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American Control Conference (ACC)

作者： Yan Li Dingyü Dingyü Xue YangQuan Chen Center of Self-Organizing & Intelligent Systems CSOIS Electrical an Computer Engineering Department Utah State University Logan UT USA School of Control Science and Engineering Shandong University Jinan Shandong China Institute of Robotics and Artificial Intelligent School of Information Science and Engineering Northeastern University Shenyang China

Many real natural or man-made dynamic systems can be better characterized using a fractional order dynamic model. Since in such a case the order assumes a non-integer value, it is of interest to consider the effect of small perturbation around the nominal value. It is of practical importance to analyze the influence of the order variations on the system behavior. This paper establishes an analytical method for the analysis of the sensitivity function of LTI fractional order dynamic systems with respect to the orders. The continuous dependent condition of the orders of fractional Green's function is derived, which is proved as a necessary and sufficient condition. The singularity of fractional Green's functions is discussed. Several examples are included for illustration.

关键词： Green's function methods Lyapunov method Intelligent robots Sufficient conditions Artificial intelligence Transfer functions Fractional calculus Integral equations Partial differential equations H infinity control

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Nonlinear IBVS Controller for the Flare Maneuver of Fixed-Wing Aircraft using Optical Flow

Nonlinear IBVS Controller for the Flare Maneuver of Fixed-Wi...

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2010 49th IEEE Conference on Decision and Control

作者： Pedro Serra Florent Le Bras Tarek Hamel Carlos Silvestre Rita Cunha Department of Electrical Engineering and Computer Science and Institute for Systems and Robotics Instituto Superior Tecnico 1049-001 Lisboa Portugal Laboratoire de Recherches Balistiques et Aerodynamiques (LRBA) of the French Delegation Generale pour 1Armement Vernon France I3S UNSA-CNRS Nice-Sophia Antipolis France

ISBN: (纸本)9781424477456

This paper describes a nonlinear Image-Based Visual Servo (IBVS) controller for the Flare phase of the landing maneuver of a fixed-wing aircraft in the presence of wind gust. Optic-Flow and 2D image features are exploited from the image of the runway to design a feedback controller for the automatic maneuver. The controller is divided into two parts. The first part guarantees the horizontal alignment with the center of the runway and uses the two lines delimiting the runway represented through a modification of the so-called Plucker coordinates. The second part takes advantage of the Optic-Flow measurements to ensure a smooth touchdown. Simulation results are presented to illustrate the performance of the control approach.

关键词： RUNWAY Fixed wing aircraft Optic Flow Wings feedback controller Controllers

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Novelty detection and 3D shape retrieval using superquadrics and multi-scale sampling for autonomous mobile robots

Novelty detection and 3D shape retrieval using superquadrics...

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Drews P. Núñez R. Rocha M. Campos J. Dias Dept. Computer Science Federal University of Minas Gerais Brazil ISIS Group Universidad de Málaga Spain Department Tecnología de los Computadores y las Comunicaciones Universidad de Extremadura Spain Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal Dept. Tecnología de los Computadores y las Comunicaciones Universidad de Extremadura Spain Dept. Electrical and Computer Engineering University of Coimbra Portugal

There are several applications for which it is important to both detect and communicate changes in data models. For instance, in some mobile robotics applications (e.g. surveillance) a robot needs to detect significant changes in the environment (e.g. a layout change) which it may achieve by comparing current data provided by its sensors with previously acquired data (e.g. map) of the environment. This often constitutes an extremely challenging task due to the large amounts of data that must be compared in real-time. This paper proposes a framework to detect, and represent changes through a compact model. The main steps of the procedure are: multi-scale sampling to reduce the computation burden; change detection based on Gaussian mixture models; fitting superquadrics to detected changes; and refinement and optimization using the split and merge paradigm. Experimental results in various real and simulated scenarios demonstrate the approach's feasibility and robustness with large datasets.

关键词： Shape Sampling methods Mobile robots Robot sensing systems Navigation robotics and automation Information retrieval Data models Surveillance Simultaneous localization and mapping

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Nonlinear trajectory tracking control of a quadrotor vehicle 10

Nonlinear trajectory tracking control of a quadrotor vehicle

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2009 10th European Control Conference, ECC 2009

作者： Cunha, Rita Cabecinhas, David Silvestre, Carlos Department of Electrical Engineering and Computer Science Institute for Systems and Robotics Instituto Superior Técnico Lisboa1046-001 Portugal

ISBN: (纸本)9783952417393

This paper addresses the problem of steering a quadrotor vehicle along a time-dependent trajectory. The problem is formulated so as to take into account force disturbances acting on the vehicle and enforce bounds on the actuation. The proposed solution consists of a nonlinear adaptive state feedback controller for thrust and torque actuation that i) guarantees asymptotic stability of the closed-loop system in the presence of constant force disturbances and ii) ensures that the actuation does not grow unbounded as a function of the position errors. Simulation results are presented to assess the performance and robustness of the proposed controller. © 2009 EUCA.

