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IEEE Conference on Control Technology and Applications (CCTA)

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

Passivity based controllers are used in structural control due to their inherent robustness properties. These controllers require sensor/actuator collocation. In this paper, we consider the design of a "squaring down" matrix which renders a system passive by using a linear combination of all collocated and non-collocated sensor/actuator pairs. The design uses experimental transfer functions and does not require the knowledge of the system model. The problem of finding the squaring down matrix is cast as a solution to a set of linear matrix inequalities (LMIs) subject to some additional performance considerations. The design procedure of the squaring down matrix assumes that velocity information is available from the sensors which is not generally the case. We show that the squaring down matrix can be implemented without the use of such velocity information. We provide experimental results gathered from the single link flexible beam setup in the C/sub La/MS laboratory at RPI to show that implementation of passive loops without velocity measurements provides very good results.

关键词： Feedback control Linear matrix inequalities Intelligent sensors Control system synthesis Robust control Sensor systems Hydraulic actuators Transfer functions Laboratories Economic indicators

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Model development of MIMO nets: a H-EPN based approach

Model development of MIMO nets: a H-EPN based approach

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IEEE Conference on Decision and Control

作者： S. Ramaswamy K.P. Valavanis S. Barber The Laboratory for Intelligent Processes and Systems The Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA The Robotics and Automation Laboratory The Center for Advanced Computer Studies and the Apparel-CIM Center University of Southwestern Louisiana Lafayette LA USA

The construction and analysis of multiple-input multiple-output (MIMO) subnets is discussed. It is shown that hierarchical time-extended Petri nets (H-EPNs) allow the development of structured MIMO subnets through the use of bottom-up Petri net synthesis techniques. The paper analyzes Petri net extensions that allow a truly hybrid approach to Petri net based systems modeling, analysis and development. The case study emphasizes the advantage of the activator arc extension in studying issues such as static priority scheduling, dynamic failure recognition, and rescheduling in manufacturing systems. The SPNP package, suitably modified to handle the H-EPN extensions, is used to analyze the properties of the derived H-EPN model.

关键词： MIMO Petri nets Failure analysis Job shop scheduling Dynamic scheduling Modeling Timing Manufacturing Packaging Solids

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TMS320 DSP based neuro-fuzzy controller

TMS320 DSP based neuro-fuzzy controller

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IEEE International Conference on systems, Man and Cybernetics

作者： K.K. Kumbla M.-R. Akbarzadeh-T. M. Jamshidi CAD Laboratory for Intelligent and Robotic Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA University of New Mexico Albuquerque NM US CAD Lab. for Intelligent & Robotic Syst. New Mexico Univ. Albuquerque NM USA

Fuzzy logic can be used to map complex nonlinear relations by a set of IF-THEN rules. The membership functions are designed by intuitive human reasoning. This poses two problems; first, for different control application a new set of membership functions have to developed and second, once these membership functions are developed and implemented there is no means of changing them. This means fuzzy logic lacks a learning function. Neural network on the other hand self-organizes the mapping relationship by learning. So by integrating neural networks and fuzzy logic it is possible to overcome these problems. Implementing this algorithm on a TMS320 DSP chip is discussed. Controlling a flexible link manipulator is taken as an example to evaluate the controller.

关键词： Digital signal processing Fuzzy logic Biological neural networks Artificial neural networks Fuzzy reasoning Neural networks Humans Fuzzy set theory Fuzzy control Fuzzy neural networks

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PARALLEL AND DISTRIBUTED TLM COMPUTATION WITH SIGNAL-PROCESSING FOR ELECTROMAGNETIC-FIELD MODELING

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INTERNATIONAL JOURNAL OF NUMERICAL MODELLING-ELECTRONIC NETWORKS DEVICES AND FIELDS 1995年第3-4期8卷 169-185页

作者： SO, PPM ESWARAPPA, C HOEFER, WJR NSERC/MPR Teltech Research Chair in RF Engineering Department of Electrical and Computer Engineering University of Victoria Victoria British Columbia V8W 3P6 Canada Poman So received his B.Sc. degree in computer science and physics from the University of Toronto Toronto Onatario Canada in 1985. He obtained his B.A. Sc. and M.A.Sc. degrees in electrical engineering (summa cum laude) from the University of Ottawa Ottawa Ontario Canada in 1987 and 1989 respectively. Mr So was a research engineer in the University of Ottawa from January 1989 to October 1991 his research interests included CAD techniques of microwave circuits and numerical methods for electromagnetic wave modelling. He specialized in the development of electromagnetic engineering CAD software and successfully implemented a number of electromagnetic wave simulators based on the two-dimensional and three-dimensional transmission-line matrix methods. From August 1990 to February 1991 he accompanied Professor W. J. R. Hoefer to Rome Italy and Sophia Antiopolas France. During that time he implemented a parallel version of the 3D-TLM simulator for the CM-2 Connection Machine using C-Star and X Windows Library. He is a research engineer and a Ph.D. student at the University of Victoria Victoria British Columbia Canada. He ported the 2D- and 3D-TLM simulators to DECmpp 1200 massively parallel computer using MPL C and C++. He also combined OSA90/hope a commercially available microwave CAD program with a 2D-TLM simulation module for geometry optimization using the Datapipe technique of OSA90/hope. Recently he has developed a distributed client-server computing technique for the TLM method this technique could accelerate the TLM simulation by more than an order of magnitude. Channabasappa Eswarappa received the M.Tech. degree in electrical engineering from the Indian Institute of Technology Kanpur India in 1983 and Ph. D. degree from the University of Ottawa Canada in 1990. He worked as an Assistant Executive Engineer and later as

This paper describes the implementation of transmission-line matrix (TLM) method algorithms on a massively parallel computer (DECmpp 12000), the technique of distributed computing in the UNIX environment, and the combination of TLM analysis with Prony's method as well as with autoregressive moving average (ARMA) digital signal processing for electromagnetic field modelling. By combining these advanced computation techniques, typical electromagnetic field modelling of microwave structures by TLM analysis can be accelerated by a few orders of magnitude.

