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2010 10th International Conference on intelligent Systems Design and Applications, ISDA'10

作者： Chaudhry, Tayyab Gulrez, Tauseef Zia, Ali Zaheer, Shyba Intelligent Machines and Robotics Research Group Department of Computer Science COMSATS Institute of Information Technology Lahore M.A. Jinnah Campus Defence Road Lahore Pakistan Department of Electrical Engineering College of Engineering and Applied Sciences Al Ghurair University Dubai United Arab Emirates

ISBN: (纸本)9781424481354

This paper addresses the problem of avoiding dynamic obstacles while following the learned trajectory through non-point based maps directly through laser data. The geometric representation of free configuration area changes while a moving obstacle enters into the safety region of autonomous mobile robot. We have applied the Bézier curve properties to the free configuration eigenspaces to satisfy the dynamic obstacle avoidance path constraints. The algorithm is designed to accurately represent the mobile robot's characteristics while avoiding obstacle such as minimum turning radius. Moreover, we also discuss the obstacle avoided path feasibility as a vectorial combination of free configuration eigen-vectors at discrete time scan-frames to manifest a trajectory, which once followed and mapped onto the two control signals of mobile robot will enable it to build an efficient and accurate online environment map. Preliminary results in Matlab have been shown to validate the idea, while the same has been implemented in Player/stage (robotics real-time software) to analyze the performance of the proposed system. © 2010 IEEE.

关键词： Trajectories

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The design of a single degree of freedom open-loop spatial mechanism that incorporates geared connections

The design of a single degree of freedom open-loop spatial m...

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2009 ASME International Mechanical engineering Congress and Exposition, IMECE2009

作者： Bari, Joseph M. Crane III, Carl D. Dooner, David B. Mckinley, Javier Roldan University of Florida Center for Intelligent Machines and Robotics Gainesville FL United States University of Puerto Rico at Mayaguez Department of Mechanical Engineering Mayaguez Puerto Rico LaGuardia Community College C.U.N.Y. Mathematics Engineering and Computer Science United States

ISBN: (纸本)9780791843772

A means has been discovered to apply gear pairing to create a one degree of freedom open-loop spatial mechanism. A specially chosen geometry consisting of three pairs of parallel joint axes is constricted by five sets of gears, three of which are parallel planar, allows for a reconfigurable mechanism that is suited for repetitive tasks. Previous work has examined three-dimensional rigid body guidance in closed-loop geared mechanisms, but has not come to a solution for the open-loop case. Gear pairs are designed based upon a desired position and orientation path for the end effector. Numerical optimization is performed to obtain physically realizable gear profiles. Noncircular gear centrodes must be continuous and smooth as well as mono-directional, that is, gear ratios of a given pair may not switch signs. These constraints eliminate non-realizable or non-optimal gears in favor of simple, more easily produced profiles. Variable parameters include link lengths, joint offsets and twist angles. Numerical examples are presented. Copyright © 2010 by ASME.

关键词： Gears

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Preface

Communications and Control Engineering

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Communications and Control engineering 2011年第9780857292551期 vii-xi页

作者： Sun, Zhendong Ge, Shuzhi Sam College Automation Science & Engineering Center for Control and Optimization South China University of Technology Guangzhou510640 China Robotics Institue and Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China Chengdu China Department of Electrical and Computer Engineering The National University of Singapore Singapore Singapore

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Optimal disturbance rejection via integral sliding mode control for uncertain systems in regular form

Optimal disturbance rejection via integral sliding mode cont...

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2010 11th International Workshop on Variable Structure Systems, VSS 2010

作者： Rubagotti, Matteo Estrada, Antonio Castaños, Fernando Ferrara, Antonella Fridman, Leonid Department of Mechanical and Structural Engineering Università degli Studi di Trento Via Mesiano 77 38123 Trento Italy Department of Control and Robotics Engineering Faculty C.P. 04510. Mexico City Mexico McGill Center for Intelligent Machines Montreal QC Canada Department of Computer Engineering and Systems Science Università degli Studi di Pavia Via Ferrata 1 27100 Pavia Italy

ISBN: (纸本)9781424458318

This paper considers the problem of using an integral sliding mode strategy to reduce the disturbance terms acting on nonlinear systems in regular form. It is proved that the definition of a suitable sliding manifold and the generation of sliding modes upon it can guarantee the minimization of the disturbance terms. Simulation examples shows the effectiveness of the proposal. © 2010 IEEE.

