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Artificial Life and robotics 2001年第1期5卷 46-57页

作者： Elpida S. Tzafestas Intelligent Robotics and Automation Laboratory Electrical and Computer Engineering Department National Technical University of Athens Zographou Greece

We are adopting Brooks and Wiley's view of evolution as an irreversible process capable of producing increasingly greater complexity at higher organizational levels. We start from the assumption that the evolutionary force is intrinsic in the living system, and is in reality a continuous senescence function leading gradually and unavoidably to death. We are therefore seeking a senescence function that favors social rather than solitary agents in terms of longevity, without prespecifying in detail the agent's life span. We show that a senescence function relyling on negative (destructive) feedback links from metabolism to genetic program conforms with these specifications. We also show that senescence should affect all the regulation parameters of the agent, and that the system remains nonmanipulable and unpredictable as far as its life span is concerned. This senescence function favors the more “cognitive” agent models (the ones having additional regulation loops), and thus the emergence of organizations of a higher order that have more elaborate social relations.

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Robust control for dynamic walking of a biped robot with ground contacting condition

Robust control for dynamic walking of a biped robot with gro...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： In-Gyu Park Jin-Geol Kim Control & Robotics Laboratory Department of Automation Engineering Inha University Incheon South Korea

ISBN: (纸本)0780370902

A robust controller with the sliding mode is proposed for stable dynamic walking of a biped robot in this paper. The robot system is modeled as 14-DOF rigid bodies considering kinematic construction of a humanoid. The method of multibody dynamics is applied to construct the equations of motion for the complicated biped robot system. In order to obtain the optimized trunk trajectory, the modified FFT method is solved iteratively. The dynamic walking simulation is performed by using optimized trajectories of the trunk and each foot. Also, Hertz force model and hysteresis damping element are employed for the ground reaction and impact forces during contact with the ground. Finally, the sliding mode control is applied to solve the problems of modeling imprecisions or uncertainties. Under the assumption of the bounded estimation errors on the unknown parameters, the proposed controller provides a successful way to achieve the stability and good performance.

关键词： Legged locomotion Robust control Sliding mode control Humanoid robots Kinematics Equations Optimization methods Foot Hysteresis Damping

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Proposal of modeling, simulation and implementation of robotics leg prosthesis

Proposal of modeling, simulation and implementation of robot...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： H.A. Hermini J.M. Rosario E.R. Cassemiro College of Mechanical Engineering Laboratory of Automation and Robotics Mechanical Design Department State University of Campinas-UNICAMP Campinas Brazil College of Mechanical Engineering LAR-Laboratory of Automation and Robotics Mechanical Design Department UNICAMP-University of Campinas Campinas

This paper presents a proposal of modeling, simulation and implementation of a robotic biped locomotion system. The initial step consists of the determination of the cinematic characteristics and the system performance during walking. Starting from the methodology of the generated kinematics model, several computational programs were elaborated with the purpose of reproducing and managing the space displacement, velocity and acceleration of the articulated system. To validate the developed algorithm, an articulated system prototype of a robotic leg was elaborated in which the developed methodology will be implemented and tested.

关键词： Proposals Legged locomotion Leg Prosthetics Computational modeling Orbital robotics System performance Kinematics Acceleration Prototypes

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Neuro-fuzzy looper control with T-operator and rule tuning for rolling mills: theory and comparative study

Neuro-fuzzy looper control with T-operator and rule tuning f...

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Annual Conference of Industrial Electronics Society

作者： F. Janabi-Sharifi Robotics and Manufacturing Automation Laboratory Department of Mechanical AeroSpace and Industrial Engineering Ryerson University Toronto Canada

Looper control is widely used for rolling tension control, but conventional control performance usually degrades with the rolling parameter variations. Fuzzy control systems were proposed in Janabi-Sharifi and Fan (2000) and outperformed conventional control systems in terms of disturbance rejection and decreased steady state error. In this paper, hybrid neuro-fuzzy control is proposed for the T-operator and rule-tuning. Simulation results are presented to compare the performance of different operators and rule-tuning versus T-operator tuning. Also, the responses of the proposed systems and the above mentioned fuzzy control method are compared and practical conclusions are made.

关键词： Milling machines Control systems Tuning Fuzzy control Automatic control Strips Optimal control Degradation Thickness control Humans

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Radiometric measures for feature selection in visual servoing

Radiometric measures for feature selection in visual servoin...

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Annual Conference of Industrial Electronics Society

作者： M. Ficocelli F. Janabi-Sharifi Department of Mechanical AeroSpace and Industrial Engineering Robotics and Manufacturing Automation Laboratory Ryerson University Toronto Canada

The paper discusses the issue of radiometric constraints for feature selection in the context of visual servoing. Radiometric constraints are presented and measures are formulated to select the most optimal features in a radiometric sense from the set of candidate features. Experiment results verify the effectiveness of the proposed measures.

