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IEEE International Symposium on Intelligent Control (ISIC)

作者： Wenzhi Gao R.R. Selmic F.L. Lewis Department of Electrical Engineering Louisiana Technology University Ruston LA USA Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA

A robust neural network (NN) composite saturation compensation scheme is presented for a trajectory tracking and a vibration suppression of a flexible link robot arm. The scheme is based on a singular-perturbation technique and can accommodate an unknown disturbance and the saturation constraints. The saturation compensator is composed of a robust fast sub-compensator for stabilization of the fast, flexible modes and a slow sub-compensator for a stable tracking control of the slow, rigid modes. The actuator saturation is assumed unknown. A NN-based slow subcompensator is inserted into the feedforward path. The stability analysis is based on the Lyapunov theory. Simulation results indicate that the proposed scheme can effectively compensate the saturation nonlinearity for underactuated systems

关键词： Robustness Neural networks Matrix decomposition Robot kinematics Manipulator dynamics Intelligent control Intelligent actuators Lagrangian functions Friction Gravity

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Path planning of mobile robot based on compound shape and simulated annealing hybrid algorithm

Path planning of mobile robot based on compound shape and si...

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IEEE International Conference on robotics and Biomimetics

作者： Hong Yue Zhong-Min Wang Robotics Laboratory Sheyang Institute of Automation Chinese Academy and Sciences Sheyang China Institute of Robitics and Automation Hebei University of Technology Tianjin China Department of Mechanical Engineering Tianjin University of Technology and Education Tianjin China

To deal with the problem that the convergence rate of simulated annealing algorithm is very slow, a new hybrid optimal algorithm, based on compound shape combined with simulated annealing algorithm, is proposed, and is successfully applied to the path planning of the neural network of mobile robot. The advantages of this algorithm lie in the fact that it can not only achieve the global optimal solution which characterizes simulated annealing algorithm, but also search for an ideal descending direction, thus, the convergence rate being improved. The simulation experiments demonstrate that the computation of this algorithm is simple, the convergence rate is fast and the robustness of initial value is good also

关键词： Path planning Mobile robots Shape Simulated annealing robotics and automation Computational modeling Space technology Educational technology Intelligent robots Artificial neural networks

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Development of a shape shifting robot for search and rescue

Development of a shape shifting robot for search and rescue

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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Bin Li Shugen Ma Jinguo Liu Yuechao Wang Robotics Laboratory of Chinese Academy of Sciences Shenyang Institute of Automation China Department of Systems Engineering Faculty of Engineering Ibaraki University Japan Graduate School of Chinese Academy of Sciences Beijing China

ISBN: (纸本)078038945x

A novel link-type modular robot, which can change its shape, has been developed for potential application in urban search and rescue (USAR) operation. The advantages of the robot with link-type structure have been specified, and its shape shifting principle has been discussed. A three-module shape shifting robot has three kinds of symmetry configurations, that is, line type, triangle type and row type. Each configuration possesses its unique mobility. A tracked prototype has been built and tested under various unstructured environment Experiments have demonstrated its mobility and flexibility.

关键词： Shape Robot sensing systems robotics and automation Mobile robots Fellows Laboratories Systems engineering and theory Prototypes Testing Earthquakes

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Vision-based formation control of mobile robots with relative motion states

Vision-based formation control of mobile robots with relativ...

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IEEE International Conference on robotics and Biomimetics

作者： Shicai Liu Dalong Tan Guangjun Liu Graduate School Chinese Academy and Sciences China Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences China Department of AeroSpace Engineering Ryerson University Canada

In this paper, a formation control algorithm for mobile robots is developed based on a relative motion sensory system such as a pan/tilt camera vision system, without the need for global sensing and communication between robots. This is achieved by employing the velocity variations, instead of actual velocities, as the control inputs. Simulations and experimental results have demonstrated the effectiveness of the proposed control methods

关键词： Motion control Robot control Mobile robots Communication system control Robot vision systems Control systems Cameras Machine vision Mobile communication Robot sensing systems

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Learning distributed grasp in presence of redundant agents