关键词： Disturbance rejection

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Bézier curve based dynamic obstacle avoidance and trajectory learning for autonomous mobile robots

Bézier curve based dynamic obstacle avoidance and trajector...

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International Conference on intelligent Systems Design and Applications (ISDA)

作者： Tayyab Chaudhry Tauseef Gulrez Ali Zia Shyba Zaheer Intelligent Machines & Robotics Research Group Department of Computer Science Comsats Institute of Information Technology Lahore Pakistan Department of Electrical Engineering College of Engineering and Applied Sciences Al Ghurair University Dubai UAE

关键词： Trajectory Vehicles Robot sensing systems Mobile robots Mathematical model Lasers

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Stylized motion generalization through adaptation of velocity profiles

Stylized motion generalization through adaptation of velocit...

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19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010

作者： Gielniak, Michael J. Liu, C. Karen Thomaz, Andrea L. Department of Electrical and Computer Engineering Georgia Institute of Technology 777 Atlantic Dr. NW Atlanta GA 30332 United States School of Interactive Computing Georgia Institute of Technology 85 5th St. NE Atlanta GA 30308 United States Robotics and Intelligent Machines Center Georgia Institute of Technology 801 Atlantic Dr. NW Atlanta GA 30332 United States

ISBN: (纸本)9781424479917

Stylized motion is prevalent in the field of Human- Robot Interaction (HRI). Robot designers typically hand craft or work with professional animators to design behaviors for a robot that will be communicative or life-like when interacting with a human partner. A challenge is to apply this stylized trajectory in varied contexts (e.g. performing a stylized gesture with different end-effector constraints). The goal of this research is to create useful, task-based motion with variance that spans the reachable space of the robot and satisfies constraints, while preserving the "style" of the original motion. We claim the appropriate representation for adapting and generalizing a trajectory is not in Cartesian or joint angle space, but rather in joint velocity space, which allows for unspecified initial conditions to be supplied by interaction with the dynamic environment. The benefit of this representation is that a single trajectory can be extended to accomplish similar tasks in the world given constraints in the environment. We present quantitative data using a continuity metric to prove that, given a stylized initial trajectory, we can create smoother generalized motion than with traditional techniques such as cyclic-coordinate descent. © 2010 IEEE.

关键词： Trajectories

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The Minimum Principle for Hybrid Systems with Partitioned State Space and Unspecified Discrete State Sequence

The Minimum Principle for Hybrid Systems with Partitioned St...

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2010 49th IEEE Conference on Decision and Control

作者： Benjamin Passenberg Peter E. Caines Marion Sobotka Olaf Stursberg Martin Buss Institute of Automatic Control Department of Electrical Engineering and Information Technology Technische Universitat Munchen Munchen Germany Department of Electrical and Computer Engineering and the Center for Intelligent Machines McGill University Montreal Canada Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Kassel Germany

ISBN: (纸本)9781424477456

The hybrid minimum principle (HMP) gives necessary conditions to be satisfied for optimal solutions of a hybrid dynamical system. In particular, the HMP accounts for autonomous switching between discrete states that occurs whenever the trajectory hits switching manifolds. In this paper, the existing HMP is extended for hybrid systems with partitioned state space to provide necessary conditions for optimal trajectories that pass through an intersection of switching manifolds. This extension is especially useful for the numerical solution of hybrid optimal control problems as it allows for algorithms with significant reduction of computational complexity. Algorithms based on previous versions of the HMP solve separate optimal control problems for each possible sequence of discrete states. The extension enables us to consider the optimal sequence as subject of optimal control that is varied and finally determined during a single optimization run. A first numerical result illustrates the effectiveness of an algorithm based on the extended HMP.

