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51st IEEE Annual Conference on Decision and control (CDC)

作者： Yu, Han Antsaklis, Panos J. Univ Notre Dame Dept Elect Engn Notre Dame IN 46556 USA

ISBN: (纸本)9781467320665

In this paper, distributed control algorithms and event-based communication strategies are developed to achieve formation control with connectivity preservation among a group of networked mobile agents. Each agent transmits its current state information to its neighbors when its own triggering condition is satisfied or when the time elapsed from its last event time is going to exceed the agent's maximal admissible inter-event time. We have focused our studies on two types of systems' dynamics: agents that can be modeled as first order integrators and agents that can be modeled as double integrators. Simulations are provided to validate our results.

关键词： control engineering computing distributed control mobile agents mobile robots multi-robot systems networked control systems position control

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An FPGA Synthesis of the Distributed control Systems Designed with Petri Nets

An FPGA Synthesis of the Distributed Control Systems Designe...

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IEEE 3rd International Conference on Networked Embedded Systems for Every Application (NESEA)

作者： Bukowiec, Arkadiusz Mroz, Piotr Univ Zielona Gora Inst Comp Engn & Elect Ul Podgorna 50 PL-65246 Zielona Gora Poland

ISBN: (纸本)9781467347211

The paper describes a new method for the synthesis of the application specific distributed control systems, constructed using the FPGA devices. The initial steps of the proposed control algorithm rely on the notion of a Petri net, which is an easy way to describe parallel processes. The subsequent steps of the algorithm consist in the decomposition of a given Petri net - with the use of a coloring algorithm - into a set of state machine type subnets. We think of each subnet as representing one parallel process. These subnets are then implemented independently in different FPGA devices. To ensure proper communication between all subnets, the entire control system uses a globally asynchronous locally synchronous (GALS) architecture with each subnet synchronized by the local clock signal. Global communication between components is buffer-based and uses additional signals, generated in a given subnet and distributed to the remaining ones.

关键词： Petri nets control engineering computing distributed control field programmable gate arrays finite state machines graph colouring logic design

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On Learning Coordination Among Soccer Agents

On Learning Coordination Among Soccer Agents

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IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Raza, Ali Sharif, Usman Haider, Sajjad Inst Business Adm Fac Comp Sci Artificial Intelligence Lab Karachi Pakistan

ISBN: (纸本)9781467321273;9781467321259

The paper applies machine learning to learn coordination between two soccer agents. The prime focus is on designing the role of a support player whose job is to support the attack player as the attacker dribbles the ball towards the opponent goal. The traditional way of designing coordination among players is via manual scripting. This, however, requires a detailed specification of routines related to path planning, team formation, collision avoidance, etc. In this paper, we learn the coordination skill by observing log files of the matches played by one of the better teams in the RoboCup Soccer 3D Simulation league. For effective learning, we have extracted knowledge from log files by defining events that relates to a team's strategy. The coordination skill is learned as classification and regression models using neural networks. The goal is to predict the next position of the support robot based on the game state and other relevant variables. Experiments have shown very promising results.

关键词： collision avoidance control engineering computing knowledge acquisition learning (artificial intelligence) mobile robots multi-robot systems neural nets pattern classification regression analysis

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Design of String Stable Adaptive Cruise controllers for Highway and Urban Missions

Design of String Stable Adaptive Cruise Controllers for High...

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50th Annual Allerton Conference on Communication, control, and computing (Allerton)

作者： Bayezit, Ismail Veldhuizen, Tjalling Fidan, Baris Huissoon, Jan P. Lupker, Henk Univ Waterloo Dept Mech & Mechatron Engn Waterloo ON N2L 3G1 Canada Fontys Automot Control Res Ctr Helmond Netherlands

ISBN: (纸本)9781467345392;9781467345378

In this paper, we focus on cooperative adaptive cruise control of ground vehicles and platoon stability in daily traffic. The general adaptive cruise control (ACC) structure and different cooperative adaptive cruise control (CACC) approaches are discussed for highway platooning, considering case studies for a Grand Cooperative Driving Challenge (GCDC) program the authors involved in. The hardware design and the low level control strategy for braking, throttle and gearshift actuators for these case studies are presented. Finally, the performance of a PD based CACC algorithm used in GCDC is analyzed.

