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21st International Conference on computers and Their Applications, CATA 2006

作者： Lee, Gordon K. Grant, Edward Dept. of Electrical and Computer Engineering San Diego State University 5500 Campanile Drive San Diego CA United States Department of Electrical and Computer Engineering Center for Robotics and Intelligent Machines North Carolina State University Raleigh NC United States

ISBN: (纸本)9781604234961

Controlling nonlinear systems continues to be a challenging problem, particularly when the environment is uncertain or noisy. A nonparametric approach which has gained success is to employ a neural network to learn about the unknown plant and fuzzy inference to compensate for the uncertainty (GANFIS control). Inherent in the design of such controllers is the need to tune the weights of the GANFIS controller. Evolutionary learning has been suggested to tune the GANFIS parameters but a difficulty is selecting the parameters for tuning. In this paper, simple tuners using current fitness function values are developed. Results show that this approach is a feasible method for tuning the evolutionary parameters for the GANFIS architecture.

关键词： Fuzzy inference

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A New Adaptive Transport Protocol for Web

A New Adaptive Transport Protocol for Web

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Canadian Conference on Electrical and computer engineering (CCECE)

作者： Kiarash Mizanian Mehdi Salmani Jelodar Amir Aavani Morteza Analoui Computer Engineering Department Iran University of Science and Technology Tehran Iran Sepanta Robotics AI Research Foundation Tehran Iran

Today, Web interactions are frequently short, with an increasing number of responses carrying only control information and no data. On the other hand, with significant improvements in network hardware, many problems such as collision and packet loss are not as important as before. The most popular application layer protocol for the Web is the Hyper Text Transfer Protocol (HTTP), with client initiated Transmission Control Protocol (TCP) as the transport protocol. In spite of TCP's good services to HTTP, it is poorly suited for small packets. The overhead of setting up and tearing down TCP state amortizes poorly for these small connections. In this paper, we have designed and analyzed an adaptive-hybrid scheme to address these issues. The proposed scheme uses either TCP, or the User Datagram Protocol (UDP) as the underlying transport protocol. UDP is used for short transfers (including HTTP redirection) and for lossless states, while TCP is used just in lossy and full of collision states. In this manner, we avoid the extra TCP overhead for short connections, but still benefit from the reliable delivery and congestion control that TCP provides. We ran simulations to quantify the effects of various network parameters (i.e., packet loss rates) on the performance of the hybrid scheme. We observed performance gains exceeding 25% with HTTP/1.1-style persistent connections, and over 55% without persistent connections

关键词： Transport protocols Telecommunication traffic Packaging machines Access protocols Programmable control Adaptive control Data engineering Robots Artificial intelligence Hardware

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Impact orientation invariant robot design: an approach to projectile deployed robotic platforms

Impact orientation invariant robot design: an approach to pr...

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IEEE International Conference on robotics and Automation (ICRA)

作者： I. Burt A. Drenner C. Carlson A.D. Kottas N. Papanikolopoulos Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

Within the fields of law enforcement and urban search and rescue, there is always a need to obtain information from areas that may be hard to reach or unsafe to enter. One method of obtaining this reconnaissance information is to deploy a robot as a projectile. This may be accomplished with mechanical aids or simply by throwing the robot manually. This rapid deployment method has the ability to attain locations inaccessible to other technologies. The miniature nature of the presented design has the ability to operate discretely and avoid detection, making it desirable for law enforcement. In the case of urban search and rescue, the diminutive form minimizes the impact on potentially unsound structures. During the course of deployment, unexpected impacts and drops are inevitable, generating a need for an impact invariant design. Design decisions to create this system are presented, and experimental validation of design aspects is discussed

关键词： Projectiles Robot sensing systems Reconnaissance Law enforcement Costs Humans Switches Mobile robots computer science Power lasers

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Modular Mobile Docking Station Design

Modular Mobile Docking Station Design

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Casey Carlson Andrew Drenner Ian Burt Nikolaos Papanikolopoulos Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