关键词： state space minimum principle hybrid systems Manifolds Optimal control DYNAMICAL SYSTEMS discrete element

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An Algorithm for Discrete State Sequence and Trajectory Optimization for Hybrid Systems with Partitioned State Space

An Algorithm for Discrete State Sequence and Trajectory Opti...

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2010 49th IEEE Conference on Decision and Control

作者： Benjamin Passenberg Marion Sobotka Olaf Stursberg Martin Buss Peter E. Caines Institute of Automatic Control Department of Electrical Engineering and Information Technology Technische Universitat Munchen Munchen Germany Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Kassel Germany Department of Electrical and Computer Engineering and the Center for Intelligent Machines McGill University Montreal Canada

ISBN: (纸本)9781424477456

An algorithm for hybrid optimal control is proposed that varies the discrete state sequence based on gradient information during the search for an optimal trajectory. The algorithm is developed for hybrid systems with partitioned state space. It uses a version of the hybrid minimum principle that allows optimal trajectories to pass through intersections of switching manifolds, which enables the algorithm to vary the sequence. Consequently, the combinatorial complexity of former algorithms can be avoided, since not each possible sequence has to be investigated separately anymore. The convergence of the algorithm is proven and a numerical example demonstrates the efficiency of the algorithm.

关键词： Switches Manifolds Trajectory Complexity theory Partitioning algorithms Convergence Aerospace electronics

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Nonlinear Model Predictive Control using sampling and goal-directed optimization

Nonlinear Model Predictive Control using sampling and goal-d...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Damion D. Dunlap Charmane V. Caldwell Emmanuel G. Collins Department of Mechanical Engineering and the Center for Intelligent Systems Control and Robotics (CISCOR) Florida Agricultural and Mechanical University Tallahassee FL USA Department of Electrical and Computer Engineering CISCOR of the FAMU-FSU COE USA Department of Mechanical Engineering CISCOR of the FAMU-FSU COE USA

In this paper a novel method called Sampling-Based Model Predictive Control (SBMPC) is proposed as an efficient MPC algorithm to generate control inputs and system trajectories. The algorithm combines the benefits of sampling-based motion planning with MPC while avoiding some of the major pitfalls facing both traditional sampling-based planning algorithms and traditional MPC. The method is based on sampling (i.e., discretizing) the input space at each sample period and implementing a goal-directed optimization method (e.g., A*) in place of standard numerical optimization. This formulation of MPC readily applies to systems with nonlinear dynamics and avoids the local minima which can limit the performance of MPC algorithms implemented using traditional, derivative-based, nonlinear programming. The SBMPC algorithm is compared with a more standard online MPC algorithm using cluttered environment navigation for an Ackerman steered vehicle and a set point problem for a nonlinear, continuous stirred-tank reactor (CSTR).

关键词： Optimization Planning Vehicles Prediction algorithms Trajectory Heuristic algorithms Predictive models

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Parameter identification of a linear permanent magnet motor using particle swarm optimization

Parameter identification of a linear permanent magnet motor ...

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7th Annual International Conference on electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Therdbankerd, Tithiwat Sanposh, Peerayot Chayopitak, Nattapon Fujita, Hideaki Department of Electrical Engineering Intelligent Mechatronics Automation Robotics and Control Laboratory Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center 112 Thailand Science Park Phahonyothin Rd. Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology S3-18 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9789746724913

Accurate and effective parameter identification is an important engineering task in high performance control system design. One emerging approach to effectively identify such nonlinear or dynamic unknown parameters is to use Particle Swarm Optimization (PSO) algorithm. Linear Permanent Magnet (LPM) motor is a high performance actuator employed in many applications that require direct linear motion without mechanical transmission for high acceleration and accurate positioning. Therefore, accurate motor parameters are necessary to effectively control the LPM motors. This paper proposes a simple PSO based method with chirp inputs to identify the LPM motor's parameters. The simulations and experiments are conducted to verify the results and determine the effectiveness of the proposed method.

关键词： Parameter estimation

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