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American Control Conference (ACC)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The passivity property of dissipative mechanical structures has long been exploited in designing passive controllers that provide robust stability even in the presence of unmodeled dynamics of the system. For an input/output map of a flexible structure to be passive, collocation of the actuators and sensors is required and also the sensors should measure the velocity of the system. The so-called smart structures frequently have more sensors than actuators. Therefore, the passive controller can at best utilize only a subset of the sensors. In this paper we consider the design of a squaring down matrix which would render a system passive subject to some additional performance considerations. The problem of obtaining the synthesized passive output is cast as a set of linear matrix inequalities (LMIs) which can be efficiently solved by the LMI Toolbox in Matlab. We apply this procedure with the assumption that the sensors provide both displacement and velocity information which is generally not true. We show that the passive controllers can be implemented without the use of velocity information. By using synthesized passive outputs in addition to naturally occurring passive outputs, we obtain better system performance. We present experimental results involving a single flexible beam with torque input and hub angular position and strain gage outputs.

关键词： Feedback control Intelligent sensors Control system synthesis Mechanical sensors Sensor systems Linear matrix inequalities Mechanical factors Control systems Robust stability Flexible structures

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Hamilton-Jacobi-Bellman optimal design of functional link neural network controller for robot manipulators

Hamilton-Jacobi-Bellman optimal design of functional link ne...

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IEEE Conference on Decision and Control

作者： Y.H. Kim F.L. Lewis D.M. Dawson Automation and Robotics-Research Institute University of Texas Arlington South Fort Worth TX USA Center for Advanced Manufacturing Department of Electrical and Computer Engineering Clemson University Clemson SC USA

The paper is concerned with the application of quadratic optimization for motion control to feedback control of robotic systems using neural networks. Explicit solutions to the Hamilton-Jacobi-Bellman (HJB) equation for optimal control of robotic systems are found by solving an algebraic Riccati equation. It is shown how neural networks can cope with nonlinearities through optimization with no preliminary off-line learning phase required. The adaptive learning algorithm is derived from Lyapunov stability analysis, so that both system tracking stability and error convergence can be guaranteed in the closed-loop system. The filtered tracking error or critic gain and the Lyapunov function for the nonlinear analysis are derived from the user input in terms of a specified quadratic performance index. Simulation results on a two-link robot manipulator show the satisfactory performance of the proposed control schemes even in the presence of large modeling uncertainties and external disturbances.

关键词： Robots Riccati equations Neural networks Nonlinear equations Lyapunov method Performance analysis Motion control Feedback control Optimal control Algorithm design and analysis

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A non-divergent estimation algorithm in the presence of unknown correlations

A non-divergent estimation algorithm in the presence of unkn...

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American Control Conference (ACC)

作者： S.J. Julier J.K. Uhlmann The Robotics Research Group Department of Engineering Science University of Oxford Oxford UK Advanced Information Technology Naval Research Laboratory Inc. Washington D.C. DC USA

This paper addresses the problem of estimation when the cross-correlation in the errors between different random variables are unknown. A new data fusion algorithm, the covariance intersection algorithm (CI), is presented. It is proved that this algorithm yields consistent estimates irrespective of the actual correlations. This property is illustrated in an application of decentralised estimation where it is impossible to consistently use a Kalman filter.

关键词： Yield estimation Covariance matrix State estimation Predictive models Random variables Information filtering Information filters Vehicles Sensor fusion Sensor systems

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Feedback stabilization of nonlinear systems: a path space iteration approach

Feedback stabilization of nonlinear systems: a path space it...

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IEEE Conference on Decision and Control

作者： F. Lizarralde J.T. Wen L. Hsu Department of ElectronicEngineering Engineering School Federal University of Rio de Janeiro Rio de Janeiro Brazil Center of Advanced Technology in Automation Robotics and Manufacturing Department of Electrical Computer and SystemsEngineering Rensselaer Polytechnic Institute Troy NY USA Department of Electrical Engineering Federal University of Rio de Janeiro (COPPE-EE) Rio de Janeiro Brazil

We consider the feedback stabilization of nonlinear systems. The design methodology is based on a class of iterative methods, which has previously been proposed for the path planning and feedback stabilization of nonholonomic systems. We show that this scheme guarantees the closed loop asymptotic stability for a class of nonlinear systems.

关键词： Feedback Nonlinear systems Optimal control Iterative methods Nonlinear control systems Control systems Current control Linear systems Design methodology Path planning

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Fuzzy behavior integration and action fusion for robotic excavation

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1996年第3期43卷 395-402页

作者： Shi, XB Lever, PJA Wang, FY Advanced Mining Systems Laboratory and the Robotics and Automation Laboratory University of Arizona Tucson Tucson AZ USA Department of Mining and Geological Engineering University of Arizona Tucson Tucson AZ USA Robotics and Automation Laboratory and the Department of Systems and Industrial Engineering University of Arizona Tucson Tucson AZ USA

This paper discusses control behavior integration and bucket action fusion for excavation control of a robotic front-end-loader type machine, To utilize the experience and expertise from skilled human operators, a fuzzy-logic based control approach is developed, A hierarchical excavation control architecture decomposes excavation goals to tasks, then tasks to behaviors, and finally behaviors to actions, The excavation actions are primitive and can be executed directly by an excavation machine, Finite state machines are used to specify the coordination and integration of behaviors for task execution and actions for behavior implementation, A simple strategy for action fusion is proposed based on fuzzy logic reasoning and the COA defuzzification method. Finally, laboratory experiments are conducted using a PUMA 560 robot arm and a Zebra force/torque sensor in a simulated rock excavation environment. Experimental results indicate that the proposed approach in this paper has led to more efficient task execution than our previous approach.