关键词： PD control actuators adaptive control control engineering computing control system synthesis road traffic road vehicles stability

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HIT-ARM I High Speed Dexterous Robot Arm

HIT-ARM I High Speed Dexterous Robot Arm

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IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Liu, Yiwei Xie, Zongwu Zhang, Qi Wang, Bin State Key Lab Robot & Syst HIT Harbin 150001 Peoples R China

ISBN: (纸本)9781467321273;9781467321259

A dexterous, light weight arm with high precision, high speed manoeuvrability has been built for playing ping-pong. It is based on the modular design concept. The 6 DOFs robot arm consists of two shoulder joints, two elbow joints and one wrist joint. Brushless DC motors and harmonic reducer with a large central hole are applied on the shoulder joints and the elbow joints. The wrist joints are characterized by a bevel gear differential mechanism and driven by two flat DC motors, through a harmonic reducer and timing belt arrangement. Each modular joint contains a joint torque sensor, a joint position sensor, a motor position sensor, a current sensor and a temperature sensor. In each joint, there is a Field Programmable Gate Array(FPGA) for communication and control of BLDC motors. The core of the arm controller is a Intel Core II processor with 2.0 GHz. A PCI board based on FPGA is used for the communication between the arm controller and joint electrical units. Experiment results show that the dexterous arm can play table tennis successfully.

关键词： brushless DC motors control engineering computing dexterous manipulators field programmable gate arrays gears machine control position measurement sport temperature sensors torque measurement

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Development of a Vehicle Stability control Algorithm using Velocity and Yaw rate for an In-wheel Drive Vehicle

Development of a Vehicle Stability Control Algorithm using V...

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IEEE Vehicle Power and Propulsion Conference (VPPC)

作者： Ko, Sungyeon Ko, Jiwon Lee, Sangmoon Cheon, Jaeseung Kim, Hyunsoo Sungkyunkwan Univ Sch Mech Engn Suwon South Korea X By Wire Engn Team Hyundai Mobis Yongin 446912 South Korea

ISBN: (纸本)9781467309547;9781467309530

This paper proposes a vehicle stability control algorithm that uses velocity and yaw rate during cornering for an in-wheel independent drive vehicle. The vehicle velocity control at the cornering determines the velocity limit that the vehicle can sustain the given cornering radius and controls the vehicle velocity for safe cornering if the vehicle velocity is faster than the velocity limit. The yaw rate control determines whether the vehicle is under steer or over steer during cornering and directly generates a yaw moment by independently driving and braking the in-wheel motor of each wheel. To evaluate the validity of the vehicle stability control algorithm, a co-simulator that integrated the CarSim vehicle model and MATLAB/Simulink controller model was developed.

关键词： angular velocity control control engineering computing digital simulation electric machine analysis computing electric vehicles machine control motor drives stability

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Passive scattering transform bilateral teleoperation for an Internet-based mobile robot

Passive scattering transform bilateral teleoperation for an ...

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IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Chen, Yibin Xi, Ning Li, HongYi Univ Chinese Acad Sci Shenyang Inst Automat State Key Lab Robot Shenyang 110016 Liaoning Provin Peoples R China

ISBN: (纸本)9781467321273;9781467321259

The random time delay brings great challenges to the controller design for the Internet-based teleoperation system, the worst case is that it can destabilize the Internet-based teleoperation system. This paper first gives a brief historical preview of bilateral passive control theory, and then a direct passive scattering transform method, extending the passive bilateral control method to the Internet-based random time delay teleoperation system, is advanced to guarantee the teleoperation system's stability with any non-symmetric random network time delay. Finally, a virtual master-slave manipulator bilateral control scheme is designed for mobile robot teleoperation based on the passive scattering transformation method, and simulations are carried out to verify the results at the end of this paper.

