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An adaptive evolutionary switching control for manipulators

An adaptive evolutionary switching control for manipulators

DETC2005: ASME International design engineering Technical Conferences and Computers and Information in engineering Conference

作者： Ouyang, P.R. Zhang, W.J. Gupta, Madan M. Advanced Engineering Design Laboratory Department of Mechanical Engineering University of Saskatchewan Saskatoon Sask. S7N 5A9 Canada Intelligent Systems Research Laboratory Department of Mechanical Engineering University of Saskatchewan Saskatoon Sask. S7N 5A9 Canada

ISBN: (纸本)0791847446

In this paper, a new adaptive switching control approach, called adaptive evolutionary switching PD control (AES-PD), is proposed for iterative operations of robot manipulators. The proposed AES-PD control method is a combination of the feedback of PD control with gain switching and feedforward using the input torque profile obtained from the previous iteration. The asymptotic convergence of the AES-PD control method is theoretically proved using Lyapunov's method. The philosophy of the switching control strategy is interpreted in the context of the iteration domain to increase the speed of the convergence for trajectory tracking of robot manipulators. The AES-PD control has a simple control structure that makes it easily implemented. The validity of the proposed control scheme is demonstrated for the trajectory tracking of robot manipulators through simulation studies. Simulation results show that the AES-PD control can improve the tracking performance with an increase of the iteration number. The EAS-PD control method has the adaptive and learning ability;therefore, it should be very attractive to applications of industrial robot control. Copyright © 2005 by ASME.

关键词： Manipulators

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Localization of multiple robots with simple sensors

Localization of multiple robots with simple sensors

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IEEE International Conference on Mechatronics and Automation

作者： M. Peasgood C. Clark J. McPhee Laboratory for Intelligent and Autonomous Robotics Department of Mechanical Engineering University of Waterloo Waterloo ONT Canada Motion Research Group Department of Systems Design Engineering University of Waterloo Waterloo ONT Canada

This paper presents a distributed particle filter algorithm for localizing multiple mobile robots that are equipped only with low cost/low power sensors. This method is applicable to multi-micro robot systems, where size limitations restrict sensor selection (e.g. small infrared range finders). Localization of three robots in a known environment is conducted by combining measurements from a small number of simple range sensors with inter-robot distances obtained through an acoustic range finder system. The localization problem is formulated as estimating the global position and orientation of a single triangle, where corners of the triangle represent the positions of robots. The robot positions relative to the centroid of the triangle are then determined by trilateration using the inter-robot distance measurements. Each robot uses an identical particle filter algorithm to estimate the global position of the triangle. The best estimates determined by each particle filter are distributed among the robots for use in the following iteration. Simulations demonstrate the ability to perform global localization of three robots, each using a compass and two range finders. The results illustrate that this method can globally localize the robot team in a simulated indoor environment The results are compared to simulations where robots have access to only their own sensor data, which are unable to successfully localize under equivalent conditions.

关键词： Robot sensing systems Particle filters Acoustic sensors Sensor systems Infrared sensors Mobile robots Costs Acoustic measurements Distance measurement Indoor environments

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Collaboration with Ecological interface design

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Proceedings of the Human Factors and Ergonomics Society Annual Meeting 2004年第3期48卷 543 - 546页

作者： Angela Garabet Catherine M. Burns Advanced Interface Design Lab Department of Systems Design Engineering University of Waterloo Waterloo Canada

Ecological interface design (EID) has been shown to be an effective design approach for building single-operator interfaces for complex systems. However, in such systems, operators typically are also a part of a team. An experiment was conducted to examine the effect of EID on collaboration. Teams of two operated a feed water simulator, DURESSj, through a series of scenarios given either the EID interface or the Non-EID interface. It was found that there was no penalty to using EID, as scenario completion times with the EID interface were equivalent to the Non-EID interface. Indeed, EID operators demonstrated evidence of more robust control and reported significantly lower mental workload especially when dealing with system faults.