Learning distributed grasp in presence of redundant agents

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： A.H. Elahibakhsh M. Nili Ahmadabadi F. Janabi-Sharifi B. Nadjar Araabi AI & Robotics Laboratory Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Eng. Institute for Studies on Theoretical Physics and Mathematics University of Tehran Tehran Iran Robotics and Manufacturing Automation Lab Department of Mechanical and Industrial Engineering Ryerson University Toronto ONT Canada

Learning distributed object grasp by a group of robots with redundant members is the main focus of this paper. In Elahibakhsh, A. H., et al. (2004), we tackled the problem of learning form closure grasp for planar convex objects by multiple non-communicating robots without any information about the shape of objects. In this paper, the problem in presence of redundant agents is investigated. Agents' states and actions are designed such that the group learns grasping different objects using Q-learning method. As the environment is not intelligent enough to assess each agent's effect on the team performance, a credit assignment algorithm based on knowledge evaluation is designed. The proposed method considers the environment credit for the team, number of redundant agents, and the expertness level of each agent in its credit assignment. Applicability of the designed approach is verified through a set of simulations. It is shown that the team learns grasping different objects. Therefore, it is expected that the proposed method can be extended for distributed grasp of deformable objects

关键词： Intelligent robots Learning Robot sensing systems Shape Cognitive robotics robotics and automation Intelligent agent Algorithm design and analysis Grasping Redundancy

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Adaptive teleoperation systems design

Adaptive teleoperation systems design

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IEEE Conference on Control Technology and Applications (CCTA)

作者： K. Hosseini-Sunny H. Momeni F. Janabi-Sharifi Departmental of Electrical Engineering Tarbiat Moalem University Tehran Iran National Institute for Standards and Technology Boulder CO USA Robotics and Manufacturing Automation Laboratory Department of Mechanical and Industrial Engineering Ryerson University Toronto ONT Canada

In this paper, an adaptive motion/force controller is developed for bilateral teleoperation systems. Design of an output feedback model reference adaptive controller (MRAC) at the remote site improves the position/velocity response with stability guarantee and a similar controller at the master site enhances the force tracking as the transmission time delay varies

关键词： Adaptive systems Force control Programmable control Adaptive control Velocity control Motion control Control systems Output feedback Stability Force feedback

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Design and experiment of a novel link-type shape shifting modular robot series

Design and experiment of a novel link-type shape shifting mo...

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IEEE International Conference on robotics and Biomimetics

作者： Jinguo Liu Shugen Ma Zhenli Lu Yuechao Wang Bin Li Jing Wang Shenyang Inst. of Autom. Chinese Acad. of Sci. Beijing Robotics Laboratory Shenyang Institute of Automation (SIA) Chinese Academy and Sciences China Department of Systems Engineering Faculty of Engineering Ibaraki University Japan

Being hyper-redundant, modularized and continuously driving, link-type robots have high mobility under unstructured environment as the nature snake does. In this study, we have experimented on the nature snake and analyzed the link-type structure's character in detail, and then we have proposed a novel link-type shape shifting modular robot. The key advantage of this design over other link-type vehicle is their adaptability and flexibility for its various configurations. Robot in such link type can change its configuration to adapt to the environment and mission by reconfiguring and shape shifting. A standard module is mainly composed of a link arm, a link handle, an offset pitch joint, an offset yaw joint, and the track driven system. The adjacent modules are connected through the link arm and the link handle. The multi-module robot can change it shape by the motion of the offset joints. After modification of the standard module, a two-module robot and a three-module robot's assembled structure have been designed respectively. After planning of their locomotion configuration, locomotion experiments of these two robots have been made on the slope, over the trench, up the stairs and on the debris. Experiments have demonstrated that such kind structure permits good mobility' and high flexibility under unstructured environment. Being simple, small and portable, the tracked robot platform series have been developed for potential application such as urban search and rescue (USAR) efforts, and planetary exploration

关键词： robotics and automation Robotic assembly Laboratories Mobile robots Couplings Shape control DC motors Systems engineering and theory Vehicles Motion planning

