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IEEE International Conference on robotics and automation (ICRA)

作者： M.A. Minor C.R. Hirschi R.O. Ambrose Department of Mechanical Engineering University of Utah Salt Lake UT USA Automation Robotics and Simulation Division Robotics Systems Technology Branch Houston TX USA

An automated tether system has been developed for the purpose of improving the efficiency of micro-gravity activities of fully suited astronauts. System features include gripping of multiple anchor types, remote release of the tether from an anchor, and controlled retraction of the tether. Two main mechanisms make up the system. First, a remotely releasable, self-locking robotic gripper with opposing jaws that grasps a variety of anchors such as handrails, tether loops, and guide wires. Second, an automated tether retractor that is capable of active or passive operation. Passive retractor operation saves power by emulating existing safety tether systems and active operation expedites tether retraction and allows towing.

关键词： Grippers robotics and automation Wires Automatic control Safety Control systems Space vehicles Orbital robotics Space technology Space shuttles

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Control of a 3-dimensional snake-like robot for analysis of sinus-lifting motion

Control of a 3-dimensional snake-like robot for analysis of ...

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SICE Annual Conference

作者： Y. Ohmameuda Shugen Ma Department of Systems Engineering Ibaraki University Hitachi Japan Robotics Laboratory CAS Shenyang Institute of Automation Shenyang China

Biological snakes' diverse locomotion modes and physiology make them supremely adapted for environment. The special structure of snakes and their unique movement offer them peculiar ability of climbing and moving even in some ill-conditioned environments such as on the marshland or in narrow tubes. The aim of this study is to elucidate a 3-dimensional motion of the snake, sinus-lifting motion, which is a phenomenon observed during rapid motion of the snake. The sinus-lifting creeping motion is an adaptive function peculiar to regular creeping motion, designed to prevent slippage in the normal direction of the body and to allow application of the greatest possible motive force. In this paper, we first discuss the controllability of the snake robot for analysis of sinus-lifting creeping mode. We utilized a 3-dimensional snake robot model to show the controllability of the robot through the computer simulation.

关键词： Motion control Motion analysis Mobile robots Controllability robotics and automation Computer simulation Shape control Wheels Automatic control Biological control systems

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Analytical investigation of the capturing process in the orientation and stacking of parts based on internal features

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International Journal of robotics and automation 2002年第2期17卷 75-85页

作者： Mankame, A. Datseris, P. Jouaneh, M. Sodhi, M. Ctr. for Automation and Robotics Res University of Rhode Island Department of Mechanical Engineering Kingston RI 02881 United States

Part handling based on internal features has been the forte of vision systems, manual techniques, and preservation of orientation for the past few decades. In this article, an analytical and experimental investigation of the process of orienting and stacking of parts based on their internal features is presented, with emphasis on the mechanics of part motion during the capturing process. Analytical models are presented to give the roles of different variables involved in the capturing process. An experimental setup has also been developed and utilized to verify and better understand the mechanics involved. Results indicate that the whole process is mainly governed by four key variables: backup stack height, the drive wheel profile, the shape and position of capturing guides and the speed of the drive wheel, of which the shape and position of the guide plays the dominant role.

关键词： automation

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FUZZY COGNITIVE MAPS MODEL FOR LARGE SCALE COMPLEX SYSTEMS

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IFAC Proceedings Volumes 2002年第1期35卷 277-282页

作者： C.D. Stylios Peter P. Groumpos Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Rion 26500 GREECE Tel. +30 61 997293 Fax. +30 61 997309

Most of the technological systems are characterized by complexity, coupled relationships with feedback and a demanding procedure to develop their models. This paper presents the Soft Computing technique of Fuzzy Cognitive Maps that are knowledge-based methodologies suitable to describe and model complex systems and handle with available information from an abstract point of view. Fuzzy cognitive Maps develop behavioral model of the system exploiting the experience and knowledge of experts. Fuzzy Cognitive Maps applicability in modeling complex systems is presented and a general hierarchical structure is proposed to model any complex system. Within the hierarchical structure, Fuzzy Cognitive Map models the coordinator of the system and develops an abstract conceptual model of the complex system.

关键词： Complex Systems Fuzzy Cognitive Map Knowledge based systems

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ACTIVATION HEBBIAN LEARNING RULE FOR FUZZY COGNITIVE MAPS

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IFAC Proceedings Volumes 2002年第1期35卷 319-324页

作者： Elpiniki Papageorgiou Chrysostomos D. Stylios Peter P. Groumpos Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Rion 26500 GREECE Tel. +30 61 997293 Fax. +30 61 997309

Fuzzy Cognitive Maps (FCM) is a soft computing, modeling methodology for complex systems, which is originated from the combination of fuzzy logic and neural networks. Many different learning algorithms have been suggested for the training of neural networks. Only some initial thoughts on learning rules have described for FCMs. A learning law is a mathematical algorithm, which can train the FCM by selecting the appropriate weights and it is very important for a system to have learning and adaptive capabilities. In this paper a new learning algorithm, the Activation Hebbian Learning (AHL) has been proposed for FCMs. The learning rule for a FCM is a procedure where FCM weight matrix is modified in order the FCM to model the behavior of a system. Simulation results proving the strength of the learning rule are provided.

