This paper attempts to explain an example of applying fuzzy vs. qualitative techniques to a tracking control problem. In the first instance, the qualitative technique is considered as fuzzy controllers with less knowl...
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This paper attempts to explain an example of applying fuzzy vs. qualitative techniques to a tracking control problem. In the first instance, the qualitative technique is considered as fuzzy controllers with less knowledge. This facility can make qualitative control more feasible for certain problems when little precision is necessary. It is possible to build up models of systems with shallow knowledge about the systems' inner structure just by following their behaviour. The common utility of both techniques is to design simple-to-understand controllers on difficult-to-controlsystems, based on qualitative and fuzzy reasoning. One interesting side-feature of this study is the intersection of qualitative reasoning, fuzzy control and mobile tracking. The goal is to use the minimum information to control an auto-guided vehicle that, by qualitative-fuzzy reasoning, is able to track another mobile object and to keep a constant distance.
We describe a model-based objects recognition system which is part of an image interpretation system intended to assist autonomous vehicles navigation. The system is intended to operate in man-made environments. Behav...
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We describe a model-based objects recognition system which is part of an image interpretation system intended to assist autonomous vehicles navigation. The system is intended to operate in man-made environments. Behavior-based navigation of autonomous vehicles involves the recognition of navigable areas and the potential obstacles. The recognition system integrates color, shape and texture information together with the location of the vanishing point. The recognition process starts from some prior scene knowledge, that is, a generic model of the expected scene and the potential objects. The recognition system constitutes an approach where different low-level vision techniques extract a multitude of image descriptors which are then analyzed using a rule-based reasoning system to interpret the image content. This system has been implemented using CEES, the C++ embedded expert system shell developed in the systemsengineering and automaticcontrol Laboratory (University of Girona) as a specific rule-based problem solving tool. It has been especially conceived for supporting cooperative expert systems, and uses the object oriented programming paradigm.
This paper is concerned with efficient and fast computations of adaptive control algorithms for robot manipulators. Adaptive controllers employing the highly coupled and non-linear dynamics of manipulators are computa...
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This paper is concerned with efficient and fast computations of adaptive control algorithms for robot manipulators. Adaptive controllers employing the highly coupled and non-linear dynamics of manipulators are computationally complex, which presents a major obstacle in their real-time implementation for industrial applications. A solution to this problem is suggested by utilising a parallel-processing approach. The controller algorithm is implemented for a robot manipulator with six degrees of freedom, utilising a transputer network, for which programming is performed in C. The execution times achieved by the distributed algorithm are well within the limit acceptable for real-time control.
This paper describes a new control system for the PUMA 560 industrial robotic manipulator based on transputer networks, where both the hardware and software designs are detailed. A Transputer Interface Board (ТIB) es...
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This paper describes a new control system for the PUMA 560 industrial robotic manipulator based on transputer networks, where both the hardware and software designs are detailed. A Transputer Interface Board (ТIB) establishing a transputer link to the 6503 microprocessors of the PUMA arm joints has been designed, built and tested. In addition to hardware implementation, software testing for this new system has been successfully accomplished. A great deal of flexibility can be achieved with this new system, yet without many difficulties, where it can be used as a platform to implement advanced control algorithms and develop sensor-based intelligent robotic structures which need much more computational power. Genetic Algorithms are used to plan the PUMA robot motion trajectory based on the new PUMA control platform, and the motion planner runs concurrently with the controller. Real-time experiments show that PUMA moves much more smoothly along the optimum planned trajectory.
The paper presents the second generation artificial neural nets ANN II applied as another paradigm for decision support. The underlying decision selection task is comprehensive evaluation of the social—economic devel...
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The paper presents the second generation artificial neural nets ANN II applied as another paradigm for decision support. The underlying decision selection task is comprehensive evaluation of the social—economic development level of Chinese large cities, which previously supported by conventional knowledge-based approach KB-CEDSS. With the KB-CEDSS generated input-output pairs, the ANNs can be trained to emulate the whole systems function. Some foundamental technologies of ANN design and implementation are discussed and several points on ANN applications are concluded.
The development and modelling of a compliant device to enable compliant force control is described. The early stages of the development of the control formalism is also described, A PUMA 560 six degree-of-freedom mani...
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The development and modelling of a compliant device to enable compliant force control is described. The early stages of the development of the control formalism is also described, A PUMA 560 six degree-of-freedom manipulator, holding a crack detection probe, is required to make contact with a surface in space and then track along it using force feedback information. A novel design of compliant device has been built. For this case, the compliant device is an assembly of eight pre-tensioned springs situated between the manipulator end flange and the tool. A force sensor is mounted between the tool and the compliant device. It is necessary to be able to relate the recorded contact forces and torques to the changes in translations and orientations of the tool relative to the manipulator. Artificial neural networks (ANNs) have been used to model the compliant device and thus map the robot tool position in space. An experiment re-assesses adaptive compliant force control based on an ARMA model and using a simplified force detecting compliance. The next stage of work, using artificial neural networks (ANNs) to model the compliant devices' local stiffness characteristics and thus selecting suitable controller gains is described, It should be noted that these two sections use very different compliant devices and so are not quantitatively comparable.
A virtual environment was created which mimicked the real-world operation of the LongArm robotic system. In addition to considering an exact model of the physical system, online two-way data exchange between the actua...
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A virtual environment was created which mimicked the real-world operation of the LongArm robotic system. In addition to considering an exact model of the physical system, online two-way data exchange between the actual robot and its virtual counterpart makes actual real-time interaction possible. The designed interface allows the operator to experiment in the virtual mode with any commands later executed on the real system. There is an option to view a second set of graphics showing the kinematic relationships between the joints of the robot. This prototype is intended as an initial investigation into the design of virtual environments for the real-time control of dynamic systems.
The contour extraction is one of the most important steps in digital image processing. But the extracted contours with conventional algorithms are not always closed and continuous. They have also bifurcated segments. ...
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The contour extraction is one of the most important steps in digital image processing. But the extracted contours with conventional algorithms are not always closed and continuous. They have also bifurcated segments. The needed computing time is intensive. In this paper, a novel algorithm called OCE (object-oriented contour extraction) has been proposed, which ensures a closure of all extracted contours, enables a parallel implementation in real-time and suppresses noise.
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