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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jae Hoon Lee Byung-Ju Yi Sang-Rok Oh Il Hong Suh School of Electrical Engineering and Computer Science Hanyang University South Korea Intelligent System Control Research Center KIST South Korea

ISBN: (纸本)0780372727

Some of manufacturing tasks such as sawing task often requires continuous impulsive motion. In case of sawing task, such impulsive motions can be observed between the teeth of the saw and the object. The amount of the external impulse exerted on the object has been treated as an important control paramete. Also, the internal impulses experienced at the joints should be simultaneously taken into account to avoid serious damage or injury at the joints. The purpose of this work is to improve the efficacy of sawing task by using dual arm. For this, an external impulse model for sawing task is suggested. Also, the closed-form internal impulse models are proposed for both a single and dual arms. Based on these models, a new measure for internal impulse is proposed. A normalized impulse ellipsoid reflecting the velocity direction is employed to visualize the impact geometry. Finally, the optimal sawing region is identified in which the amount of external impulse is maximized and the amount of the internal impulse is minimized. It is demonstrated through simulation that the dual arm exhibits better sawing performance over a single arm in aspects of external and internal impulses.

关键词： Performance analysis Sawing Robot kinematics Arm Humans Manipulators Injuries Manufacturing Robot control Equations

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An extension of weighted strategy sharing in cooperative Q-learning for specialized agents

An extension of weighted strategy sharing in cooperative Q-l...

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International Conference on Neural Information Processing

作者： S.M. Eshgh M.N. Ahmadabadi School of Intelligent Systems Institute of Studies in Theoretical Physics and Mathematics Tehran Iran Control and Intelligent Processing Center of Excellence and Robotics Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

Using other agents' experiences and knowledge, a learning agent may learn faster, make fewer mistakes, and create some rides for unseen situations. These benefits will be gained if the learning agents know the area of expertise and the expertness values of each other. In this paper, some Q-learning agents with different skills and expertness levels cooperate in learning. The agents use some criteria to judge others information and knowledge. Four expertness criterion, certainty and entropy measures are used to assign degrees of importance to others' Q-Tables. Effects of measuring these values based on their whole Q-Table, a portion of Q-Tables that reflects their proficiencies, and the states in Q-Tables on the learning quality are studied. Simple strategy sharing and two different weighted strategy-sharing methods are used to combine the acquired knowledge from different agents.

关键词： Intelligent robots Intelligent agent Process control control systems Intelligent control Laboratories Intelligent systems Physics Mathematics Entropy

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Certainty and expertness-based credit assignment for cooperative Q-Learning agents with an AND-type task

Certainty and expertness-based credit assignment for coopera...

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International Conference on Neural Information Processing

作者： A. Harati M.N. Ahmadabadi School of Intelligent Systems Institute of Studies in Theoretical Physics and Mathematics Tehran Iran Control and Intelligent Processing Center of Excellence & AI and Robotics Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

In multiagent reinforcement learning, inter-agent credit assignment is a fundamental problem, since a single scalar reinforcement signal is the only reliable feedback that teams of learning agents receive. This problem is more critical in groups of independent learners with a joint task. In this research, it is assumed that a critic agent receives the environment feedback and assigns a proper credit to each agent using some measures. Three of such measures for a team of cooperative agents with a parallel and AND-type task are introduced. These measures somehow compare the agents' knowledge. One of these criteria, called normal expertness, is a non-relative measure while two other ones (certainty and relative normal expertness) are relative measure. It is experimentally shown that relative measures work better as they contain more information for the critic agent.

关键词： Feedback Intelligent agent Intelligent robots Process control control systems Intelligent control Artificial intelligence Robot kinematics Physics computing Reliability engineering

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An extension of Matrosov's theorem with application to stabilization of nonholonomic control systems

An extension of Matrosov's theorem with application to stabi...

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IEEE Conference on Decision and control

作者： A. Loria E. Panteley D. Popovic A.R. Teel Laboratoire de Signaux et Systèmes CNRS UMR 8506 Gif-sur-Yvette France Acad. of Sciences of Russia IPME Saint Petersburg Russia Center for Control Engineering and Computation (CCEC) Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

We present a result on uniform attractivity of the origin for nonlinear time-varying systems. Our theorem generalizes Matrosov's theorem which extends, in a certain manner, Krasovskii-LaSalle's invariance principle to the case of general nonlinear time-varying systems. We show the utility of our theorem by analyzing uniform asymptotic stability of the origin for nonholonomic: systems in closed loop with particular smooth time-varying feedbacks previously proposed in the literature.