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IVS O5: New developments and research trends for intelligent vehicles

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IEEE Intelligent Systems 2005年第4期20卷 10-14页

作者： Wang, Fei-Yue Li, Li Song, Jingyan Niehsen, Wolfgang Zheng, Nan-Ning University of Arizona Chinese Academy of Science United States University of Arizona United States Tsinghua University China Chinese Academy of Sciences China Robert Bosch Corporate Research United States Xi'an Jiaotong University China Department of Automation Tsinghua University Beijing China University of Arizona's Systems Industrial Engineering Department United States University's Program in Advanced Research of Complex Systems United States Key Laboratory of Complex Systems and Intelligence Science Chinese Academy of Sciences China Robert Bosch Corporate Research United States Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University China

Recent advances and research trends for intelligent vehicles were studied. Vehicle-state sensing focuses on measuring a vehicle's movement and monitoring its actuators. Individual-vehicle-control research focuses mainly on guaranteeing driving safety. The results suggest that intervehicle, vehicle-roadside, and vehicle-driver information sharing currently the most attractive trend in intelligent-vehicle research.

关键词： Intelligent vehicle highway systems

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Modeling of human driving behavior based on piecewise linear model

Modeling of human driving behavior based on piecewise linear...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Jong-Hae Kim S. Okuma Young-Woo Kim Don-Ha Hwang Min-Huei Kim Dong-Hee Kim Department of Electrical Engineering and Computer Science Graduate School of Engineering University of Nagoya Japan Space Robotics Research Center Toyota Technological Institute Nagoya Japan Industry Applications Research Laboratory Korea Electrotechnology Research Institute Changwon South Korea Department of Electrical & Automation Engineering Yeungnam College of Science and Technology Daegu South Korea Department of Electrical Engineering Yeungnam University Kyungbuk South Korea

This paper presents the development of the modeling strategy of the human driving behavior based on the expression as Piecewise Linear (PWL) model focusing on the driver’s stopping maneuver. The driving data are collected by using the three-dimensional driving simulator based on CAVE, which provides stereoscopic immersive vision. In our modeling, the relationship between the driver’s sensory information and the operation of the driver such as braking amount is expressed by PWL model, which is a class of Hybrid Dynamical System (HDS). The identification problem for the PWL model is formulated as the Mixed Integer Linear Programming (MILP) by transforming the switching conditions into binary variables. From the obtained results, it is found that the driver appropriately switches the ‘control low’ according to the sensory information. These results enable us to capture not only the physical meaning of the driving skill, but also the decision-making aspect (switching conditions) in the driver’s stopping maneuver.

关键词： Humans Piecewise linear techniques Hidden Markov models Decision making Computer science Space technology robotics and automation Switches Automatic control Service robots

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Task planning and behavior scheduling for a reconfigurable planetary robot system

Task planning and behavior scheduling for a reconfigurable p...

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IEEE International Conference on Mechatronics and automation

作者： Minghui Wang Shugen Ma Bin Li Yuechao Wang Xinyuan He Liping Zhang Shenyang Inst. of Automatior Chinese Acad. of Sci. Shenyang China Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Department of Systems Engineering Ibaraki University Hitachi Japan School of Mechanical Engineering Xi''an Jiaotong University Xi'an China

In this paper, the synthetical approach of behavior tree and logic syntactic representation is presented to implement task planning and behavior scheduling for autonomous motion, reconfiguration and cooperation in a new planetary rover, reconfigurable planetary robot system (RPRS). This approach provides support for task decomposition, behavior scheduling, synchronization, execution monitoring and exception handling. The analytic process is illustrated in an example. The modularized design method of single child-robot is proposed and implemented. Two-layered hierarchical hybrid control architecture is designed for RPRS, which applies the centralized plan at task-level and the distributed control at motion-level. As a result, child-robots can reconfigure to some configurations and perform some tasks cooperatively. The latest results of this research are demonstrated in the experiments of the prototype.

关键词： robotics and automation Reconfigurable logic Mobile robots Motion control Planets Sliding mode control Helium Laboratories Systems engineering and theory Mechanical engineering

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