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共 142 条记录，以下是121-130 订阅

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Fuzzy gain-scheduled H∞ flight control law design

Fuzzy gain-scheduled H∞ flight control law design

引用

AIAA Guidance, Navigation, and Control Conference and Exhibit 2002

作者： Oosterom, Marcel Bergsten, Pontus Babuska, Robert Control Systems Engineering Technology and Systems Delft University of Technology Mekelweg 4 NL-2628 CD Delft Netherlands Center for Applied Autonomous Sensor Systems Orebro University Sweden Control Systems Engineering Laboratory Delft University of Technology Netherlands

ISBN: (纸本)9781624101083

For most of the FBW aircraft flying today, the control laws have been developed by using classical single-loop frequency responses and root locus design techniques. Moreover, gain scheduling is the most common systematic approach to cope with the nonlinearity of the aircraft dynamics over the flight envelope. However, the single-loop design procedure as well as the identification of the operating points and the design of the interpolation scheme are time-consuming processes. One way to circumvent the single-loop design approach is to apply a multivariable Woo control design technique, while the identification of the operating points and the design of the interpolating scheme for gain scheduling can be done automatically by a fuzzy clustering approach. Both techniques have been successfully evaluated during pilot-in-the-loop simulations. The main contribution of this paper is a first step to combine the gain scheduling technique based on fuzzy clustering and the Woo design approach. The Woo controllers are designed locally in a number of operating points and the interpolation between them (scheduling) takes place through fuzzy membership functions. The gain-scheduled Woo controller performs satisfactorily. Moreover, the performance using the gain-scheduled H∞ controller is significantly improved compared to the performance using the fixed H∞ controller. © 2002 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Controllers

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An intelligent model approach for combination of sensor information

An intelligent model approach for combination of sensor info...

引用

IEEE International Workshop on Haptic, Audio and Visual Environments and Their Applications

作者： L. Biel P. Wide Center for Applied Autonomous Sensor Systems Department of Technology Orebro University Sweden

Humans gather information from the environment around them using different senses, e.g. sight, hearing, touch, smell and taste. By combining sensory information, we are able to structure decisions and actions when interacting with the environment. Humans are capable of actively using perception capabilities in order to perform objectives in time and space. The objective of this paper is to discuss a biologically inspired sensor fusion model, named sensor fusion model with active perception (SEFMAP). The biological inspiration concept is not used to indicate biological plausibility in the sense of circuitry, networking architecture and information exchange modalities of proposed models, but the modeling point of view. SEFMAP has been developed by mimicking the human way of processing information received from sensory organs. This gives a simple and general model with great development potential, properties that in some degree are missing in existing models. SEFMAP was intended for modeling intelligent sensor fusion systems as well as traditional sensor fusion systems The model discussed in this paper, SEFMAP, includes three main processes (sensation, perception and active perception) as well as a knowledge base. SEFMAP reflects signal processing on sensory information that occurs on the way to the brain, as well as in the brain. The model also handles memory and decision-making to bring the system closer to an objective that may be changed during run-time. The benefits of SEFMAP are demonstrated in three examples, a classification application, an auditory-visual target localization system and a fire indication system. The paper also considers how time affects the result of the sensor fusion algorithm.

关键词： Intelligent sensors Biological system modeling sensor fusion Humans Auditory system Circuits Sense organs Biomedical signal processing Decision making Runtime

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Robust color segmentation for the RoboCup domain

Robust color segmentation for the RoboCup domain

引用

International Conference on Pattern Recognition

作者： Z. Wasik A. Saffiotti Center for Applied Autonomous Sensor Systems Department of Technology Örebro University Orebro Sweden

Color segmentation is crucial in robotic applications, such as RoboCup, where the relevant objects can be distinguished by their color. In these applications, real-time performance and robustness are primary concerns. We present a hybrid method for color segmentation based on seeded region growing (SRG) in which the initial seeds are provided by a conservative threshold color segmentation. The key to the robustness of our approach is to use multiple seeds to perform local blob growing, and then merge blobs that belong to the same region. We have implemented our technique on a team of Sony AIBO 4-legged robots, and have successfully tested it in the RoboCup 2001 competition.

关键词： Robustness Image edge detection Object recognition Image segmentation Colored noise sensor systems Robot sensing systems Real time systems Educational robots Motion planning

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A virtual sensor for room detection

A virtual sensor for room detection

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： P. Buschka A. Saffiotti Center for Applied Autonomous Sensor Systems Department of Technology Örebro University Orebro Sweden

Indoor environments typically consist of sets of connected room-like spaces. We present a local technique that uses range data to detect these spaces during navigation. Our technique includes two parts: segmentation, which isolates room-like spaces and detects when the robot has entered a new one; and feature extraction, which associates each space with a set of geometric features useful for navigation or recognition. Many such features can be considered: here we propose a new method to compute width and length of a rectangular room in a way which is largely invariant with respect to the configuration of the furniture. We report experimental results that show the performance of our technique, and hint at a possible use of this technique for coarse localization on a topological map.

关键词： Space technology Navigation Indoor environments Mobile robots Robot sensing systems Orbital robotics Space exploration sensor systems Isolation technology Mobile communication

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Using the electric field approach in the RoboCup domain

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5th Robot World Cup Soccer Games and Conferences, RoboCup 2001

作者： Johansson, Stefan J. Saffiotti, Alessandro Dept. of Software Eng. and Computer Science Blekinge Institute of Technology S-372 25 Ronneby Sweden Center for Applied Autonomous Sensor Systems Dept. of Technology Örebro University S-701 82 Örebro Sweden

ISBN: (纸本)3540439129

In autonomous robotics, so-called artificial potential fields are often used to plan and control the motion of a physical robot. In this paper, we propose to use an artificial electric field to address the problem or real time action selection in embodied, autonomous agents. We attach positive and negative electric charges to the relevant objects in the agent's domain, and use the resulting electric field to estimate the heuristic value of a given configuration. This value is used to select the action that results in the best configuration. This allows us to consider in the same framework both navigation and manipulation actions. We apply the electric field approach in the RoboCup domain, and present results drawn from our experience in the Sony legged robots league. © 2002 Springer-Verlag Berlin Heidelberg.

