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Communications and Control Engineering 2011年第9780857292551期 1-15页

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

Chapter 1 briefly introduces the problem formations and the organization of the book. In particular, given a feasible set of switching signals, the concepts of stability and stabilizability are introduced, and the related problems of stability and stabilization are briefly formulated and discussed. Examples and simulations are provided to exhibit the primary features of the problems with various switching mechanisms. © 2011, Springer-Verlag London Limited.

关键词： Stabilization

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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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Multiple marine vehicle deconicted path planning with currents and communication constraints

Multiple marine vehicle deconicted path planning with curren...

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作者： Häusler, Andreas J. Ghabcheloo, Reza Pascoal, António M. Aguiar, A. Pedro Institute for Systems and Robotics Dept. of Electrical Engineering Instituto Superior Técnico Av. Rovisco Pais No. 1 1049-001 Lisboa Portugal Department of Intelligent Hydraulics and Automation Tampere Univ. of Technology P.O. Box 589 33101 Tampere Finland

ISBN: (纸本)9783902661876

Recent research in multiple autonomous marine vehicle (AMV) applications shows that versatile path planning algorithms are of crucial importance to cooperative control scenarios. These algorithms need to be lightweight in terms of running time and capable of incorporating different factors inuencing a given mission, like AMV dynamic constraints and environmental conditions. In addition, the path planner needs to take into account requirements imposed by multiple vehicle scenarios (of which collision avoidance is an important issue), and inter-vehicle communication constraints. Mission-related measures have to be incorporated additionally, such as minimization of energy usage over all participating AMVs, and simultaneous arrival of the AMVs at their designated target destinations, to name but a few. These aspects pose considerable challenges both from a theoretical and practical implementation standpoint. This paper presents a versatile path planning algorithm for deconicted multiple AMV missions at sea, incorporating single vehicle dynamical constraints as well as an inter-vehicle communication constraint. Additionally, it takes into account unknown constant ocean currents, and gives an overview on time-coordinated path following, a a closed-loop methodology to execute the planned mission, reducing the need for replanning in the presence of disturbances. The paper finishes with an outlook on important future directions to advance the algorithm.

关键词： Motion planning

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Editorial Special issue on approximate dynamic programming and reinforcement learning

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控制理论与应用（英文版） 2011年第3期 309-309页

作者： Silvia Ferrari Jagannathan Sarangapani Frank L. Lewis Laboratory for Intelligent Systems and Control(LISC)Department of Mechanical Engineering & Materials Science Box 90300 Duke University Durham NC 27708-0005 Department of Electrical & Computer Engineering University of Missouri-Rolla MO 65401 U.S.A. Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Ft. Worth Texas 76118-7115 U.S.A.

We are extremely pleased to present this special issue of the Journal of Control Theory and *** dynamic programming (ADP) is a general and effective approach for solving optimal control and estimation problems by adapting to uncertain environments over *** optimizes the sensing objectives accrued over a future time interval with respect to an adaptive control law,conditioned on prior knowledge of the system,its state,and uncertainties.A numerical search over the present value of the control minimizes a Hamilton-Jacobi-Bellman (HJB) equation providing a basis for real-time,approximate optimal control.

关键词： reinforcement learning dynamic programming optimal control effective approach prior knowledge Control Theory real-time control law problems special search future ADP basis

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Multiple Marine Vehicle Deconflicted Path Planning with Currents and Communication Constraints

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IFAC Proceedings Volumes 2010年第16期43卷 491-496页

作者： Andreas J. Häusler Reza Ghabcheloo António M. Pascoal A. Pedro Aguiar Institute for Systems and Robotics Dept. of Electrical Engineering Instituto Superior Técnico Av. Rovisco Pais No. 1 1049-001 Lisboa Portugal Department of Intelligent Hydraulics and Automation Tampere Univ. of Technology P.O. Box 589 33101 Tampere Finland

