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2003 European control Conference, ECC 2003

作者： Yu, Wensheng Wang, Long Ackermann, Jürgen Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing100080 China Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing100871 China Robust Control Group Institute of Robotics and Mechatronics German Aerospace Center DLR-Oberpfaffenhofen Postfach 1116 WesslingD-82230 Germany

For any two n-th order polynomials a(s) and b(s), the Hurwitz stability of their convex combination is necessary and sufficient for the existence of a polynomial c(s) such that c(s)/a(s) and c(s)/b(s) are both strictl... 详细信息

ISBN: (纸本)9783952417379

关键词： Polynomials

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A neural approach to an attentive navigation for 3D intelligent virtual agents

A neural approach to an attentive navigation for 3D intellig...

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IEEE International Conference on systems, Man and Cybernetics

作者： M. Lozano J. Molina Artec Group Institute of Robotics. Computer Science Department University of Valencia Valencia Spain Neurotechnology Control and Robotics Group Engineering and Automatic Systems Department Politechnic University of Cartagena Spain

This paper presents an attempt to integrate attention and navigation skills in 3D embodied agents (virtual humanoids). The neural model presented has been divided in two main phases. Firstly the environment-categorization phase, where an online pattern recognition and categorization of the agent current sensory input data is carried out by an adaptive resonance driven self organizing neural network, which will finally simulate the agent's short term memory (STM). Secondly, the model must also learn how and when to map its current STM state into the navigation and attention motor layers of the 3D agent. We also review the world modelling and the agent vision system, and finally we present the first results extracted from two of the subsystems which conforms the complete neural model, such as, the environment categorization subsystem and the base navigation neural model.

关键词： Navigation Intelligent agent Intelligent robots robotics and automation Humans Graphics Virtual environment Machine vision Computer science Augmented virtuality

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Effective modeling and simulation of internal combustion engine control systems

Effective modeling and simulation of internal combustion eng...

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American control Conference (ACC)

作者： C.A. Rabbath H. Desira K. Butts Advanced Robotics and Control Group Opal-RT Technologies Inc. Montreal QUE Canada IDepartment of Mechanical Engineering McGill University Montreal Montreal QUE Canada Powertrain Control Systems Department Ford Motor Company Limited Dearborn MI USA

The paper presents an integrated software-hardware solution to effectively model and simulate internal combustion engine control systems. The solution is based on RT-LAB/sup TM/. The characteristics of the proposed modeling and simulation approach are the preservation of accuracy in the face of relatively large fixed simulation steps and the achievement of real-time and faster than real-time simulation execution. The results of numerical simulations, which show a relatively high accuracy and the gains in execution speeds obtained with various physical configurations, are also provided.

关键词： Internal combustion engines control system synthesis Electronic mail Discrete event simulation Fuels control systems Mechanical engineering Robot control Paper technology Numerical simulation

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Advantage of low complexity in digital controllers with finite wordlength

Advantage of low complexity in digital controllers with fini...

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SICE Annual Conference

作者： C.A. Rabbath N. Hori Advanced Robotics and Control Group OPAL-RT Technologies Inc. Montreal QUE Canada Department of Mechanical Engineering McGill University Montreal QUE Canada Institute of Engineering Mechanics and Systems University of Tsukuba Tsukuba Japan

ISBN: (纸本)0780373065

The paper shows the main advantage of certain low-complexity digital control strategies over techniques resulting in more complex control systems; that is, the superior level of performance when subjected to finite wordlength effects. Examples demonstrate the performance limitations associated with highly complex control laws and the benefits of using properly selected, simple control schemes when implemented with fixed- and floating-point arithmetic and restricted number of bits.

关键词： Digital control control systems Sampling methods Finite wordlength effects Costs Stability Computational modeling Mechanical engineering Robot control Paper technology

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Dynamic process initial conditions in repetitive processes. controllability and stability analysis

Dynamic process initial conditions in repetitive processes. ...

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1999 Information, Decision and control, IDC 1999

作者： Galkowski, K. Rogers, E. Gramacki, A. Gramacki, J. Owens, D.H. Technical University of Zielona Gora Institute of Robotics and Software Engineering Zielona Gora Poland University of Southampton Image Speech and Intelligent Systems Research Group Department of Electronics and Computer Science SouthamptonSO17 lBJ United Kingdom University of Exeter Centre for Systems and Control Engineering School of Engineering ExeterEX4 4QF United Kingdom

ISBN: (纸本)0780352564

Repetitive, or multipass, processes are a class of 2D systems of both practical and algorithmic/theoretical interest whose dynamics cannot be analysed or controlled using standard (1D) systems theory. Recently it has been shown that the modelling of the boundary conditions, also known as the process initial conditions, is a crucial feature in the analysis and control of these processes. This paper presents some further results on the effects of so-called 'dynamic' process initial conditions on the controllability and stability properties of discrete linear repetitive processes. Previous work has shown that these dynamic process initial conditions alone can destroy the stability properties of these processes. Hence their effects must be 'adequately' accounted for the process modelling stage in order to ensure that subsequent analysis does not lead to incorrect results/conclusions. The main results developed in this paper can be summarised as follows. (i) Computationally efficient stability tests which can, in effect, be applied using standard, or 1D, linear systems tests. (ii) Characterisation of so-called pass controllability in the form of matrix rank based conditions. (iii) Conditions under which the dynamic process initial conditions can be selected to ensure stability and pass controllability. © 1999 IEEE.