关键词： Robot kinematics Humans Laboratories robotics and automation Automatic control Robot sensing systems Geology Control system synthesis Fuzzy control Robot control

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Dynamic analysis and identification of gas tungsten arc welding process for weld penetration control

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Journal of Manufacturing Science and engineering, Transactions of the ASME 1996年第1期118卷 123-136页

作者： Zhang, Y.M. Kovacevic, R. Wu, L. Center for Robotics and Manufacturing Systems Department of Mechanical Engineering University of Kentucky Lexington KY United States National Key Laboratory for Advanced Welding Production Harbin Institute of Technology Harbin China

In this study, gas tungsten arc welding is analyzed and modeled as a 2-input (welding current and arc length) 2-output (weld depression and width) multivariable process. Experiments under a number of typical welding conditions are performed to excite and identify the process characteristics and variations. It is observed that the model parameters vary in a large range with the experimental conditions. A real-time model frame with only a few parameters to be identified on-line is proposed. Based on the obtained models, the process characteristics in terms of inertia, delay, nonminimum phase, and coupling are given. These characteristics suggest an adaptive predictive decoupling control algorithm. By designing and implementing the suggested control algorithm with the real-time model, excellent results have been achieved for both simulation and practical control. This shows that the dynamic analysis and identification provide sufficient process information for design of the control system. © 1996 by ASME.

关键词： Delays Simulation Design Control algorithms Dynamic analysis Control systems Welding Inertia (Mechanics) Gas tungsten arc welding

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Cascaded-transistor cell distributed amplifiers

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MICROWAVE AND OPTICAL TECHNOLOGY LETTERS 1996年第3期12卷 163-167页

作者： Prasad, SN Ponnala, S Moghe, S Li, ZM Department of Electrical and Computer Engineering Bradley University Peoria Illinois 61625 Paging Products Group AMSD Motorola Corporation Fort Worth Texas 76137 Advanced Microwave Technology ESD Northrop Grumman Corporation Rolling Meadows Illinois 60008 Megahertz Division U.S. Robotics Corporation Salt Lake City Utah 84116

In this article a novel distributed amplifier configuration consisting of cascaded-transistor cells is presented. For a given transistor and total gate periphery (number of transistors) in the amplifier, the new configuration gives higher gain-bandwidth product than conventional distributed amplifiers. This fact is demonstrated through computer-aided simulations as well as experimental results. (C) 1996 John Wiley & Sons, Inc.

关键词： distributed amplifiers cascaded-transistor cell amplifiers traveling-wave amplifiers high gain bandwidth product amplifiers amplifier design

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Robotic Excavation: Experimental Results Using Fuzzy Behavior Control

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IFAC Proceedings Volumes 1996年第1期29卷 6293-6298页

作者： Xiaobo Shi Fei-Yue Wang Paul J.A. Lever Robotics and Automation Laboratory Systems and Industrial Engineering Department Advanced Mining Systems Laboratory Mining and Geological Engineering Department The University of Arizona Tucson Arizona 85721 USA

This paper presents experimental results for robotic excavation based on fuzzy behaviors. An excavation goal is achieved through excavation tasks, each erf which is completed via sequences of behaviors that are carried out by primitive actions. Both tasks and behaviors are specified by finite state machines. Behavior selection is achieved through situation assessment and behavior arbitration. A method of terminating a behavior execution is proposed. Excavation actions are specified using fuzzy logic rules acquired from human experience and heuristics. Experimental results indicate that the proposed formulation has led to a more efficient execution of excavation tasks than in a previous formulation.

关键词： fuzzy-logic fuzzy behavior control rock excavation artificial intelligence

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Use of image warping techniques to correct and interpret infrared sensor data for navigation

Use of image warping techniques to correct and interpret inf...

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Canadian Conference on Electrical and Computer engineering (CCECE)

作者： L. Wyard-Scott Q.-H.M. Meng ART Advanced Robotics & Teleoperation) Laboratory Department of Electrical Engineering University of Alberta Edmonton AB Canada

This paper proposes a method in which sensor fusion techniques coupled with image warping algorithms are used to interpret the signals from two infrared (IR) sensors to relate measures of distance and orientation relative to an obstacle. Development of the algorithm involves modelling of the sensor responses using a set of polynomials. The models are used to develop a 'contour' model which yields a closed-form expression for warping of the sensor levels into a distance-angle plane. The bounds of operation of the algorithm are dictated by the accuracy of the modelling process.

关键词： Infrared sensors Navigation Sensor arrays Sensor fusion Mechanical sensors Sensor systems Infrared image sensors Subspace constraints Robot sensing systems Electric variables measurement

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A computer 3D animator based platform for teleoperation of robot systems

A computer 3D animator based platform for teleoperation of r...

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IEEE International Conference on Systems, Man and Cybernetics

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

The 3D animated simulator emulates an actual robot manipulator in a simulation space. The simulator is intended for use in teleoperation, where the graphical image represents the actual remote manipulator. The robot is viewed from a "camera position". The motion of the tip of the manipulator can be traced out in the simulation space as a continuous 3D line. The interface has the capability to graphically display the angles of the joint. It allows for a more accurate analysis of the simulated motion. The robot trajectory is defined by either a pre-calculated trajectory file or user specified end point and orientation.

关键词： Animation Orbital robotics History Manipulators Computational modeling Computer simulation Displays Robot kinematics Graphics Buffer storage

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