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Automatic image registration using virtual circles

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International Journal of Image and Graphics 2004年第2期4卷 281-299页

作者： Alhichri, Haikel S. Kamel, Mohamed Pattern Analysis and Machine Intelligence Laboratory Systems Design Engineering University of Waterloo 200 University Ave. West WaterlooONN2L3G1 Canada University of Waterloo Canada

The main contribution of this work is a novel set of image features called the virtual circles and their use in the registration of images under similarity transformations. A virtual circle is a circle with maximal radius encompassing a background area that does not contain edge points. It has many useful properties such as its radius, and its dominant edge direction for example, which can be utilized for efficient registration. Furthermore, virtual circles are frequent and can be extracted efficiently with the help of the distance transform from many types of images. We have tested the new virtual circles method in the registration of 66 pairs of images, half of which are printed labels and the other half are indoor scenes. Experimental results have shown that this method has a linear complexity in terms of the number of pixels. It is also highly automatic, because it has a small number of parameters, which almost never need to be changed throughout the experiments. © 2004 World Scientific Publishing Company.

关键词： Image registration

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The investigation of a decision-making technique using the loss function

The investigation of a decision-making technique using the l...

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Collection of Technical Papers - AIAA 4th Aviation Technology, Integration, and Operations Forum, ATIO

作者： Li, Yongchang Mavris, Dimitri Delaurentis, Daniel Aerospace Systems Design Laboratory School of Aerospace Engineering Georgia Institute of Technology Atlanta GA 30332 School of Aeronautics and Astronautics Purdue University West Lafayette IN 47907 Aerospace Systems Design Laboratory Georgia Tech. Department of Advanced Aerospace Systems Analysis Georgia Institute of Technology School of Aerospace Engineering Atlanta GA 30332 ASDL School of Aeronautics and Astronautics Purdue University

ISBN: (纸本)1563477181

In aircraft design, the decisions made during the conceptual or preliminary design phases play a large role in determining the success of the design. Supporting decision makers in these early design phases require a decision making technique with the capability of managing multiple conflicting criteria and capturing the associated uncertainties. The Joint Probability Decision making technique, which incorporates a multi-criteria and a probabilistic approach to systems design, is such a technique. This technique uses Probability of Success as the objective function, which is obtained by integrating the Joint Probability Density Function of the criteria over the area of criterion values that are of interest to the customer. However, the calculation of probability of success does not take the deviation of the solutions from the target values into account, which may be often important for concept selection. Also, this technique employs weighting coefficients to indicate the importance of each criterion when calculating the probability of success. However, representing the decision maker's preference by using the numerical weights is considered ineffective and usually involves a largely undefined trial-and-error weight-tweaking process. The study presented in this paper was done with the intention of enhancing the joint probability decision making technique so as to make it useful for concept selection through the utilization of Loss Function. The impact of the loss function in the decision making process is investigated in this paper, and an advanced rotorcraft concept selection problem employing the joint probability decision making technique with and without the loss function is performed in order to demonstrate the improved technique.

关键词： Decision making

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Shape retrieval using concavity trees

Shape retrieval using concavity trees

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International Conference on Pattern Recognition

作者： O. El Badawy M. Kamel Pattern Analysis and Machine Intelligence Laboratory Systems Design Engineering University of Waterloo Waterloo ONT Canada

Concavity trees are well-known abstract structures. This paper proposes a new shape-based image retrieval method based on concavity trees. The proposed method has two main components. The first is an efficient (in terms of space and time) contour-based concavity tree extraction algorithm. The second component is a recursive concavity-tree matching algorithm that returns a distance between two trees. We demonstrate that concavity trees are able to boost the retrieval performance of two feature sets by at least 15% when tested on a database of 625 silhouette images.

关键词： Shape Image retrieval Information retrieval Testing Image databases Pattern recognition Pattern analysis Machine intelligence Laboratories System analysis and design

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Vehicle autonomy and network topology trades in conceptual design exploration of UAV based system-of-systems

Vehicle autonomy and network topology trades in conceptual d...

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Collection of Technical Papers - AIAA 3rd "Unmanned-Unlimited" Technical Conference, Workshop, and Exhibit

作者： Pfaender, Holger DeLaurentis, Daniel Mavris, Dimitri Aerospace Systems Design Laboratory Georgia Institute of Technology Atlanta GA 30332 United States Purdue University School of Aero/Astro Eng. United States Advanced Aerospace Systems Analysis School of Aerospace Engineering 270 Ferst Drive

ISBN: (纸本)1563477173

This paper describes the development of a modular object oriented analysis tool that allows the simulation of transportation network architectures. An existing tool is modified and extended to allow a more sophisticated analysis. Lending to its object-oriented design philosophy such extension was possible without a complete overhaul of the analysis tool. Specifically, it allows the comparison of dissimilar network topologies, centralized or distributed optimization and decision-making, and obstacle avoidance. This is illustrated in an example application for a commercial UAV based logistics operation. In this case, interactions of vehicle and network operational variables are examined, as well as comparing different choices for network operational topologies.

