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Embedded microcontroller implementation of a class of condition systems

Embedded microcontroller implementation of a class of condit...

引用

Southeastern Symposium on System Theory

作者： Yu Gong L.E. Holloway Department of Electrical and Computer Engineering and Center for Robotics and Manufacturing Systems University of Kentucky Lexington KY USA

ISBN: (纸本)0780376978

Considers the problem of synthesizing systems modeled by condition systems into microcontrollers. A condition system, a discrete event system model, can be naturally programmed into microcontrollers. Directly using an incidence matrix and state equation to implement condition systems is not a good method for low-cost microcontrollers because of the lack of certain instructions and limited memory of the microcontrollers. An alternate logic algebra based method is presented and an example condition system is illustrated. By using this method, the corresponding assembly code will be easily created in a systematic way.

关键词： Microcontrollers Logic programming Automatic control Automata Transmission line matrix methods Hardware computer aided manufacturing Robots Manufacturing systems Discrete event systems

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Modeling and control of halfspace systems

Modeling and control of halfspace systems

引用

Southeastern Symposium on System Theory

作者： R. Potluri L.E. Holloway Department of Electrical & Computer Engineering University of Kentucky Lexington KY USA Department of Electrical & Computer Engineering and Center for Robotics & Manufacturing Systems University of Kentucky Lexington KY USA

A halfspace system has the form Ex/sub k+1/ /spl les/ Fx/sub k/ + Bu/sub k/, where E, F /spl isin/ /spl Rfr//sup m/spl times/n/, B /spl isin/ /spl Rfr//sup m/spl times/p/. An example of modeling in this framework is presented. Also presented are the concept of reachability of a static target tube and an algorithm for maintaining a halfspace system in the reachable static target tube.

关键词： Control system synthesis Diffusion tensor imaging computer aided manufacturing Robots Uncertainty Manufacturing systems Artificial intelligence Linear programming

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Evolution of complex autonomous robot behaviors using competitive fitness

Evolution of complex autonomous robot behaviors using compet...

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International Conference on Integration of Knowledge Intensive Multi-Agent Systems (KIMAS)

作者： A.L. Nelson E. Grant G. Barlow M. White Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

Evolutionary robotics (ER) employs population-based artificial evolution to develop behavioral robotics controllers. We focus on the formulation and application of a fitness selection function for ER that makes use of intra-population competitive selection. In the case of behavioral tasks, such as game playing, intra-population competition can lead to the evolution of complex behaviors. In order for this competition to be realized, the fitness of competing controllers must be based mainly on the aggregate success or failure to complete an overall task. However, because initial controller populations are often subminimally competent, and individuals are unable to complete the overall competitive task at all, no selective pressure can be generated at the onset of evolution (the bootstrap problem). In order to accommodate these conflicting elements in selection, we formulate a bimodal fitness selection function. This function accommodates subminimally competent initial populations in early evolution, but allows for binary success/failure competitive selection of controllers that have evolved to perform at a basic level. Large arbitrarily connected neural network-based robot controllers were evolved to play the competitive team game Capture the Flag. Results show that neural controllers evolved under a variety of conditions were competitive with a hand-coded knowledge-based controller and could win a modest majority of games in a large tournament.

关键词： Robot kinematics Erbium Robot control robotics and automation Automatic control Intelligent robots Mobile robots Control systems Robot sensing systems Artificial neural networks

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Adaptive partial-state feedback control for induction motors

Adaptive partial-state feedback control for induction motors

引用

American Control Conference (ACC)

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

In this paper, a nonlinear adaptive dynamic controller is designed for velocity and flux magnitude tracking of induction motors. The control design is a partial-state feedback design that utilizes rotor velocity and stator current measurements. Rotor position and flux measurements are not utilized for feedback. Further more, an adaptive approach is followed to compensate for uncertainty in the mechanical parameters (inertia, friction, and load torque) and the rotor resistance. The only information required about these parameters is a lower bound on the rotor resistance. The designed controller has dynamic order 12 and achieves asymptotic tracking of the flux magnitude trajectory. Under a persistency of excitation condition, asymptotic tracking of the flux magnitude trajectory is also obtained.

关键词： Programmable control Adaptive control Feedback control Induction motors Rotors Trajectory Velocity control Control design Stators Current measurement

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Developing evolutionary neural controllers for teams of mobile robots playing a complex game

Developing evolutionary neural controllers for teams of mobi...

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IEEE International Conference on Information Reuse and Integration (IRI)

作者： A.L. Nelson E. Grant G. Lee Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA Department of Electrical and Computer Engineering San Diego State University San Diego CA USA

This research develops methods of automating the production of behavioral robotics controllers. Population-based artificial evolution was employed to train neural network-based controllers to play a robotic version of the team game Capture the Flag. The robot agents used processed video data for sensing their environment. To accommodate the 35 to 150 sensor inputs required, large neural networks of arbitrary connectivity and structure were evolved. An intra-population competitive genetic algorithm was used and selection at each generation was based on whether the different controllers won or lost games over the course of a tournament. This paper focuses on the evolutionary neural controller architecture. Evolved controllers were tested in a series of competitive games and transferred to real robots for physical verification.

关键词： Mobile robots Automatic control Games Robot sensing systems robotics and automation Artificial neural networks Production Robot control Genetic algorithms Testing

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Experiment study of PUMA robot calibration using a laser tracking system

Experiment study of PUMA robot calibration using a laser tra...