关键词： Asymptotic stability

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A two-stage neural network classifier for condition-based maintenance in wireless sensor networks

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International Journal of COMADEM 2010年第2期13卷 17-26页

作者： Ramani, A. McMurrough, C. Middleton, M. Ballal, P. Athamneh, A. Lee, W. Kwan, C. Lewis, F. Automation and Robotics Research Institute University of Texas at Arlington 7300 Jack Newell Blvd. S Fort Worth TX 76118-7115 United States Energy Systems Research Center University of Texas at Arlington 416 S. College St Arlington TX 76019-0048 United States Signal Processing Inc. 13619 Valley Oak Circle Rockville MD 20850-3572 United States Computer Science Engineering University of Texas at Arlington United States Electrical Engineering Department United States

Motor failures in aerospace applications can lead to serious compromises in safety, overall effectiveness, and maintenance costs. In mission critical applications, it is important that motor fault signatures are identified before a failure occurs. It is known that 40% of mechanical failures occur due to bearing faults. Bearing faults can be identified from the motor vibration signatures. Three key contributions are outlined in this paper. First, we develop a low cost test bed for simulating bearing faults in a motor. Second, we develop a wireless sensor module for collection of vibration data from the test bed. Finally, we use a novel two stage neural network to classify various bearing faults using the Generalized Hebbian Algorithm (GHA) in the first stage and a supervised learning vector quantization network (SLVQ) with a self organizing map approach for fault classification in the second stage. © 2010 COMADEM International.

关键词： Wireless sensor networks

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An intelligent assistant for power plants based on factored MDPs

An intelligent assistant for power plants based on factored ...

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2009 15th International Conference on Intelligent System Applications to Power systems, ISAP '09

作者： Reyes, Alberto Spaan, Matthijs T. J. Sucar, L. Enrique Instrumentation and Control Department Instituto de Investigaciones Eléctricas Cuernavaca Mexico Institute for Systems and Robotics Lisbon Portugal Computer Science Department INAOE Puebla Mexico

ISBN: (纸本)9781424450985

Making good operation decisions during abnormal power plant conditions represents in many cases the possibility to avoid a unit trip or having economical losses. This paper introduces AsistO, an intelligent assistant for the decision support based on decision theoretic planning techniques. It provides power plant operators with useful recommendations to (i) maintain a plant running under safe conditions, or (ii) deal with process transients when an unexpected event occurs. We present the formalism of Markov decision processes as the core of the intelligent assistant which uses a factored representation of plant states. We also show a very intutive algorithm to approximate decision models based on training data collected through random exploration routines in a simulated environment. We have tested our system in the steam generation system of a combined power plant to deal with load disturbances. © 2009 IEEE.

关键词： Markov processes

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Capturability of a simple guidance law with angular acceleration input 10

Capturability of a simple guidance law with angular accelera...

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2009 10th European Control Conference, ECC 2009

作者： Urakubo, Takateru Kanade, Takeo Department of Computer Science and Systems Engineering Kobe University Nada-ku Kobe657-8501 Japan Robotics Institute Carnegie Mellon University PittsburghPA15213 United States

ISBN: (纸本)9783952417393

This paper examines the capturability of a guidance law that provides a desired angular acceleration of the heading angle to a pursuer. The guidance law has originally been proposed by Fajen and Warren[13], in order to explain the behavior of walking humans. It is shown that the relative rotational motion between a pursuer and an evader can be represented by an equation similar to the equation of motion for a pendulum with a disturbance. A set of sufficient conditions for successful pursuit are derived, and it is proved that the gain parameters of the guidance law can be chosen so that the conditions are satisfied. For sufficiently large gains, a pursuer controlled by the guidance law catches a maneuvering evader while achieving motion camouflage. © 2009 EUCA.

关键词： Equations of motion

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Rotorcraft path following control for extended flight envelope coverage

Rotorcraft path following control for extended flight envelo...

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Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： D.Cabecinhas R.Cunha C.Silvestre Department of Electrical Engineering and Computer Science and Institute for Systems and RoboticsInstituto Superior Técnico

This paper addresses the problem of steering a quadrotor vehicle along a predefined *** problem is formulated so as to dynamically prescribe an adequate time evolution along the path and simultaneously bound the effect of position errors on the *** proposed solution consists of a nonlinear state feedback controller for thrust and torque actuations combined with a path following timing law that i)guarantees global asymptotic convergence of the path following error to zero,for a large class of three-dimensional paths,ii) ensures that the actuation does not grow unbounded as function of the position errors,and iii) allows for zero thrust actuation to be applied when the vehicle is converging to the *** results are presented to assess the performance of the proposed controller.

关键词： Rotorcraft path following control for extended flight envelope coverage

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Capturability of a simple guidance law with angular acceleration input

Capturability of a simple guidance law with angular accelera...

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European Control Conference (ECC)

作者： Takateru Urakubo Takeo Kanade Department of Computer Science and Systems Engineering Kobe University Kobe Japan Robotics Institute Carnegie Mellon University Pittsburgh PA USA

关键词： Vectors Equations Acceleration Angular velocity Missiles Lyapunov methods Trajectory

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Optimal placement of a two-link manipulator for door opening

Optimal placement of a two-link manipulator for door opening

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Takateru Urakubo Tomoaki Mashimo Takeo Kanade Department of Computer Science and Systems Engineering Kobe University Kobe Japan Robotics Institute Carnegie Mellon University Pittsburgh PA USA

This paper presents a study on the optimal base location and arm motion of a mobile manipulator for door opening task. Numerical simulation results show that the base location where the manipulability of the two-link arm is almost degenerated at the start and end points of door opening is *** show by analysis that the location has an advantage in supplying kinetic energy to the door by using torques at the joints of arm. In order to represent properly the arm motion near a singular point of manipulability, the rotational motion of the door is parameterized by piecewise fifth order polynomials of time, and the parameters of polynomials are optimized to minimize the joint torques.

关键词： End effectors Numerical simulation Polynomials Mobile robots Manipulator dynamics Torque Intelligent robots USA Councils Kinetic energy Refrigeration

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