关键词： control systems Asymptotic stability Nonlinear control systems Stability analysis Time varying systems Algorithm design and analysis Feedback loop Lyapunov method Collaborative work control engineering

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Vision-guided flight stability and control for micro air vehicles

Vision-guided flight stability and control for micro air veh...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： S.M. Ettinger M.C. Nechyba P.G. Ifju M. Waszak Dept. of Electr. & Comput. Eng. Florida Univ. Gainesville FL USA Department of Electrical and Computer Engineering University of Florida Gainesville FL USA Department of Aerospace Engineering Mechanics and Engineering University of Florida Gainesville FL USA Dynamics and Control Branch NASA-Langley Research Center Hampton VA USA

Substantial progress has been made recently towards designing, building and test-flying remotely piloted Micro Air Vehicles (MAVs) and small UAVs. We seek to complement this progress in overcoming the aerodynamic obstacles to flight at very small scales with a vision-guided flight stability and autonomy system, based on a robust horizon detection algorithm. In this paper, we first motivate the use of computer vision for MAV autonomy, arguing that given current sensor technology, vision may be the only practical approach to the problem. We then describe our statistical vision-based horizon detection algorithm, which has been demonstrated at 30 Hz with over 99.9% correct horizon identification. Next, we develop robust schemes for the detection of extreme MAV attitudes, where no horizon is visible, and for the detection of horizon estimation errors, due to external factors such as video transmission noise. Finally, we discuss our feedback controller for self-stabilized flight, and report results on vision-based autonomous flights of duration exceeding ten minutes.

关键词： Unmanned aerial vehicles Robust stability Detection algorithms Buildings Testing Aerodynamics computer vision Noise robustness Estimation error Adaptive control

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A Markov process using curvature for filtering curve images 3rd

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3rd International Workshop on Energy Minimization Methods in computer Vision and Pattern Recognition, EMMCVPR 2001

作者： August, Jonas Zucker, Steven W. Center for Computational Vision and Control Departments of Electrical Engineering and Computer Science Yale University 51 Prospect Street New HavenCT06520 United States

ISBN: (纸本)3540425233

A Markov process model for contour curvature is introduced via a stochastic differential equation. We analyze the distribution of such curves, and show that its mode is the Euler spiral, a curve minimizing changes in curvature. To probabilistically enhance noisy and low contrast curve images (e.g., edge and line operator responses), we combine this curvature process with the curve indicator random field, which is a prior for ideal curve images. In particular, we provide an expression for a nonlinear, minimum mean square error filter that requires the solution of two elliptic partial differential equations. Initial computations are reported, highlighting how the filter is curvature-selective, even when curvature is absent in the input. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Markov processes

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Modeling and control of robot manipulators

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Automatica 2001年第10期37卷 1681-1682页

作者： Marco de Oliveira Mo Jamshidi Autonomous Control Engineering Center The University of New Mexico Albuquerque NM USA Department of Electrical and Computer Engineering The University of New Mexico Albuquerque NM USA

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Discrete time model predictive control design using Laguerre functions

Discrete time model predictive control design using Laguerre...

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American control Conference (ACC)

作者： Liuping Wang Center for Integrated Dynamics and Control Department of Electrical and Computer Engineering University of Newcastle Callaghan NSW Australia

In the design of model predictive controller (MPC), the traditional approach of expanding the projected control signal uses the forward operator to obtain the linear-in-the-parameters relation for predicted output. In this paper, by using a performance specification on the exponential change rate of the projected control signal, a more appropriate expansion, related to Laguerre networks, is introduced. It is shown that the number of terms used in the optimization procedure can be reduced to a fraction of that required by the usual procedure in the case of rapid sampling, and as a result, the numerical condition of the optimization algorithm can be significantly improved. Furthermore, the proposed algorithm is easy to tune for closed-loop performance with two explicit tuning parameters. By relaxing the constraint on the exponential change rate of the control signal and allowing arbitrary complexity in describing the trajectory, the proposed approach becomes equivalent to the traditional approach in MPC design.

关键词： Predictive models Predictive control Signal design Sampling methods Trajectory Industrial control electrical equipment industry Polynomials Australia Signal sampling

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Time delay and power control in spread spectrum wireless networks

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IFAC Proceedings Volumes 2001年第23期34卷 159-164页

作者： Aly I. El-Osery Chaouki Abdallah Mo Jamshidi Autonomous Control Engineering Center (ACE) The University of New Mexico Albuquerque NM 87131 USA Electrical & Computer Engineering Department The University of New Mexico Albuquerque NM 87131 USA

Delay in the computation of the signal-to-interference ratio in communication systems is unavoidable. In the the case of mobile communication, delay is a very critical problem due the fast variation of the communication channel and the need for effective, fast and accurate power control. In this paper we present our approach to dealing with the delay in mobile communication systems as well as our controller to achieve and maintain the desired signal quality. We will concentrate on the code division multiple access (CDMA) systems.

关键词： Power control CDMA

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Delay-dependent guaranteed cost control for uncertain state-delayed systems

Delay-dependent guaranteed cost control for uncertain state-...

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American control Conference (ACC)

作者： Young Sam Lee Young Soo Moon Wook Hyun Kwon Engineering Research Center for Advanced Control and Instrumentation School of Electrical Engineering and Computer Sciene Seoul National University Seoul South Korea

This paper concerns delay-dependent guaranteed cost control via memoryless state feedback controllers for a class of linear state-delayed systems with norm-bounded time-varying parametric uncertainties. New delay-dependent conditions for the existence of the guaranteed cost controller are presented in terms of matrix inequalities for both nominal state-delayed systems and uncertain state-delayed systems. An algorithm involving convex optimization is proposed to design a controller achieving a suboptimal guaranteed cost such that the system can be stabilized for all admissible uncertainties. Through numerical examples, it is shown that the proposed method can even give a lower guaranteed cost than the delay-independent method.

关键词： Delay Costs control systems Linear feedback control systems Uncertainty State feedback Time varying systems Linear matrix inequalities Design optimization Algorithm design and analysis

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