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检索条件"机构=Advanced Engineering Robotics"

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Augmentation of optimal control with recurrent neural network and wavelet signals

Augmentation of optimal control with recurrent neural networ...

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American Control Conference (ACC)

作者： M. Karam M.A. Zohdy Center for Robotics and Advanced Automation Electrical and Systems Engineering Department Oakland University Rochester MI USA

A modular dynamic neural network which has been used in preceding research to solve uncertain algebraic problems and to represent and compress signals, is applied to the representation of an adjustment control in the optimal control of simple nonlinear systems. The optimal control method implemented is based on the loop transfer recovery (LTR) technique, and the basis for signal representation is composed of Daubechies wavelets. Averaging the optimal controllers obtained at three representative equilibrium states followed by using the adjustment control signal leads to a single structure capable of controlling the system over a wider range of operation. A simple inverted pendulum example is presented, and an averaging optimal controller is designed. The neural network is used to represent an adjustment control signal by a linear combination of six wavelets. The resulting signal is incorporated with the averaging LTR controller in order to enhance its performance. Simulation results are presented and discussed.

关键词： Optimal control Recurrent neural networks Neural networks Control systems Signal representations Equations robotics and automation Least squares approximation Robustness Systems engineering and theory

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A computer 3D animated graphical interface for control and teleoperation of a robot system

A computer 3D animated graphical interface for control and t...

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IEEE International Conference on Systems, Man and Cybernetics

作者： F.F. Dong M. Meng Advanced Robotics & Teleoperation Lab Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

A computer three dimensional (3D) graphical interface for control and teleoperation of robot systems is described in this paper. The modeling and algorithms of kinematics, dynamics and control of the simulation system are presented. It has such functions as: displaying the three dimensional graphics of the robots; displaying the motion of the robots and simulation of kinematics of the robots; simulation of dynamics of the robots; and simulation of the robot control and teleoperation. At the end, we discuss several applications of this 3D graphical interface for robot systems.

关键词： Computer interfaces Animation Control systems robotics and automation Medical robotics Robot sensing systems Kinematics Computational modeling Robot control Application software

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Passive compliance of flexible link robots. I. A new computation method

Passive compliance of flexible link robots. I. A new computa...

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International Conference on advanced robotics (ICAR)

作者： Wei Wang R.N.K. Loh M.H. Ang Center for Robotics and Advanced Automation School of Engineering Oakland University Rochester MI USA Department of Mechanical and Production Engineering National University of Singapore Singapore

The compliance of a robot is an important factor in many robotic tasks which require force in either measurement or control in addition to position control. The compliance of a robot is usually described by the compliance matrix at its end-effector. In this paper, we present a novel framework for computing the end-effector compliance from the compliance offered by the limbs of a serial robot. The new method is computationally more efficient but not less accurate than the existing finite element method. The computational efficiency of the method arises from the fact that external forces are experienced by the end-effector alone and that there are no other external forces applied to the internal limbs. As an approximation computation, this method is also applicable to robots with very flexible links.

关键词： Robots robotics and automation Finite element methods Force control Equations Automatic control Position control Stress Force measurement Capacitive sensors

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Task based design of modular robot manipulator using efficient genetic algorithm

Task based design of modular robot manipulator using efficie...

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IEEE International Conference on robotics and Automation (ICRA)

作者： W.K. Chung Jeongheon Han Y. Youm S.H. Kim Robotics Laboratory School of Mechanical Engineering Pohang University of Science and Technology South Korea POSTECH South Korea Advanced Robotics Development Korea Atomic Energy Research Institute Taejon South Korea

A modular robot manipulator is a robotic system assembled from discrete joints and links into one of many possible manipulator configurations. This paper describes a task based design method of modular robot manipulators. A locking mechanism which provides quick coupling and decoupling is developed and a parallel connection method is devised reducing the number of components on each module. To automatically determine the optimal link lengths of a modular manipulator for a given, task, the algorithm is two step: determine the necessary configuration of the robot using kinematic equations and then determine the optimal link length using the proposed efficient genetic algorithm. Some of design examples are shown.

关键词： Algorithm design and analysis Robots Manipulators Genetic algorithms Robotic assembly Prototypes robotics and automation Kinematics Engine cylinders Mechanical engineering

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Assemblability based on maximum likelihood configuration of tolerances

Assemblability based on maximum likelihood configuration of ...

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： A.C. Sanderson Center for Advanced Technology in Automation Robotics and Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

An assembly is defined by a configuration of parts of known geometries subject to tolerances in the pose, dimensions, and mating relations among part features. Using a tolerance model based on matrix transforms and Gaussian models of geometric variations, the pose and dimensional tolerance models are considered as a priori models of the assembly with nominal and variational components for both position and orientation. The mating relations are regarded as linear relational constraints, also with nominal and variational components. With this formulation, estimation of the configuration of parts may be posed as a maximum likelihood problem and solved by a Kalman filter algorithm. The resulting maximum likelihood configuration of the assembly may be used to evaluate the required deviation from nominal and the assemblability as defined by the maximum likelihood clearance from constraints. In addition, application of the technique to intermediate subassemblies may be used to evaluate assemblability of specific steps and discriminate among alternative assembly sequence plans.

