sensor Networks

Toward Controlling Perturbations in Robotic Sensor Networks

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Conference on Next-Generation Robots and systems

作者： Banerjee, Ashis Gopal Majumder, Saikat Ray Gen Elect Global Res Niskayuna NY 12309 USA

ISBN: (纸本)9781628410532

robotic sensor networks (RSNs), which consist of networks of sensors placed on mobile robots, are being increasingly used for environment monitoring applications. In particular, a lot of work has been done on simultaneous localization and mapping of the robots, and optimal sensor placement for environment state estimation(1). The deployment of RSNs, however, remains challenging in harsh environments where the RSNs have to deal with significant perturbations in the forms of wind gusts, turbulent water flows, sand storms, or blizzards that disrupt inter-robot communication and individual robot stability. Hence, there is a need to be able to control such perturbations and bring the networks to desirable states with stable nodes (robots) and minimal operational performance (environment sensing). Recent work has demonstrated the feasibility of controlling the non-linear dynamics in other communication networks like emergency management systems and power grids by introducing compensatory perturbations to restore network stability and operation(2). In this paper, we develop a computational framework to investigate the usefulness of this approach for RSNs in marine environments. Preliminary analysis shows promising performance and identifies bounds on the original perturbations within which it is possible to control the networks.

关键词： sensor networks autonomous underwater vehicles acoustic communication decentralized control non-linear dynamics

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Auto-localization system for indoor mobile robot using RFID fusion

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roboticA 2015年第9期33卷 1899-1908页

作者： Abdelgawad, A. Cent Michigan Univ Sch Engn & Technol Mt Pleasant MI 48859 USA

autonomous mobile robots need accurate localization techniques to perform assigned task. Radio Frequency Identification Technology (RFID) has become one of the main means to construct a real-time localization system. Localization techniques in RFID rely on accurate estimation of the read range between the reader and the tags. This paper proposes an auto-localization system for indoor mobile robot using passive RFID. The proposed system reads any three different RFID tags which have a known location. The current location can be estimated using the Time Difference of Arrival (TDOA) scheme. In order to improve the system accuracy, the proposed system fuses the TDOA scheme for the three tags. A Kalman filter is used to minimize the estimated error and predict the next location. The simulation results validate the proposed framework.

关键词： Automation control of robotic systems Design Mobile robots Robot localization sensor networks

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A multiagent framework for industrial robotic applications

A multiagent framework for industrial robotic applications

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Conference of the Complex Adaptive systems on Responding to Continuous Global Change in systems Needs

作者： Svaco, Marko Sekoranja, Bojan Jerbic, Bojan Fac Mech Engn & Naval Architecture Zagreb 10000 Croatia

The paper presents a novel approach toward modeling and governing complex system behavior in flexible and adaptive robotic assembly systems. A fully distributed multiagent approach is implemented for autonomous control. The system is defined at multiple levels of granularity where agents provide services in respect to the current global goal. A decentralized multiagent approach is adopted for reasons of flexibility and fault tolerance embedded in the design phase. To prove the concept a robotic application for intelligent assembly is presented and discussed. It consists of multiple industrial robots equipped with force/torque sensors, 2D and 3D vision systems, automatic tool changers and other sensors and actuators. Through fusion of sensory input and mutual communication agents construct and negotiate an assembly plan and reconfigure respectively. (C) 2011 Published by Elsevier B. V.

关键词： Distributed robotic systems Multiagent systems Assembly technology

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Distributed autonomous systems: resource management, planning, and control algorithms

Distributed autonomous systems: resource management, plannin...

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Conference on Signal Processing, sensor fusion, and Target Recognition XIV

作者： Smith, JF Nguyen, TH USN Res Lab Washington DC 20375 USA

ISBN: (纸本)0819457949

Distributed autonomous systems, i.e., systems that have separated distributed components, each of which, exhibit some degree of autonomy are increasingly providing solutions to naval and other DoD problems. Recently developed control, planning and resource allocation algorithms for two types of distributed autonomous systems will be discussed. The first distributed autonomous system (DAS) to be discussed consists of a collection of unmanned aerial vehicles (UAVs) that are under fuzzy logic control. The UAVs fly and conduct meteorological sampling in a coordinated fashion determined by their fuzzy logic controllers to determine the atmospheric index of refraction. Once in flight no human intervention is required. A fuzzy planning algorithm determines the optimal trajectory, sampling rate and pattern for the UAVs and an interferometer platform while taking into account risk, reliability, priority for sampling in certain regions, fuel limitations, mission cost, and related uncertainties. The real-time fuzzy control algorithm running on each UAV will give the UAV limited autonomy allowing it to change course immediately without consulting with any commander, request other UAVs to help it, alter its sampling pattern and rate when observing interesting phenomena, or to terminate the mission and return to base. The algorithms developed will be compared to a resource manager (RM) developed for another DAS problem related to electronic attack (EA). Ibis RM is based on fuzzy logic and optimized by evolutionary algorithms. It allows a group of dissimilar platforms to use EA resources distributed throughout the group. For both DAS types significant theoretical and simulation results will be presented.

关键词： fuzzy logic resource management evolutionary computing robotic control distributed autonomous systems

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