关键词： controllability

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Dynamic process initial conditions in repetitive processes. controllability and stability analysis

Dynamic process initial conditions in repetitive processes. ...

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Information, Decision and control (IDC)

作者： K. Galkowski E. Rogers A. Gramacki J. Gramacki D.H. Owens Institute of Robotics and Software Engineering Technical University of Zielona Góra Zielona Gora Poland Department of Electronics and Computer Science Image Speech and Intelligent Systems Research Group University of Southampton Southampton UK Institute of Computer Engineering and Electronics Technical University of Zielona Góra Zielona Gora Poland School of Engineering Centre for Systems and Control Engineering University of Exeter Exeter UK

关键词： Stability controllability System testing control system analysis Algorithm design and analysis control systems Boundary conditions Process control Standards development Linear systems

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A genetic approach to motion planning of redundant mobile manipulator systems considering safety and configuration

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Journal of Field robotics 1998年第7期14卷

作者： Mingwu Chen Ali M. S. Zalzala Robotics Research Group Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD UK

This article presents a genetic algorithm approach to multi-criteria motion planning of mobile manipulator systems. For mobile robot path planning, traveling distance and path safety are considered. The workspace of a mobile robot is represented as a grid by cell decomposition, and a wave front expansion algorithm is used to build the numerical potential fields for both the goal and the obstacles. For multi-criteria position and configuration optimization of a mobile manipulator, least torque norm, manipulability, torque distribution and obstacle avoidance are considered. The emphasis of the study is placed on using genetic algorithms to search for global optimal solutions and solve the minimax problem for manipulator torque distribution. Various simulation results from two examples show that the proposed genetic algorithm approach performs better than the conventional methods.

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Intelligent multi-modal systems

British Telecom technology journal

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British Telecom technology journal 1998年第3期16卷 134-144页

作者： Tsui, K.C. Azvine, B. Djian, D. Voudouris, C. Xu, L.Q. Hong Kong Polytechnic University Hong Kong University of Essex King's College London United Kingdom BT Laboratories United Kingdom ATM Traffic Management United Kingdom Manchester University United Kingdom Dynamics and Control Research Group Engineering Department Manchester University United Kingdom Contr. and Instrum. Research Group Staffordshire University United Kingdom Intelligent Systems Research Unit BT Laboratories United Kingdom Dept. of Engineering Mathematics Bristol University United Kingdom Europ. Netwk. Excellence U. Institut d'Informatique d'Entreprise France Oxford University Robotics Research Group United Kingdom University of Nice France Ecole des Mines de Paris France Natl. Technical University of Athens Greece University of Essex United Kingdom Department of Computer Science University of Essex United Kingdom Intelligent Systems Research Group BT Laboratories United Kingdom Southeast University Nanjing China Institute of Acoustics Chinese Academy of Sciences Beijing China University of East Anglia United Kingdom University of Sussex King's College London United Kingdom University of Abertay Dundee United Kingdom

Research in human/computer interaction has mainly focused on natural language, text, speech and vision primarily in isolation. Recently there have been a number of research projects that have concentrated on the integration of such modalities using intelligent reasoners. The rationale is that many inherent ambiguities in single modes of communication can be resolved if extra information is available. This paper describes an intelligent multi-modal system called the Smart Work Manager. The main characteristics of the Smart Work Manager are that it can process speech, text, face images, gaze information and simulated gestures rising the mouse as input modalities, and its output is in the form of speech, text or graphics. The main components of the system are the reasoner, a speech system, a vision system, an integration platform and the application interface. The overall architecture of the system will be described together with the integration platform and the components of the system which include a non-intrusive neural network based gaze-tracking system. The paper concludes with a discussion on the applicability of such systems to intelligent human/computer interaction and lessons learnt in terms of reliability and efficiency.

关键词： Learning systems

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Dynamic modelling and genetic-based trajectory generation for non-holonomic mobile manipulators

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control ENGINEERING PRACTICE 1997年第1期5卷 39-48页

作者： Chen, MW Zalzala, AMS Robotics Research Group Department of Automatic Control and Systems Engineering The University of Sheffield UK

An approach for the modelling and motion planning of a mobile manipulator system with a non-holonomic constraint is presented in this paper. The Newton-Euler equations are used to obtain the complete dynamics of the system. Given the trajectory of the end-effector of the manipulator, near-optimal trajectories for the mobile platform and manipulator joints are obtained by using an efficient genetic algorithm with torque and manipulability optimisation and obstacle avoidance. Various simulations of a platform with a 3-link onboard manipulator are presented to show the effectiveness of the presented method.

关键词： robotics trajectory planning genetic algorithms dynamics obstacle avoidance

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Evolutionary Optimisation for Robot Motion

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IFAC Proceedings Volumes 1997年第3期30卷 179-184页

作者： A.S. Rana A.M.S. Zalzala Robotics Research Group Department of Automatic Control and Systems Engineering University of Sheffield Sheffield SI 3JD UK

This paper presents a detailed analysis of a motion planner based on genetic algorithms for collision free motion planning of robotic manipulators through simulation. The problem is formulated for a 2-DOF planar manipulator moving in the presence of a static circular obstacle in its operational space. The algorithm is then extended to 3-DOF planar manipulator moving among multiple static obstacles.

关键词： Genetic algorithms robotic manipulators optimised collision free motion planning

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