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45th IEEE Conference on Decision and Control 2006, CDC

作者： Pang, Chee Khiang Lewis, Frank L. Ge, Sam Shuzhi Guo, Xiao Chen, Ben M. Lee, Tong Heng IEEE Central Research Laboratory Research and Development Group Hitachi Ltd. 2880 Kozu Odawara Kanagawa 256-8510 Japan A STAR Data Storage Institute Singapore Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore Advanced Controls and Sensors Group Automation and Robotics Research Institute University of Texas Arlington United States

ISBN: (纸本)1424401712

In this paper, the SPT (Singular Perturbation Theory) is applied to decompose the VCM's (Voice Coil Motor) and induced PZT active suspension's dynamics into fast and slow subsystems, respectively. The control system is decomposed into fast and slow time scale for controller designs, and control effectiveness is increased to tackle more DOFs (Degrees-Of-Freedom) via inner loop vibration suppression with measured high frequency VCM's and PZT active suspension's dynamics from the piezoelectric elements in the suspension. Experimental results on a commercial HDD with LDV (Laser Doppler Vibrometer) show effective suppression of the VCM and PZT active suspension's flexible resonant modes as well as an improvement of 39.9% in 3σ PES (Position Error Signal) during track following when compared to conventional notch-based servos. © 2006 IEEE.

关键词： Hard disk storage

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Singular Perturbation Control for Vibration Rejection in HDDs with a PZT Active Suspension

Singular Perturbation Control for Vibration Rejection in HDD...

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IEEE Conference on Decision and Control

作者： Chee Khiang Pang Frank L. Lewis Sam Shuzhi Ge Guoxiao Guo Ben M. Chen Tong Heng Lee Research Laboratory Research & Development Group Hitachi and Limited Odawara Kanagawa Japan Department of Electrical and Computer Engineering National University of Singapore Singapore Data Storage Institute Singapore Advanced Controls and Sensors Group Automation and Robotics Research Institute University of Texas Arlington USA

ISBN: (纸本)1424401704

In this paper, the SPT (singular perturbation theory) is applied to decompose the VCM's (voice coil motor) and induced PZT active suspension's dynamics into fast and slow subsystems, respectively. The control system is decomposed into fast and slow time scale for controller designs, and control effectiveness is increased to tackle more DOFs (degrees-of-freedom) via inner loop vibration suppression with measured high frequency VCM's and PZT active suspension's dynamics from the piezoelectric elements in the suspension. Experimental results on a commercial HDD with LDV (laser Doppler vibrometer) show effective suppression of the VCM and PZT active suspension's flexible resonant modes as well as an improvement of 39.9% in 3sigma PES (position error signal) during track following when compared to conventional notch-based servos

关键词： Vibration control Control systems Vibration measurement Coils Frequency measurement Time measurement Laser modes Vibrometers Resonance Servomechanisms

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IVS O5: New developments and research trends for intelligent vehicles

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IEEE Intelligent Systems 2005年第4期20卷 10-14页

作者： Wang, Fei-Yue Li, Li Song, Jingyan Niehsen, Wolfgang Zheng, Nan-Ning University of Arizona Chinese Academy of Science United States University of Arizona United States Tsinghua University China Chinese Academy of Sciences China Robert Bosch Corporate Research United States Xi'an Jiaotong University China Department of Automation Tsinghua University Beijing China University of Arizona's Systems Industrial Engineering Department United States University's Program in Advanced Research of Complex Systems United States Key Laboratory of Complex Systems and Intelligence Science Chinese Academy of Sciences China Robert Bosch Corporate Research United States Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University China

Recent advances and research trends for intelligent vehicles were studied. Vehicle-state sensing focuses on measuring a vehicle's movement and monitoring its actuators. Individual-vehicle-control research focuses mainly on guaranteeing driving safety. The results suggest that intervehicle, vehicle-roadside, and vehicle-driver information sharing currently the most attractive trend in intelligent-vehicle research.

关键词： Intelligent vehicle highway systems

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Design and analysis of a reconfigurable robotic gripper for limp material handling

Design and analysis of a reconfigurable robotic gripper for ...