Large scale robotic teams are capable of working independently or cooperatively to carry out a variety of missions. However, for large teams of robots to function for extended periods of time, the individual members of a team must be able to generate or find energy to re-supply themselves. One approach to providing power for a robotic team is to couple larger systems with significant energy reserves so that the smaller systems can be recharged directly from the larger. This paper presents an implementation of such an approach. Here, a modular docking station is given locomotion through the cooperation of two larger robots. The docking station is capable of transporting, deploying, retrieving, and recharging many smaller robots. The kinematic model which will govern the cooperation of the maneuvering robots and will be used to develop control is presented and discussed. The design of the individual bays of the docking station and how they facilitate the deployment, recovery, and recharge of the smaller robots is also presented. The development of this system makes possible a number of applications, including autonomous long-term environmental monitoring and reconnaissance in various locations

关键词： Manipulator dynamics Intelligent robots Monitoring Mobile robots Large-scale systems Reconnaissance Humans Power supplies Mobile computing computer science

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An Algorithm for Site Selection in GIS based on Swarm Intelligence

An Algorithm for Site Selection in GIS based on Swarm Intell...

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Congress on Evolutionary Computation

作者： A. Sharma V. Vyas D. Deodhare Center for Artificial Intelligence and Robotics Bangalore India Department of Computer Science and Engineering SRM Engineering College Chennai India

Swarm intelligence is about design of distributed algorithms which use simple rules and indirect communication, but result in intelligent emergent behaviour. Geographical Information Systems are systems which are able to analyse, manipulate and store vast amounts of spatial data. In this paper we study the use of swarm intelligence based algorithms for use in GIS and this is demonstrated with an example of the problem of site selection, also called as location allocation. An agent algorithm inspired from the nest building behaviour of natural termites is discussed and some simulation results are also provided.

关键词： Geographic Information Systems Particle swarm optimization Algorithm design and analysis Information systems Insects Artificial intelligence Intelligent robots Distributed algorithms Information analysis Research and development

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NIR spectrometry for the characterization of fuel components in a novel tamper-resistant pill bottle

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Journal of Pharmaceutical Innovation 2006年第1期1卷 54-61页

作者： Medendorp-, Joseph P. Fackler, Jason A. Henninger, Tom Dieter, Bill Lodder, Robert A. Department of Pharmaceutical Sciences College of Pharmacy Lexington KY 40536 A123 ASTecCC Bldg. 0286 United States Electrical and Computer Engineering Lexington KY 40536 683 Anderson Hall 046 United States Center for Manufacturing Center for Robotics and Manufacturing System Lexington KY 40536 United States

The purpose of this paper is twofold: (i) to present the Pill Safe, a novel design for a tamper-resistant prescription container, and (ii) to present use of near-infrared (NIR) spectrometry for characterization of fuel components and prediction of the burn characteristics of the fuel mixtures used to destroy tablets in the Pill Safe. In the safe, drug tablets are stacked next to fuel and attempts to force the mechanism or penetrate the bottle cause their instant destruction. The Pill Safe offers a second line of defense against the illicit distribution of dangerous prescription drugs. © 2006 ISPE. All rights reserved.

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Learning predictive state representations using non-blind policies 06

Learning predictive state representations using non-blind po...

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ICML 2006: 23rd International Conference on Machine Learning

作者： Bowling, Michael McCracken, Peter James, Michael Neufeld, James Wilkinson, Dana Department of Computing Science University of Alberta Edmonton Alta. T6G 2E8 Canada AI and Robotics Group Technical Research Dept. Toyota Technical Center Ann Arbor MI United States School of Computer Science University of Waterloo Waterloo Ont. Canada

ISBN: (纸本)1595933832

Predictive state representations (PSRs) are powerful models of non-Markovian decision processes that differ from traditional models (e.g., HMMs, POMDPs) by representing state using only observable quantities. Because of this, PSRs can be learned solely using data from interaction with the process. The majority of existing techniques, though, explicitly or implicitly require that this data be gathered using a blind policy, where actions are selected independently of preceding observations. This is a severe limitation for practical learning of PSRs. We present two methods for fixing this limitation in most of the existing PSR algorithms: one when the policy is known and one when it is not. We then present an efficient optimization for computing good exploration policies to be used when learning a PSR. The exploration policies, which are not blind, significantly lower the amount of data needed to build an accurate model, thus demonstrating the importance of non-blind policies.