关键词： Mathematical models

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FUZZY-LOGIC BASED COLLISION-AVOIDANCE FOR A MOBILE ROBOT

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ROBOTICA 1994年第6期12卷 521-527页

作者： MARTINEZ, A TUNSTEL, E JAMSHIDI, M CAD Laboratory for Intelligent and Robotic Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM 87131 (USA)

Navigation and collision avoidance are major areas of research in mobile robotics.that involve varying degrees of uncertainty. In general, the problem consists of achieving sensor based motion control of a mobile robot among obstacles in structured and/or unstructured environments with collision-free motion as the priority. A fuzzy logic based intelligent control strategy has been developed here to computationally implement the approximate reasoning necessary for handling the uncertainty inherent in the collision avoidance problem. The fuzzy controller was tested on a mobile robot system in an indoor environment and found to perform satisfactorily despite having crude sensors and minimal sensory feedback.

关键词： FUZZY LOGIC COLLISION AVOIDANCE MOBILE ROBOT NAVIGATION

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Control of robotic manipulator using fuzzy logic

Control of robotic manipulator using fuzzy logic

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： K.K. Kumbla M. Jamshidi CAD Laboratory for Intelligent and Robotics Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

This paper describes the implementation of hierarchical control on a robotic manipulator using fuzzy logic. A decentralized control approach is implemented, i.e., individual controllers control the two links of the robot. The kinematic aspect of the control is treated as the supervisory mode at a higher level and the joint control is treated as the lower level. Fuzzy logic based rules determine the inverse kinematic mapping which maps the Cartesian coordinates to the individual joint angles. This scheme is implemented using Togai Infra Logic software and the entire simulation software is implemented using C language. The results of the simulation are discussed. This experiment is a proof of principle to show that the fuzzy controller can be used to map the nonlinear mapping which can be implemented to the more complex problem of inverse kinematics of higher degree of freedom robots. A fuzzy PD controller is implemented on a Rhino robot and the performance is compared with a traditional PD controller.< >

关键词： Robot control Fuzzy logic Fuzzy control Manipulator dynamics Robot kinematics PD control Intelligent robots Nonlinear equations Control systems Distributed control

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Embedded fuzzy logic-based wall-following behavior for mobile robot navigation

Embedded fuzzy logic-based wall-following behavior for mobil...

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： E. Tunstel M. Jamshidi CAD Laboratory for Robotics and Intelligent Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

The synthesis of a fuzzy logic controller that provides a small mobile robot with the capability to exhibit a wall-following behavior is described. A general account of the procedure is given with emphasis placed on t... 详细信息

关键词： Fuzzy logic Mobile robots Navigation Fuzzy control Intelligent robots Embedded system Robot sensing systems Control systems Assembly Fuzzy systems

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TELErobotics.AND MOBILE ROBOTS FOR SPACE APPLICATIONS - INTRODUCTION

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ROBOTICA 1994年第6期12卷 479-479页

作者： JAMSHIDI, M CAD Laboratory for Intelligent & Robotic Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM87131 (USA)

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A hierarchical fuzzy controller using line-curvature feature extraction for a single link flexible arm

A hierarchical fuzzy controller using line-curvature feature...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： M.-R. Akbarzadeh-Totonchi M. Jamshidi N. Vadiee CAD For Intelligent and Robotic Systems Laboratory Department of Electrical Engineering and Computer Engineering University of New Mexico Albuquerque NM USA

A two-level hierarchical fuzzy controller is developed for a single flexible link. The second level of hierarchy monitors the behavior of the robot arm and extracts features such as straight, oscillatory, gently curved. This is accomplished using a fuzzy feature extraction technique which incorporates line-curvature data computed over a finite number of discrete points along the length of the robot arm. The line-curvature data are computed from measurements of a finite number of strain sensors. The fuzzy features such as straight, oscillatory, gently curved, the angular position measurements of the tip of the robot arm, and the torque of the motor constitute a basis of information for the first level of the hierarchical fuzzy controller.< >

关键词： Fuzzy control Feature extraction Robot control Service robots Fuzzy systems Control systems Intelligent robots Data mining Robot sensing systems Strain measurement

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An optimal sonar array for target localization and classification

An optimal sonar array for target localization and classific...

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IEEE International Conference on robotics.and Automation (ICRA)

作者： L. Kleeman R. Kuc Intelligent Robotics Research Centre Department of Electrical & Computer Systems Eng Monash University Australia Intelligent Sensors Laboratory Department of Electrical Engineering Yale University USA

A novel sonar array for mobile robots is presented with applications to localization and mapping of indoor environments. The ultrasonic sensor localizes and classifies multiple targets in two dimensions to ranges of up to 8 meters. By accounting for effects of temperature and humidity, the system is accurate to within 1 mm and 6.1 degrees in still air. Targets separated by 10 mm can be discriminated. Targets are classified into planes, corners, edges and unknown, with the minimum of two transmitters and two receivers. A novel approach is that receivers are closely spaced to minimize the correspondence problem of associating echoes from multiple targets. A set of templates is generated for echoes to allow the optimal arrival time to be estimated, and overlapping echoes and disturbances to be rejected.< >

关键词： Intelligent sensors Pulse measurements Transmitters Leg Sonar measurements Sensor arrays Intelligent robots Robot localization Rough surfaces Surface roughness

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