关键词： Internet control engineering computing delays human-robot interaction manipulators mobile robots stability telerobotics transforms

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ARES-III: A Versatile Multi-Purpose All-Terrain Robot

ARES-III: A Versatile Multi-Purpose All-Terrain Robot

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17th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Guedes, Magno Santana, Pedro Deusdado, Pedro Mendonca, Ricardo Marques, Francisco Henriques, Nuno Lourenco, Andre Correia, Luis Barata, Jose Flores, Luis R&amp'||' '||'D Division INTROSYS SA

ISBN: (纸本)9781467347372;9781467347358

This paper presents ARES-III, a multi-purpose service robot for robust operation in all-terrain outdoor environments. Currently in pre-production phase, ARES-III is aimed to fulfil the requirements of a robotic platform that is able to support the development of real world applications in surveillance, agriculture, environmental monitoring, and other related domains. These demanding scenarios motivate a design focused on the reliability of the mechanical platform, the scalability of the control system, and the flexibility of its self-diagnosis and error recovery mechanisms. These are key features of ARES-III often disregarded in current commercial and research platforms. First, a comprehensive set of field trials demonstrated the ability of the ARES-III chassis, made of durable materials and with no-slip quasi-omnidirectional kinematic characteristics, to perform robustly in rough terrain. Second, supported by a control system fully compliant with the wide spread Robot Operating System (ROS), the scalability of ARES-III is enforced. Finally, the integration of active self-diagnosis and error recovery mechanisms in ARES-III control system fosters long lasting operation.

关键词： control engineering computing mobile robots operating systems (computers) reliability robot kinematics robust control service robots surveillance system recovery terrain mapping

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Tactile feedback control for a gripper driven by SMA springs

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AIP ADVANCES 2012年第3期2卷 032134-032134-7页

作者： Yan, Shaoze Yang, Tianfu Liu, Xiajie Wang, Rencheng Tsinghua Univ Dept Precis Instruments & Mechanol State Key Lab Tribol Beijing 100084 Peoples R China

This paper presents a gripper actuated by a pair of differential shape memory alloy (SMA) springs with the tactile feedback controller of the polyvinylidene fluoride (PVDF) films. The SMA actuator is heated by the electric current and cooled by the fans, and a proportional-integral (PI) controller is proposed to control the output position of the gripper. In order to handle soft, deformable or slippery objects very well, the PVDF sensor is added to the finger of the gripper to perform the tactile feedback when it grasps the objects. The hardware system is established including data acquisition and signal processing parts, the control system is programmed. Experiments of grasping a soft object are carried out, and the gentle grasp ability of the gripper is also tested. Experiments results show that the SMA gripper with the PVDF tactile sensor could grasp a soft object through controlling tactile forces. Copyright 2012 Author(s). This article is distributed under a Creative Commons Attribution 3.0 Unported License. [http://***/10.1063/1.4745607]

关键词： control engineering computing data acquisition dexterous manipulators feedback force control medical computing medical robotics PI control piezoelectric actuators position control signal processing springs (mechanical) tactile sensors

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Numerical model of a novel tactile sensor based on finite element analysis

Numerical model of a novel tactile sensor based on finite el...

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IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Sun, Xin Zhuang, Xuekun Pan, Hongqing Wang, Yaoxiong Wang, Yubing Liang, Xubin Song, Quanjun Shuang, Feng Chinese Acad Sci Inst Intelligent Machines Hefei 230031 Peoples R China Univ Sci & Technol China Dept Automat Hefei 230027 Peoples R China Guangxi Univ Engn Pract & Training Ctr Nanning 530004 Peoples R China

ISBN: (纸本)9781467321273;9781467321259

A preliminary numerical model of a three-dimensional tactile sensor based on FEA (finite element analysis) is proposed. The mapping between the resistances and the deformation of the simplified tactile sensor is established by ANSYS (TM), which will provide useful information to improve the design of the sensor. A decoupling algorithm based on the RBF (radical basis function) network is applied to the numerical model, and the preliminary results show that this algorithm can perform on the low-dimensional numerical model quickly.

关键词： control engineering computing finite element analysis neurocontrollers radial basis function networks tactile sensors

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