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IEEE Workshop on Soft Computing in Industrial Applications (SMCia)

作者： Ying Bai Hanqi Zhuang Z.S. Roth Department of Computer Science and Engineering Johnson C. Smith University Charlotte NC USA Robotics Center Department of Electrical Engineering Florida Atlantic University Boca Raton FL USA

Laser tracking systems (LTS) are among the most accurate robot metrology systems. These laser interferometer systems combine the advantages of high resolution, large work space and contactless measurements. A target mounter on the end-effector of the robot, is automatically tracked by a laser beam targeted by the moving mirror. A prerequisite for utilizing a LTS to calibrate robots is that the LTS itself should be self-calibrated successfully. In this paper, we describe the experimental calibration of a PUMA 560 robot by using a LTS developed at the robotics center, Florida Atlantic University. The calibration is based on a prior successful self-calibration of the LTS. Calibration results are analyzed and confirmed using a verification method. This is the first actual calibration of robots using a LTS in the United States during the 20th centenary.

关键词： Calibration Robot kinematics Laser beams robotics and automation Position measurement Orbital robotics Coordinate measuring machines Target tracking Laser theory Mirrors

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Evolution of the NASA/DARPA Robonaut control system

Evolution of the NASA/DARPA Robonaut control system

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M.A. Diftler C.J. Culbert R.O. Ambrose R. Platt W.J. Bluethmann Automation and Robotics Department Houston USA Department of Computer Science University of Massachusetts Amherst MA USA Robotics Technology Branch NASA-Johnson Space Center Houston TX USA Johnson Space Center Hernandez Engineering Inc. Houston TX USA

The NASA/DARPA Robonaut system is evolving from a purely teleoperator controlled anthropomorphic robot towards a humanoid system with multiple control pathways. Robonaut is a human scale robot designed to approach the dexterity of a space suited astronaut. Under teleoperator control, Robonaut has been able to perform many high payoff tasks indicating that it could significantly reduce the maintenance workload for human's working in space. Throughout its development, Robonaut has been augmented to include new sensors and software resulting in increased skills that allow for more shared control with the teleoperator, and ever increasing levels of autonomy. These skills range from simple compliance control, and short term memory, to, most recently, reflexive grasping and haptic object identification using a custom tactile glove, and real-time visual object tracking.

关键词： NASA Control systems Teleoperators Orbital robotics Humans Robot control Anthropomorphism Humanoid robots Robot sensing systems Grasping

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A colony of robots using vision sensing and evolved neural controllers

A colony of robots using vision sensing and evolved neural c...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： A.L. Nelson E. Grant G.J. Barlow T.C. Henderson Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA School of Computing University of Utah Salt Lake UT USA

This paper describes the development and testing of a new evolutionary robotics research test bed. The test bed consists of a colony of small computationally powerful mobile robots that use evolved neural network controllers and vision based sensors to generate team game-playing behaviors. The vision based sensors function by converting video images into range and object color data. Large evolvable neural network controllers use these sensor data to control mobile robots. The networks require 150 individual input connections to accommodate the processed video sensor data. Using evolutionary computing methods, the neural network based controllers were evolved to play the competitive team game Capture the Flag with teams of mobile robots. Neural controllers were evolved in simulation and transferred to real robots for physical verification. Sensor signals in the simulated environment are formatted to duplicate the processed real video sensor values rather than the raw video images. Robot controllers receive sensor signals and send actuator commands of the same format, whether they are driving physical robots in a real environment or simulated robots agents in an artificial environment. Evolved neural controllers can be transferred directly to the real mobile robots for testing and evaluation. Experimental results generated with this new evolutionary robotics research test bed are presented.

关键词： Robot sensing systems Robot vision systems Testing Mobile robots Neural networks Image sensors Robot control computer networks Games Computational modeling

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Visual servoing of a miniature robot toward a marked target 14

Visual servoing of a miniature robot toward a marked target

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14th International Conference on Digital Signal Processing, DSP 2002

作者： Rofiler, Patrick Stoeter, Sascha A. Rybski, Paul E. Gini, Maria Papanikolopotilos, Nikolaos Department of Computer Science and Engineering Center for Distributed Robotics University of Minnesota Minneapolis United States

ISBN: (纸本)0780375033

The paper describes a system that servos a miniature robot toward a. marked target based on visual information from the robot's own camera. This task is divided into two subtasks: recognition of the target and driving toward it. The system deals with the problems introduced by noisy camera images and unstructured, non-static backgrounds. A description of the control software is given and experimental results are discussed. © 2002 IEEE.

关键词： Visual servoing

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Stochastic modelling and analysis of dynamic plasma reflection 15th

Stochastic modelling and analysis of dynamic plasma reflecti...

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15th World Congress of the International Federation of Automatic Control, 2002

作者： Zhang, Y.M. Ma, Y. Center for Robotics and Manufacturing Systems Department of Electrical and Computer Engineering College of Engineering University of Kentucky LexingtonKY40506 United States

ISBN: (纸本)9783902661746

Keyhole arc welding is a cost-effective process to weld thick materials. To successfully apply this process, the state of the keyhole must be accurately detected and used in feedback control. In this paper, the dynamic behavior of the plasma reflection is described using the reflection arc angle (RAA). It is found that the RAA series can be considered an autoregressive moving-average (ARMA) process. The parameters of the ARMA are recursively estimated using the extended least squares algorithm. It is found that the recursive estimates of the model parameters change as the state of the keyhole changes. A discriminator has been proposed to determine the state of the keyhole based on the recursive estimates of the model parameters. Copyright © 2002 IFAC.

关键词： Parameter estimation

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