关键词： Maximum likelihood estimation Solid modeling Robotic assembly Uncertainty ANSI standards Manufacturing automation robotics and automation Computer aided manufacturing Information geometry Systems engineering and theory

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Using a robot arm to facilitate the learning in young and mentally development-delayed children

Using a robot arm to facilitate the learning in young and me...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： J. Gu F. Dong M. Meng A. Cook Department of Electrical and Computer Engineering ART (Advanced Robotics and Teleoperation) Laboratory Canada Faculty of Rehabilitation Medicine University of Alberta Edmonton AB Canada

The study is based on two assumptions: 1) the child is an active, goal-oriented participant in his or her own development; and 2) physical manipulation of objects is a major contributing factor in the development of cognitive and language skills in a very young child. The CRS robot arm system is used in our study. All the functions are under the control of a computer based software control algorithm. The training program uses either the teach pedant or a series of text commands to train the arm. With the teach pedant, the operator can move the arm in desired directions by pressing the button on the teach pedant. In the text training mode, the arm moves according to the command set predefined. Another important aspect of the project is how to set up the interface and communication environment between the young children and the robot arm. The final program lets the child to accomplish a series of processing complex tasks through simple operation of certain buttons. The programmed activities have a development sequence, which eventually brings the robot arm under the control of the child; at the same time it facilitates the learning process of the child.

关键词： Robots Medical robotics Rehabilitation robotics Pediatrics Cognitive robotics Pressing Switches Computerized monitoring Wrist Grippers

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Experimental studies on minimal representation multisensor fusion

Experimental studies on minimal representation multisensor f...

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International Conference on advanced robotics (ICAR)

作者： R. Joshi A.C. Sanderson NYS Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

We describe laboratory experiments, in which tactile data obtained from the finger-tips of a robot hand, while it is holding an object in front of a calibrated camera, is fused with the vision data from the camera, to determine the object identity, pose, and the touch and vision data correspondences. The touch data is incomplete due to required hand configurations, while nearly half of the vision data are spurious due to the presence of the hand in the image. Using either sensor alone results in ambiguous or incorrect interpretations. A minimal representation size framework is used to formulate the multisensor fusion problem, and can automatically select the object class, correspondence (data subsamples), and pose parameters. The experiments demonstrate that it consistently finds the correct interpretation, and is a practical method for multisensor fusion and model selection.

关键词： Robot vision systems Context modeling robotics and automation Cameras Robot sensing systems Tactile sensors Manufacturing automation Computer aided manufacturing Laboratories Data mining

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Region-based Q-learning using convex clustering approach

Region-based Q-learning using convex clustering approach

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： J.H. Kim I.H. Suh S.R. Oh Y.J. Cho Y.K. Chung Intelligent Control and Robotics Laboratory Department of Electronics Engineering Hanyang University Ansan Kyunggi South Korea Advanced Robotics Research Center KIST Seoul South Korea School of Mechanical Engineering Information Research Laboratories PIRL Pohang University of Science and Technology South Korea

For continuous state space applications, a novel method of Q-learning is proposed, where the method incorporates a region-based reward assignment being used to solve a structural credit assignment problem and a convex clustering approach to find a region with the same reward attribution property. Our learning method can estimate a current Q-value of an arbitrarily given state by using effect functions, and has the ability to learn its actions similar to that of Q-learning. Thus, our method enables robots to move smoothly in a real environment. To show the validity of our method, the proposed Q-learning method is compared with conventional Q-learning method through a simple two dimensional free space navigation problem, and visual tracking simulation results involving a 2-DOF SCARA robot are also presented.

关键词： Orbital robotics Learning systems Intelligent robots State-space methods Mechanical engineering Mechanical factors State estimation Motion planning Discrete event simulation Humans

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Extrusion process control. II. Identification and open-loop control

Extrusion process control. II. Identification and open-loop ...

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American Control Conference (ACC)

作者： B. Tibbetts J. Wen New York State Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

For pt.I see ibid., p.3726-30. Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. In Part I, we developed a dynamical system model which could be used for real-time applications. In this paper, we use this model development plus output relationships from our previous model development work (1995, 1996) to develop parameter identification and open-loop control methodologies. An example with plant trial data is provided.

关键词： Process control Open loop systems Equations Temperature sensors Manufacturing automation robotics and automation Automatic control Computer aided manufacturing Manufacturing processes Parameter estimation

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Extrusion process control. I. Dynamical system model development

Extrusion process control. I. Dynamical system model develop...

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American Control Conference (ACC)

Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. A process model is required for control. The difficulties with currently available models are stated. An appropriate decomposition and associated assumptions are introduced, permitting construction a real-time process model via spectral approximation to solve the axi-symmetric, 2D transient heat conduction equation with heat generation and loss. This solution, simulation results, and model execution times are provided.

关键词： Process control Billets Manufacturing automation robotics and automation Shape Power system modeling Computer aided manufacturing Manufacturing processes Containers Inorganic materials

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