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American Control Conference (ACC)

作者： M. A. Zohdy N. K. Loh Assistant Professor Center for Robotics and Advanced Automation School of Engineering Oakland University Rochester Michigan 48063 Center for Robotics and Advanced Automation School of Engineering Oakland University Rochester MI USA

The problem of designing reduced-order observers for linear discrete-time systems with unknown parameter variations is considered. A scheme is developed to detect and track such variation thereby tuning the observer m... 详细信息

关键词： Observers State estimation robotics and automation Microprocessors Control systems Convergence Design automation Design engineering Automatic control Linear systems

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A ball balancing demonstration of optimal and disturbance-accomodating control

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IEEE Control Systems Magazine 1987年第1期7卷 54-57页

作者： Ka Cheok Nan Loh School of Engineering and Computer Science Center for Robotics and Advanced Automation Oakland University Rochester MI USA

The modeling, analysis, and design of a ball-balancing control system are considered. An optimal linear regulator control system is constructed, and an optimal hybrid controller capable of absorbing external disturbance is implemented. The controller design is based on the theory of disturbance-accommodating control, optimal linear quadratic regulator control, and a digital delayed-data observer. Experimental results presented are useful for demonstrating practical aspects of the analysis. Furthermore, the ball-balancing control system developed is ideal for demonstrating the design and hardware implementation of optimal controllers based on modern control theory.

关键词： Optimal control Control systems Regulators Control system synthesis Automatic control robotics and automation Delay estimation Hardware Modems Control theory

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Effect of Tine Shaped Furrow Opener on Dry Soil Using Discrete Element Modelling

Effect of Tine Shaped Furrow Opener on Dry Soil Using Discre...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Abdul Mohiz Fazal E Nasir Kamran Shah Department of Mechatronics Engineering University of Engineering & Technology Peshawar Pakistan Advanced Robotics & Automation Lab National Center of Robotics & Automation Peshawar Pakistan

Tillage of the soil is the most important consideration when it comes to the implementation of agricultural practices. Increases in crop yield has been achieved through a variety of agricultural practices thanks to the discoveries of various agricultural experts. The planting process is the one that has the greatest impact on the crop's overall health. The hull can be more precisely prepared for the seed-planting trench with the assistance of furrows. A variety of furrow openers are currently undergoing the implantation process. Studying dynamic systems that are discontinuous in nature can be done with the help of discrete element modelling. The simulation of a tine-shaped furrow opener using the EDEM package software was carried out for three different speeds. When the speed of an object increases, so does the force it exerts on it. Additionally, the length of an object has an effect on the force it exerts. Additionally, taken into consideration were the profiles that were generated in the soil. To carry out statistical validation of the results analysis of variation (ANOVA) was done. The results provided a basis for calculating a confidence level of 95%. For the furrow openers, it was suggested that a speed of 0.495 meters per second, which is equivalent to 1.76 kilometers per hour, be used.

关键词： Meters Industries automation Force Crops Soil Software

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Dynamics of Nonrigid Articulated Robot Linkages

Dynamics of Nonrigid Articulated Robot Linkages

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American Control Conference (ACC)

作者： Robert P. Judd R. Falkenburg Center for Robotics and Advanced Automation School of Engineering Oakland University Rochester MI USA

This paper presents the kinematic and dynamic analysis of an n-link manipulator with flexible members. The deformation of a link from its rigid body position is modeled by a homogeneous transformation. The dynamic equations are obtained using an Euler-Lagrange formulation. These equations are compared to those describing a rigid link mechanism.

关键词： Couplings Manipulator dynamics Robot kinematics robotics and automation Deformable models Acceleration Ink Differential equations End effectors Open loop systems

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Control system modeling for robot manipulators by use of a canonical transformation

Control system modeling for robot manipulators by use of a c...

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IEEE International Conference on robotics and automation (ICRA)

作者： You-Liang Gu Nan Loh Center for Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Michigan

A nonlinear transformation for simplifying the robot dynamic formulation and control system modeling is presented. This is a canonical transformation in the Hamiltonian formulation of robot dynamics, and it can be embodied in a special decomposition of the total inertia matrix. In simplification by using this canonical transformation, the dynamic system is not only transformed to a linear model with the Brunovsky canonical form, the input formulation is also reduced to a simple recovery form. By taking advantage of the linearity of the robot dynamic equation with respect to the total inertia matrix, a detailed procedure of the realization is then described. A 3-D robot example illustrates the feasibility and computational efficiency of this procedure. And it also shows that the realization procedure for the canonical transformation can be summed up in two major steps: seek an imaginary robot and solve a reduced equation.

关键词： Control system synthesis Modeling Robots Nonlinear dynamical systems Equations Manipulator dynamics Nonlinear control systems Matrix decomposition Linearity Computational efficiency

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Generalized Optimal Feedback Controllers for Discrete-Time Linear Systems

Generalized Optimal Feedback Controllers for Discrete-Time L...