关键词： Predictive control systems

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Learning Individual Skills and Team Behaviors for Distributed Object Pushing

Learning Individual Skills and Team Behaviors for Distribute...

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IEEE International Conference on Mechatronics and Automation

作者： Hossein Aminaiee Majid Nili Ahmadabadi Control and Intelligent Processing Center of Excellence Robotics Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

In this paper we discuss a learning approach to distributed object pushing. In the proposed approach, first the required individual skills for single-robot object pushing are learned using a fuzzy reinforcement learning method. Then, the robots learn how to coordinate their actions to push the object to the desired configuration cooperatively in a distributed manner. The proposed team-level learning benefits from the knowledge, which is in the form of a Q-table, that the agent has gained in its individual learning phase by a special design of reward signal and state-action representation. Each robot learns a threshold on its Q-value using a single state reinforcement learning method and pushes the object when the Q-value of its best action in the current state is above this threshold. The reward signal is designed based on the robots' Q-tables and no external critic is needed for learning cooperation. Simulation results show that the robots learn their individual skills and a cooperation protocol to push the object cooperatively

关键词： Robot kinematics Learning Protocols Robot control robotics and automation Intelligent robots Signal design Mechatronics Process control Intelligent control

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UML-based service robot software development: A case study

UML-based service robot software development: A case study

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28th International Conference on Software engineering 2006, ICSE '06

作者： Kim, Minseong Kim, Suntae Park, Sooyong Choi, Mun-Taek Kim, Munsang Gomaa, Hassan Department of Computer Science Sogang University Seoul Korea Republic of Center for Intelligent Robotics Frontier 21 Program Korea Institute of Science and Technology Seoul Korea Republic of Dept. of Information and Software Engineering George Mason University Fairfax VA 22030 United States

ISBN: (纸本)1595933751

The research field of Intelligent Service Robots, which has become more and more popular over the last years, covers a wide range of applications from climbing machines for cleaning large storefronts to robotic assistance for disabled or elderly people. When developing service robot software, it is a challenging problem to design the robot architecture by carefully considering user needs and requirements, implement robot application components based on the architecture, and integrate these components in a systematic and comprehensive way for maintainability and reusability. Furthermore, it becomes more difficult to communicate among development teams and with others when many engineers from different teams participate in developing the service robot. To solve these problems, we applied the COMET design method, which uses the industry-standard UML notation, to developing the software of an intelligent service robot for the elderly, called T-Rot, under development at center for Intelligent robotics (CIR). In this paper, we discuss our experiences with the project in which we successfully addressed these problems and developed the autonomous navigation system of the robot with the COMET/UML method. Copyright 2006 ACM.

关键词： Intelligent robots

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A Time-Invariant Dual High-Gain Based Adaptive Output-Feedback Controller for Nonlinear Systems

A Time-Invariant Dual High-Gain Based Adaptive Output-Feedba...

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IEEE Conference on Decision and Control

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory(CRRL) Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

ISBN: (纸本)1424401704;9781424401703

We propose an adaptive output-feedback controller for a general class of nonlinear triangular (strict-feedback-like) systems. The design is based on our recent results on a dual high-gain observer and controller architecture with a dynamic scaling. The technique provides strong robustness properties and allows the system class to contain unknown functions dependent on all states and involving unknown parameters (with no magnitude bounds required). Unlike our earlier result on this problem where a time-varying design of the high-gain scaling parameter was utilized, the technique proposed here achieves an autonomous dynamic controller by introducing a novel design of the observer, the scaling parameter, and the adaptation parameter. This provides a time-invariant dynamic output-feedback controller for the benchmark open problem proposed in our earlier work with no magnitude bounds or sign information on the unknown parameter being necessary

关键词： Programmable control Adaptive control Nonlinear control systems Control systems Nonlinear systems Control design Nonlinear dynamical systems Uncertainty Backstepping USA Councils

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