关键词： Unmanned vehicles

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Interaction balance method for large-scale industrial processes with fuzzy constraints 10

Interaction balance method for large-scale industrial proces...

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10th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale systems: Theory and Applications, LSS 2004

作者： Gu, Jia-Chen Wan, Bai-Wu Ruan, Xiao-E Automation Research and Design Institute of Metallurgical Industry Beijing China Systems Engineering Institute State Key Laboratory for Manufacturing Systems Engineering Xi 'an Jiaotong University Xi 'an China Dept.of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Faculty of Science Xi'an Jiaotong University Xi'an China

The interaction balance method (IBM) with fuzzy constraints is proposed for large-scale industrial processes under hierarchical steady-state optimization with the consideration of the model-reality difference and the constraints of subprocesses being flexible. In this approach, the models that are treated as equality constraints and the inequality constraints of the subprocesses are all fuzzified. Two cases of interaction balance method are studied: the open-loop IBM and the IBM with global feedback. Simulation results show that the solutions of the proposed method with global feedback are very close to the optimal solutions of the real process. © 2004 IFAC.

关键词： Large scale systems

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Toward multimodal human-robot cooperation and collaboration

Toward multimodal human-robot cooperation and collaboration

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Collection of Technical Papers - AIAA 1st Intelligent systems Technical Conference

作者： Perzanowski, Dennis Brock, Derek Bugajska, Magdalena Thomas, Scott Sofge, Donald Adams, William Skubic, Marjorie Blisard, Sam Cassimatis, Nicholas Trafton, J. Gregory Schultz, Alan C. Naval Research Laboratory Washington DC 20375 University of Missouri Columbia MO 65211 Rensselaer Polytechnic Institute Troy NY 12180 Intelligent Multimodal/Multimedia Systems Code 5512 Interface Design and Evaluation Code 5513 Intelligent Systems Code 5515 Electrical and Computer Engineering Department Department of Cognitive Science

ISBN: (纸本)156347719X

Our multimodal interface integrates speech recognition, natural language understanding, spatial reasoning and human cognitive models for completing specific tasks and for perspective-taking in locative oriented tasks. With natural language and gestures, we believe human-robot interaction and communication is facilitated. Instead of concentrating on the various modalities of the interface, users can concentrate on the task at hand. Likewise, by incorporating human cognitive models for handling spatial information and perspective-taking, as well as for specific task completion, a better match with the expectations that humans acquire from their human-human interactions should be obtained, further facilitating cooperation and collaboration in human-robot interactions.

关键词： Speech recognition

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Pokrovsky-Talapov Critical Behavior and Rough-to-Rough Ridges of the Σ3 Coincidence Tilt Boundary in Mo

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Physical Review Letters 2004年第19期92卷 196101-196101页

作者： Boris B. Straumal Valery N. Semenov Olga A. Kogtenkova Tadao Watanabe Institute of Solid State Physics Russian Academy of Sciences 142432 Chernogolovka Moscow district Russia Laboratory of Materials Design and Interface Engineering Department of Machine Intelligence and Systems Engineering Graduate School of Engineering Tohoku University Sendai 980-8579 Japan

The as-grown shape of the cylindric tilt grain boundary (GB) in Mo bicrystals grown by the floating zone method has been studied with the electron backscattering diffraction method. The seed crystals were misoriented such that the coincidence site lattice (CSL) with lowest possible inverse density of coincidence sites, a Σ=3 was grown. The flat (100)Σ3CSL facets were observed forming smooth edges (no slope discontinuity) with rounded rough GB portions. Rough GBs curve away from the plane of the (100)Σ3CSL facet as xβ with β=1.69±0.07 on one side and β=1.72±0.07 on the other side. Therefore, GB roughening belongs to the Pokrovsky-Talapov universality class. Slope discontinuities between two rounded rough GB portions were also observed. This is the first experimental observation of such first-order rough-to-rough ridges predicted by the Davidson-den-Nijs model.

关键词： .edges coincidence slope facets tilt ridges discontinuity VOLUME NUMBER week Pokrovsky-Talapov Rough-to-Rough GB portions GB roughening

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