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American Control Conference (ACC)

作者： K. C. Cheok N. K. Loh M. A. Zohdy Center for Robotics and Advanced Automation School of Engineering Oakland University Rochester MI USA

This paper presents a unified treatment to the problem of optimal feedback control of discrete-time linear constant parameter systems using state feedback, output feedback, dynamical output feedback and observer-controller feedback. A class of generalized optimal feedback controllers is proposed as a basis for obtaining existing results as well as for deriving new results such as the interesting min-max feedback controllers. The essence of the generalized results lies in the minimization of a class of generalized performance measures subject to a flexible controller configuration. The stability aspect of the generalized optimal feedback controlled system is addressed.

关键词： Adaptive control Linear systems Output feedback State feedback Algorithm design and analysis robotics and automation Feedback control Control systems Optimal control Stability

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Real-Time Machine-Learning Based Crop/Weed Detection and Classification for Variable-Rate Spraying in Precision Agriculture

Real-Time Machine-Learning Based Crop/Weed Detection and Cla...

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International Conf on Electrical and Electronic Engineering (ICEEE)

作者： Mansoor Alam Muhammad Shahab Alam Muhammad Roman Muhammad Tufail Muhammad Umer Khan Muhammad Tahir Khan University of Engineering & Technology Peshawar Pakistan Advanced Robotics & Automation Lab National Center of Robotics & Automation Peshawar Pakistan Atilim University Ankara Turkey

ISBN: (数字)9781728167886

ISBN: (纸本)9781728167893

Traditional agrochemical spraying techniques often result in over or under-dosing. Over-dosing of spray chemicals is costly and pose a serious threat to the environment, whereas, under-dosing results in inefficient crop protection and thereby low crop yields. Therefore, in order to increase yields per acre and to protect crops from diseases, the exact amount of agrochemicals should be sprayed according to the field/crop requirements. This paper presents a real-time computer vision-based crop/weed detection system for variable-rate agrochemical spraying. Weed/crop detection and classification were performed through the Random Forest classifier. The classification model was first trained offline with our own created dataset and then deployed in the field for testing. Agrochemical spraying was done through application equipment consisting of a PWM-based fluid flow control system capable of spraying the desired amounts of agrochemical directed by the vision-based feedback system. The results obtained from several field tests demonstrate the effectiveness of the proposed vision-based agrochemical spraying framework in real-time.

关键词： Agriculture Feature extraction Spraying Image segmentation Real-time systems Machine vision Image color analysis

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Robot Intelligence and Flexibility for Smooth Finishing of Car Body

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IFAC Proceedings Volumes 1997年第14期30卷 303-311页

作者： Byung-Hoon Kang Jin-Dae Kim Jin-Yang Yoo Jong-Oh Park Kwang-Se Lee Hyun-Oh Shin Advanced Robotics Research Center Korea Institute of Science and Technology Automation Research Lab. Hyundai Motor Co.

Robotic finishing such as car body grinding is one of critical automation processes because of direct influence of robot system capability on final surface quality. Difference of each car surface even in the same car model is also one another critical problem. Here one suggestion on robotic finishing system with intelligence and flexibility. Laser vision scans the local surface of each car body, from sensing data after signal processing surface and bead are modeled, after that exact robot path is generated. All these processes are integrated in one robot finishing system, which is applied in actual production line. Such intelligence and flexibility of robot system shows adaptability even in production line as well as further interesting research topics. Finally technological extension of such system to more complicated workpiece is explained.

关键词： Robotic finishing Laser vision surface modeling Bead modeling Robot path generation Robot intelligence Robot flexibility

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Microprocessor Controlled Optimal Helicopter Turret Control System 1

Microprocessor Controlled Optimal Helicopter Turret Control ...

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1st American Control Conference, ACC 1982

作者： Loh, N.K. Coleman, N. Center for Robotics and Advanced Automation School of Engineering Oakland University RochesterMI48063 United States U.S. Army Armament Research and Development Command DoverNew Jersey07801 United States

The design and implementation of microprocessor-based optimal controllers for the XM-97 helicopter turret control system is considered. Nonfiring and firing test results are presented. Significant performance improvement of the optimal turret over the original turret has been obtained in terms of percent overshoots, settling times, and shot pattern dispersions. The system investigated in this paper may be considered as an interesting and important case study in the design of optimal control systems. © 1982 AACC.

关键词： Optimal control systems

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Creating realistic force sensations in a virtual environment: experimental system, fundamental issues and results

Creating realistic force sensations in a virtual environment...

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IEEE International Conference on robotics and automation (ICRA)

作者： D.O. Popa D.K. Singh Center for Advanced Technology in Automation Robotics and Manufacturing Rensselaer Polytechnic Institute Troy NY USA

Force feedback devices for use in virtual reality have been the design, which enable the user to interact with the virtual environment in real-time. We have developed a virtual environment for lumbar puncture, a widely used medical technique involving the insertion of a 3 inch long needle in the spinal region of a patient involving real-time 3D display of the spinal region and real-time force feedback. The trainee can insert a specialized joystick needle in a virtual spine and simultaneously "feel" a realistic force response, matching the real procedure. Our goal is to be able to control the motor such that the whole system "feels" like a needle penetrating the human tissue. In order to create a realistic simulation involving force feedback we show how force feedback theory can be applied to our virtual environment.

关键词： Virtual environment Force feedback Needles Force control Manufacturing automation robotics and automation Virtual reality Control systems Humans Workstations

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