关键词： Radiometry Visual servoing Lighting Image sensors Laboratories Image processing Service robots robotics and automation Manufacturing automation Aerospace engineering

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A neural-net based self-tuning fuzzy looper control for rolling mills

A neural-net based self-tuning fuzzy looper control for roll...

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IEEE International Conference on Systems, Man and Cybernetics

作者： F. Janabi-Sharifi Robotics and Manufacturing Automation Laboratory Department of Mechanical AeroSpace and Industrial Engineering Ryerson University Toronto ONT Canada

Looper control is one of the challenging problems in rolling mills. The purpose of the paper is to propose an intelligent control method using fuzzy logic and neural networks for improved the performance of looper control over conventional loop control methods. The focus of the paper is on the rule-tuning aspect of the proposed fuzzy looper control. Simulation results are presented to verify the performance of the control system.

关键词： Fuzzy control Milling machines Tuning Automatic control Control system synthesis Strips Steel Control systems Service robots robotics and automation

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Adaptive filtering for pose estimation in visual servoing

Adaptive filtering for pose estimation in visual servoing

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： M. Ficocelli F. Janabi-Sharifi Robotics and Manufacturing Automation Laboratory (RMAL) Department of Mechanical AeroSpace and Industrial Engineering Ryerson University Toronto ONT Canada

The extended Kalman filter has been shown to produce accurate pose estimates for visual servoing, assuming that the dynamic noise covariance is known prior to application. Poor estimation of the dynamic noise covariance matrix, Q, can lead to large tracking error or divergence. This paper discusses the use of an adaptive filtering technique to update Q. This provides robust object tracking with unknown trajectory for a visual servoing system with little increase in computational cost. Furthermore, an approximation to a maximum likelihood method with a limited memory filter is proposed, for a time-efficient pose-based visual servoing system.

关键词： Adaptive filters Visual servoing Nonlinear distortion Aerodynamics Cameras Lenses robotics and automation Manufacturing automation Computational efficiency Equations

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Fuzzy Cognitive Maps Multi-Model for Complex Manufacturing Systems

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IFAC Proceedings Volumes 2001年第8期34卷 61-66页

作者： 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

This paper examines the usefulness of Fuzzy Cognitive Maps in modeling complex systems and specifically their use in modeling supervisory manufacturing systems and handling with information from an abstract point of view. The use of Fuzzy Cognitive Maps for developing behavioral model for a complex system is discussed. Fuzzy Cognitive Maps applicability in modeling complex systems is presented and a hierarchical structure is proposed to model and control a complex system. Complex system is decomposed in subsystems and for each one a FCM model is developed. A hierarchical structure is proposed where Fuzzy Cognitive Map models the supervisor of the system and develops an abstract conceptual model of the complex system.

关键词： Fuzzy Cognitive Map Modeling Supervision Complex Systems Manufacturing Systems

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Stiffness control for geared manipulators

Stiffness control for geared manipulators

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IEEE International Conference on robotics and automation (ICRA)

作者： N. Tischler A.A. Goldenberg Institut fur Meb-und Sensorsysteme Rostock Germany Robotics and Automation Laboratory Department of Mechanical & Industrial Engineering University of Toronto Canada

ISBN: (纸本)0780365763

This paper presents the results from an experimental investigation into the performance of stiffness control, implemented on a two degree-of-freedom manipulator that uses harmonic drive gears. Stiffness control, which is the simplest form of impedance control, was implemented using force feedback. The results demonstrate the benefits of using force feedback to compensate for static friction effects and for the difficulty in accurately controlling the joint torques for geared manipulators.

关键词： Force control Manipulator dynamics Impedance Force feedback Torque control Friction Automatic control Gears Error correction End effectors

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A simulator to analyze creeping locomotion of a snake-like robot

A simulator to analyze creeping locomotion of a snake-like r...

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IEEE International Conference on robotics and automation (ICRA)

作者： Shugen Ma W.J. Li Yuechao Wang Robotics Laboratory CAS Shenyang Institute of Automation Shenyang China Department of Systems Engineeringineering Faculty of Engineering Ibaraki University Hitachi Ibaraki Japan Department of Automation/Computer-Aided Engineering Chinese University of Hong Kong Sha Tin Hong Kong China

ISBN: (纸本)0780365763

Snakes perform many kinds of movement that are adaptable to the environment. Utilizing the snake (its forms and motion) as a model to develop a snake-like robot that emulates a snakes' function is important for generating a new type of locomotor and expanding the possible use of robots. We developed a simulator to simulate the creeping locomotion of a snake-like robot, in which the robot dynamics is modeled and its interaction with the environment is considered through Coulomb friction. This simulator makes it possible to analyze the creeping locomotion with the normal-direction slip coupled to gliding along the tangential direction. Through the developed simulator, we investigated the snake-like robot creeping locomotion which is generated only by swinging each of the joints from side to side, and discussed the optimal creeping locomotion of the snake-like robot that is adaptable to a given environment.

关键词： Analytical models Robots robotics and automation Friction Computational modeling Systems engineering and theory Content addressable storage Tracking Ice National electric code

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