Recent research in multiple autonomous marine vehicle (AMV) applications shows that versatile path planning algorithms are of crucial importance to cooperative control scenarios. These algorithms need to be lightweight in terms of running time and capable of incorporating different factors influencing a given mission, like AMV dynamic constraints and environmental conditions. In addition, the path planner needs to take into account requirements imposed by multiple vehicle scenarios (of which collision avoidance is an important issue), and inter-vehicle communication constraints. Mission-related measures have to be incorporated additionally, such as minimization of energy usage over all participating AMVs, and simultaneous arrival of the AMVs at their designated target destinations, to name but a few. These aspects pose considerable challenges both from a theoretical and practical implementation standpoint. This paper presents a versatile path planning algorithm for deconflicted multiple AMV missions at sea, incorporating single vehicle dynamical constraints as well as an inter-vehicle communication constraint. Additionally, it takes into account unknown constant ocean currents, and gives an overview on time-coordinated path following, a a closed-loop methodology to execute the planned mission, reducing the need for replanning in the presence of disturbances. The paper finishes with an outlook on important future directions to advance the algorithm.

关键词： Deconflicted Path Planning Multiple Autonomous Marine Vehicles Time-Coordinated Path Following

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Grasping simulation of an underactuated finger mechanism for larm hand

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International Journal of Modelling and Simulation 2010年第1期30卷 87-97页

作者： Yao, S. Wu, L. Ceccarelli, M. Carbone, G. Lu, Z. School of Automation Science and Electrical Engineering Beihang University Beijing China College of Information Engineering Central University for Nationalities Beijing China State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China Beijing University of Aeronautics and Astronautics China and University of Cassino Italy LARM: Laboratory of Robotics and Mechatronics Cassino United States

In this paper, the grasp operation of an underactuated finger mechanism is simulated with the aim to characterize and analyze its performance. The design of the proposed mechanism is based on spring systems that give suitable underactuation characteristics. A CAD model is proposed and then it is used in a procedure for numerical simulation. Simulation results show suitable capability for grasping a wide range of objects in size and shape by operating the mechanism inside the finger body. The achieved grasp has been simulated as a human-like functionality with a grasp contact in each phalanx.

关键词： Computer aided design

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Fuzzy machine vision based porosity detection

Fuzzy machine vision based porosity detection

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： Pejman Mehran Kudret Demirli Gary Bone Brian Surgenor Intelligent Fuzzy Systems Laboratory Department of Mechanical and Industrial Engineering Concordia University Montreal QUE Canada Robotics and Manufacturing Automation Lab Department Mechanical Engineering McMaster University Hamilton ONT Canada Intelligent Automation Laboratory Department of Mechanical and Materialś Engineering Queen's University Kingston ONT Canada

In this paper an objective fuzzy approach for fast and accurate porosity vision based inspection is presented. An automated methodology of detection of pores, which are formed in aluminum alloys during production of water-pumps for car engines with the die casting method, is described. The proposed method is based on the correlation of the core of pore candidates with twelve developed matrices resulted in five novel features. The fuzzy decision making on porosity detection adopted and presented in this paper, adds great value to the whole production system, by increasing the confidence of the inspectors in the machine performing real-time verification. The fuzzy porosity detection was carried out on a database of 105 gray level images. The proposed model properly identifies 93.36% of the pores in the entire database.

关键词： Machine vision Image databases Inspection Aluminum alloys Engines Die casting Fuzzy systems Decision making Production systems Real time systems

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Temporally and spatially deconflicted path planning for multiple autonomous marine vehicles

Temporally and spatially deconflicted path planning for mult...

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作者： Häusler, Andreas J. Ghabcheloo, Reza Pascoal, António M. Aguiar, A. Pedro Kaminer, Isaac I. Dobrokhodov, Vladimir N. Institute for Systems and Robotics Dept. of Electrical Engineering Instituto Superior Técnico Av. Rovisco Pais No. 1 1049-001 Lisboa Portugal Department of Intelligent Hydraulics and Automation Tampere Univ. of Technology P.O. Box 589 33101 Tampere Finland Department of Mechanical and Astronautical Engineering Naval Postgraduate School Monterey CA 93943 United States