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IEEE International Conference on robotics and automation (ICRA)

作者： R. Kolluru K.P. Valavanis S.A. Smith N. Tsourveloudis Robotics and Automation Laboratory Center for Advanced Computer Studies and Apparel-CIM Center University of Louisiana Lafayette LA USA

Discusses the design and modeling fundamentals of a multiple degree of freedom reconfigurable robotic gripper system (RGS), designed to reliably automate the process of limp material handling without causing distortion, deformation and/or folding. The reconfigurable gripper design draws upon the authors' (2000) previously reported work on the flat surfaced, fixed-dimensions gripper system. The design of the reconfigurable gripper system consists of four arms in a cross-bar configuration, with a flat surfaced, fixed dimensions, suction based gripper unit mounted on each of the arms. In the paper, the kinematic and dynamic performances of the reconfigurable robotic gripper system are analyzed and then validated using 1-DEAS software.

关键词： Robots Grippers robotics and automation Arm Deformable models Materials reliability Materials handling Kinematics Performance analysis Software performance

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Sonar resolution-based environment mapping 15

Sonar resolution-based environment mapping

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15th IEEE International Conference on robotics and automation, ICRA 1998

作者： Cahut, Leyla Vlavanis, Kimon P. Delic, Hakan Robotics and Automation Laboratory Center for and Advanced Computer Studies University of Southwestern Louisiana LafayetteLA70504 United States Signal and Image Processing Laboratory Department of Electrical Engineering BogaziCi University Bebek 80815 Istanbul Turkey

ISBN: (纸本)078034300X

Ultrasonic range sensors are used to obtain the information required for collision-free navigation of a mobile robot in a semi-structured or unstructured environment. A set of range readings from a ring of sonars are correlated to acquire a 2D map of the robot's environment. The map is continuously enhanced via novel matching and update algorithms as new data are collected while the robot is in motion. The algorithm utilizes confidence measures that are directly obtained from the sonar's resolution or accuracy. There are no additional modeling assumptions and the approach is robust. The algorithms are experimentally tested on the Nomad 200 mobile robot and Nomad's Cognos Software Development Package. © 1998 IEEE.

关键词： Software testing

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Navigation of an autonomous vehicle using an electrostatic potential field

Navigation of an autonomous vehicle using an electrostatic p...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： T. Hebert K. Valavanis Robotics and Automation Laboratory The Center for Advanced Computer Studies University of Southwestern Louisiana Lafayette LA USA

This paper proposes a solution to the path planning problem for an autonomous vehicle utilizing a true electrostatic potential field developed through a resistor network which is representative of the environment. The function which generates the potential field is taken from a naturally occurring potential field, as opposed to an artificially created potential function. The result of the natural potential function is a field which has local minima only at locations chosen by the implementation (places of applied current source) and generates paths in a real time frame, starting at the initial position of the vehicle and terminating at the goal position. Simulation and real-time experiments were carried out to test the developed implementation.

关键词： Navigation Electrostatics Path planning Vehicle dynamics Gaussian processes Space charge robotics and automation Remotely operated vehicles Mobile robots Resistors

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Control Architectures for Autonomous Underwater Vehicles

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IEEE Control Systems 1997年第6期17卷 48-64页

作者： Valavanis, Kimon P. Gracanin, Denis Matijasevic, Maja Kolluru, Ramesh Demetriou, Georgios A. Robotics and Automation Laboratory Center for Advanced Computer Studies University of Southwestern Louisiana Lafayette LA United States

Autonomous underwater vehicles (AUVs) share common control problems with other air, land, and water unmanned vehicles. In addition to requiring high-dimensional and computationally intensive sensory data for real-time mission execution, power and communication limitations in an underwater environment make it more difficult to develop a control architecture for an AUV. In this article, the four types of control architectures being used for AUVs (hierarchical, heterarchical, subsumption, and hybrid architecture) are reviewed. A summary of 25 existing AUVs and a review of 11 AUV control architecture systems present a flavor of the state of the art in AUV technology. A new sensor-based embedded AUV control system architecture is also described and its implementation is discussed.

关键词： Underwater vehicles Unmanned aerial vehicles Remotely operated vehicles Land vehicles Mobile robots Communication system control Marine vehicles Control systems Humans Road vehicles

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Synthesized passive feedback control of sensor-rich structures

Synthesized passive feedback control of sensor-rich structur...

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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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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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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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