关键词： Electric fields

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Team Sweden

引用

5th Robot World Cup Soccer Games and Conferences, RoboCup 2001

作者： Saffiotti, A. Björklund, A. Johansson, S. Wasik, Z. Center for Applied Autonomous Sensor Systems Örebro University S-701 82 Örebro Sweden Department of Software Eng. and Computer Science Blekinge Institute of Technology S-372 25 Ronneby Sweden Department of Computing Science Umeå University S-901 87 Umeå Sweden

ISBN: (纸本)3540439129

“Team Sweden” is the Swedish national team that entered the Sony legged robot league at the RoboCup2001 competition. The work was distributed over three universities in Sweden. This nationwide character has made the project organization particularly demanding, but has resulted in a rewarding cooperation experience, both scientific and human. The Team identity is as follows: Team Leader: Alessandro Saffiotti (asaffio@***) Team Members: include the authors, plus: R. Johansson (?rebro); P. Davidsson, D. Erman, and J. Kronqvist (Blekinge); J. Carstensen, P. Eklund, P. Larsson, and K. Prorok (Ume?). Sponsors: Swedish KK foundation, Qualisys AB, ?rebro University, Ume? University, and the Blekinge Institute of technology. Team home page: http://***/Living/RoboCup/.

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Global team coordination by local computation 6

Global team coordination by local computation

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6th European Control Conference, ECC 2001

作者： Saffiotti, Alessandro Ruspini, Enrique H. Center for Applied Autonomous Sensor Systems Dept. of Technology Örebro University Örebro Sweden AI Center SRI International 333 Ravenswood Ave Menlo ParkCA94025 United States

ISBN: (纸本)9783952417362

Desirability functions are an effective way to define group and individual objectives of a team of cooperating mobile robots. By combining desirability functions, we can identify the individual actions that best satisfy both sets of objectives. Combination, however, is global, posing high demands in terms of communication and computation resources. In this paper, we investigate a technique to perform this combination using local computations. Simulated experiments suggest that, under conditions of spatial locality, team control by local computation achieves the same performance than using a global technique. © 2001 EUCA.

关键词： Fuzzy control

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引用

IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： G. Tolt I. Kalaykov Center for Applied Autonomous Sensor Systems Department of Technology Örebro University Orebro Sweden

We introduce a new algorithm for image noise cancellation based on fuzzy similarity and homogeneity. The proposed method allows simple tuning of fuzzy filter properties and it is very convenient for high-speed real-time image processing. A detailed analysis of the filter properties is presented to support tuning its parameters for a particular application. Test examples and comparisons with other image noise cancellation techniques show the advantages of the method.

关键词： Noise cancellation Image processing Pixel Low pass filters Fuzzy systems Testing Filtering Real time systems sensor systems

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Fuzzy anchoring

Fuzzy anchoring

引用

IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： S. Coradeschi D. Driankov L. Karlsson A. Saffiotti Center for Applied Autonomous Sensor Systems Department of Technology Örebro University Orebro Sweden

An intelligent physical agent must incorporate motor and perceptual processes to interface with the physical world, and abstract cognitive processes to reason about the world and the options available. One crucial aspect of incorporating cognitive processes into a physically embedded reasoning system is the integration between the symbols used by the reasoning processes to denote physical objects, and the perceptual data corresponding to these objects. We treat this integration aspect by proposing a fuzzy computational theory of anchoring. Anchoring is the process of creating and maintaining the correspondence between symbols and percepts that refer to the same physical objects. Modeling this process using fuzzy set-theoretic notions enables dealing with perceptual data that can be affected by uncertainty/imprecision and imprecise/vague linguistic descriptions of objects.

关键词： Uncertainty Fuzzy sets Robot sensing systems sensor systems Intelligent agent Intelligent sensors Mobile robots Artificial intelligence Robot vision systems Machine vision

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Team Sweden

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4th Robot World Cup Soccer Games and Conferences, RoboCup 2000

作者： Saffiotti, A. Boman, M. Buschka, P. Davidsson, P. Johansson, S. Wasik, Z. Center for Applied Autonomous Sensor Systems Dept. Of Technology Örebro University Örebro Sweden Dept. Of Software Eng. and Computer Science Blekinge Institute of Technology Ronneby Sweden DSV Department of Computer and Systems Sciences Stockholm University and Royal Institute of Technology Kista Sweden

“Team Sweden” is the Swedish national team that entered the Sony legged robot league at the RoboCup ’99 and RoboCup 2000 competitions. We had two main requirements in mind when preparing ...

ISBN: (纸本)3540421858

“Team Sweden” is the Swedish national team that entered the Sony legged robot league at the RoboCup ’99 and RoboCup 2000 competitions. We had two main requirements in mind when preparing our entries: 1. The entry should effectively address the specific challenges present in this domain; in particular, it should be able to tolerate errors and imprecision in perception and execution; and 2. it should illustrate our research in autonomous robotics, by incorporating general techniques that can be reused in different robots and environments. While the first requirement could have been met by writing some ad hoc competition software, the second one led us to develop principled solutions that drew upon our current research in robotics, and that pushed it further ahead.

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