关键词： Hebbian learning Fuzzy Cognitive Maps Modeling Unsupervised learning

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ON–LINE IMPROVEMENT FOR THE DECENTRALIZED PREDICTIVE CONTROL OF THE HEAT DYNAMICS OF A GREENHOUSE

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IFAC Proceedings Volumes 2002年第1期35卷 37-42页

作者： E.J. Kyriannakis K.G. Arvanitis N. Sigrimis National Technical University of Athens Dept. of Electrical and Computer Engineering Intelligent Robotics and Automation Laboratory Zographou 15773 Athens GREECE Agricultural University of Athens Department of Agricultural Engineering Athens 11855 GREECE

A decentralized model-based predictive controller is used for the design of discrete-time control systems aiming at regulating the air temperature and heat supply in greenhouses. Moreover, alternative techniques are proposed for the approximation of the decentralized part of the control and the on-line improvement of the overall control problem. A state space model is used to predict the corresponding local indoor temperature over a long-range time-period and approximate models are used to predict the interactions among the subsystems. The sun radiation and outdoor temperature are treated as external disturbances that affect the overall system dynamics. A series of energy fluxes consist the heating system and the predictive controllers have proved to be powerful in controlling the supply temperature.

关键词： Decentralized control predictive control greenhouse heat dynamics

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Motion planning for heterogeneous modular mobile systems

Motion planning for heterogeneous modular mobile systems

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IEEE International Conference on robotics and automation (ICRA)

作者： S. Chitta J.R. Ostrowski General Robotics Automation Sensing and Perception (GRASP) Laboratory Department of Mechanical Engineering and Applied Mechanics University of Pennsylvania Philadelphia PA USA

Addresses the issue of developing a motion planning algorithm for a general class of modular mobile robots. A modular mobile robot is essentially a reconfigurable robot system in which locomotive modules such as legs, wheels, propellers, etc. can be attached at various locations on the body. The equations of motion for the robot are developed in terms of a set of generalized inputs related to the constraints and configurations of each individual module. The motion planning method developed in Lafferriere and Sussmann (1991) and extended in Goodwine and Burdick (1997) can then be modified to generate required trajectories for the modular robot. These methods generally lead to sequential motion plans-we also develop conditions under which two consecutive plans can be executed simultaneously.

关键词： Mobile robots Legged locomotion Leg Motion planning Wheels Robot sensing systems Equations Motion control robotics and automation Trajectory

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Intelligent hybrid industrial control

Intelligent hybrid industrial control

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International IEEE Conference on Intelligent Systems, IS

作者： R.E. King F.N. Koumboulis A. Stathaki Robotics in the Department of Electrical and Computer Engineering University of Patras Patras Greece The Department of Automation Halkis Institute of Technology Greece Compuler Technology Institute in Athens Greece

Intelligent three term controllers are a natural evolution of the ubiquitous three-term industrial controller that has reigned supreme for almost a century. Through the addition of an embedded discrete-event supervisor, a conventional three-term controller can be endowed with the intelligence necessary to permit pareto-optimum operation over an extended range. Intelligent hybrid controllers provide improved control performance for highly nonlinear processes where conventional controllers are ineffective. We focus on a new type of intelligent logic-based switching controller.

关键词： Intelligent control Industrial control Three-term control Control systems robotics and automation Process control Robust control Computer industry Service robots Automatic control

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Design of one-step-ahead prediction observers for system parameter identification

Design of one-step-ahead prediction observers for system par...

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International Conference on Control, automation, robotics and Vision (ICARCV)

作者： R.N.K. Loh M. Lu School of Electrical and Electronic Engineering Nanyang Technological University Singapore Center for Robotics and Advanced Automation Department of Electrical and Systems Engineering Oakland University Rochester MI USA

A unifying one-step-ahead prediction observer (identifier) for system parameter estimation or identification of autoregressive moving average (ARMA) processes has been developed. Four specific algorithms can be derive... 详细信息

关键词： Parameter estimation Filters Time measurement robotics and automation Systems engineering and theory Erbium State estimation Current measurement Prediction algorithms Equations

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A novel class of intelligent power-assist systems based on differential CVT

A novel class of intelligent power-assist systems based on d...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： D. Surdilovic R. Bernhardt L. Zhang Germany Department of Automation and Robotics Fraunhofer Institute IPK-Berlin Berlin Germany Postdoc-Fellow at IPK Harbin Engineering of Technology Harbin China

This paper presents a novel power assist manipulation system for human-robot cooperation. The new system utilizes a reliable continuous variable transmission (CVT) based on the differential gear. The new system is significantly cheaper, simpler to control and more efficient than cobots with spherical CVTs. Both path-guidance and power-assist functions can be simply realized with the new system. Basic structures, kinematic and dynamic models, as well as control algorithms, which are essential for design, control synthesis and control of the system, are briefly presented.

关键词： Intelligent systems Ergonomics Service robots Motion control Intelligent robots Power system reliability Materials handling equipment robotics and automation Control systems Productivity

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