ISBN: (纸本)9783902661517

There is currently a surge of interest in the development of advanced systems for cooperative control of multiple autonomous marine vehicles. Central to the implementation of these systems is the availability of efficient algorithms for multiple vehicle path planning that can take explicitly into account the capabilities of each vehicle and existing environmental conditions. Multiple vehicle path planning methods build necessarily on key concepts and algorithms for single vehicle path following. However, they go one step further in that they must explicitly address intervehicle collision avoidance, together with a number of criteria that may include simultaneous times of arrival at the assigned target points and energy minimization, to name but a few. As such, they pose considerable challenges both from a theoretical and practical implementation standpoint. This paper is a short overview of multiple vehicle path planning techniques. The exposition is focused on specific algorithms developed in the scope of research work in which the authors have participated. Namely, algorithms that ensure that at no time will two vehicles get closer in space than a desired safety distance, that is, achieve trajectory deconfliction. The algorithms make ample use of direct optimization methods that lead to efficient and fast techniques for path generation using a polynomial-based approach. The paper affords the reader a fast paced presentation of key algorithms that had their genesis in the aircraft field, discusses the results of simulations, and suggests problems that warrant further consideration. © 2009 IFAC.

关键词： Motion planning

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Path planning for multiple marine vehicles

Path planning for multiple marine vehicles

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OCEANS - Europe

作者： Andreas J. Hausler Reza Ghabcheloo Isaac Kaminer Antonio M. Pascoal A. Pedro Aguiar Institute of Systems and Robotics and Department of Electrical Engineering Intistitu Superior Técnico Lisboa Portugal Department of Intelligent Hydraulics and Automation Tampere University of Technology Tampere Finland Department of Mechanical and Astronautical Engineering Naval Postgraduate School Monterrey CA USA

Motivated by increasingly complex and challenging missions at sea, there is widespread interest in the development of advanced systems for cooperative control of multiple autonomous marine vehicles. Central to the implementation of these systems is the availability of efficient algorithms for multiple vehicle path planning that can take explicitly into account the capabilities of each vehicle and existing environmental conditions. Examples include path planning to steer a group of marine vehicles and enable them to reach a specific target site simultaneously with a desired formation pattern, while avoiding inter-vehicle collisions, and online path replanning for a vehicle fleet upon detection of episodic events or obstacles. Multiple vehicle path planning methods build necessarily on key concepts and algorithms for single vehicle path following. However, they go one step further in that they must explicitly address such issues as inter-vehicle collision avoidance and simultaneous times of arrival. As such, they pose considerable challenges both from a theoretical and practical implementation standpoint. This paper is a brief survey of multiple vehicle path planning techniques. The exposition is focused on specific algorithms for path planning developed in the scope of research work in which the authors have participated. The algorithms make ample use of direct optimization methods that lead to efficient and fast techniques for path generation. The paper affords the reader a fast paced presentation of key algorithms that had their genesis in the aircraft field, discusses them critically, and suggests problems that warrant further consideration.

关键词： Path planning Marine vehicles Remotely operated vehicles Mobile robots intelligent robots robotics and automation Automotive engineering Vehicle detection Contracts intelligent vehicles

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Structure for behaviourist representation of knowledge

Structure for behaviourist representation of knowledge

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10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2009

作者： Pozna, Claudiu Precup, Radu-Emil Preitl, Stefan Petriu, Emil M. Tar, József K. Department of Product Design and Robotics University Transilvania of Brasov Bd. Eroilor 28 RO-500036 Brasov Romania Department of Automation and Applied Informatics Politehnica University of Timisoara Bd. v. Parvan 2 RO-300223 Timisoara Romania School of Information Technology and Engineering University of Ottawa 800 King Edward Ottawa ON K1N 6N5 Canada Institute of Intelligent Engineering Systems Budapest Tech Polytechnical Institution Bécsi úT 96/B H-1034 Budapest Hungary

The paper suggests a three level hierarchical structure dedicated to the behaviourist representation of knowledge. The first level, referred to as the strategic one, is used in the problem solving providing the solution. The second level, called the tactical one, is employed in the solution implementation. The third level, named as the operational one, is meant for the solution execution. The first level is a strategically level the second is a tactical level and the third is an operational level. Feedback information from all higherhierarchical levels is used in learning to develop the lower levels. A case study concerning the control system of an autonomous car is considered to exemplify the design of the new knowledge representation structure.

关键词： Knowledge representation

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