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An improved fuzzy modeling algorithm. I. Inference mechanism

An improved fuzzy modeling algorithm. I. Inference mechanism

引用

Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： M.R. Emami I.B. Turksen A.A. Goldenberg Robotics and Automation Laboratory Department of MechanicaLlIndustnal Engineering University of Toronto Toronto Canada Intelligent Fuzzy Systems Laboratory Department of MechanicaVIndusuial E University of Toronto Toronto Canada Robotics and Automation Laboratory Department of Mechanicalhndustrial Engineering University of Toronto Toronto Canada

We attempt to improve the objectivity of fuzzy modeling and control by introducing a general and unified parameterized formulation to the reasoning process. As a result, we are no longer restricted to a few reasoning ... 详细信息

关键词： Inference algorithms Inference mechanisms Fuzzy systems Fuzzy reasoning Fuzzy sets Laboratories Flowcharts robotics and automation Intelligent systems Intelligent robots

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On the closed-loop design of flexible robotic links

On the closed-loop design of flexible robotic links

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： P.X. Zhou M.S. Williams Fei-Yue Wang Robotics and Automation Laboratory Department of Systems and Industrial Engineering University of Arizona Tucson Tucson AZ USA

The problem of optimal design of a flexible manipulator link based on its closed-loop transfer function is formulated through the integation of actuator dynamics, control algorithm, sensor location, and mechanics of arm construction. By approximating a flexible link with N small uniform segments, we obtain analytical segmentized solutions for transfer functions for integrated arm systems. This enable us to formulate various optimization problems with explicit objective functions. Several optimization criteria are discussed in this paper.

关键词： Structural beams Service robots Control systems Orbital robotics Optimal control Heuristic algorithms Intelligent robots Manipulator dynamics robotics and automation Actuators

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Characterizing discrete event timing relationships for fault monitoring of manufacturing systems

Characterizing discrete event timing relationships for fault...

引用

IEEE Conference on Control Technology and Applications (CCTA)

作者： S.R. Das L.E. Holloway Rockwell Automation Milwaukee WI USA Department of Electrical Engineering and Center for Robotics and Manufacturing Systems University of Kentucky Lexington KY USA

The timing and sequencing relationships of changes (events) in discrete sensors and actuators can be used to determine whether a manufacturing system is operating as expected. In this paper, we present a method of learning inter-event timing relationships using observations from a correctly operating system. The observed sample statistics characteristic of correct system operation are used to create a confidence space of possible timing relationships (acceptable delay intervals) of the underlying system. Given a relative cost of false alarms vs. missed detections, the timing relationships can be chosen to minimize the worst case total of the false alarm and missed detection costs over the confidence space.

关键词： Timing Monitoring Manufacturing systems Delay effects Equations Filling Operating systems Probability distribution Gaussian distribution Marine vehicles

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TETROBOT modular robotics: prototype and experiments

TETROBOT modular robotics: prototype and experiments

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： G.J. Hamlin A.C. Sanderson Center for Advanced Technology in Automation Robotics and Manufacturing and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

TETROBOT is a modular system for the design, implementation, and control of a class of highly redundant parallel robotic mechanisms. This paper describes new experimental results based on evaluation of prototype configurations with up to 18 nodes, 48 links and 15 actuators. TETROBOT is an actuated robotic structure which may be reassembled into many different configurations while still being controlled by the same hardware and software architecture. Implementations of a double octahedral platform, a tetrahedral arm and a six-legged walker, constructed from the same set of parts, are described. The TETROBOT system addresses the needs of application domains, such as space, undersea, mining, and construction, where adaptation to unstructured and changing environments and custom design for rapid implementation are required.

关键词： Prototypes Collision mitigation robotics and automation Robot sensing systems Manipulators Fasteners Parallel robots Control systems Orbital robotics Manufacturing automation

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Tetrobot family tree: modular synthesis of kinematic structures for parallel robotics

Tetrobot family tree: modular synthesis of kinematic structu...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： A.B. Neville A.C. Sanderson Center for Advanced Technology in Automation Robotics and Manufacturing and Department Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Parallel robots can be built by linking together unit cells in configurations which retain the static determinacy of the overall structure. In the Tetrobot system, the kinematics of these concatenated structures can be solved by propagation of solutions through connected graphs of linked modules. In this paper, we examine the synthesis of unit cells which could be used in creating these structures and retain the ability to compute the kinematics for control of the actuated system. Admissible unit cells are shown to form families in two- and three-dimensions, and a set of synthesis rules is described which generates the members of these families recursively for each generations. The resulting set of modules comprises a broad set of useful cells which can be used to design parallel robots and guarantee the computability of their kinematics on a cell-by-cell basis.

关键词： Kinematics Parallel robots robotics and automation Control system synthesis Manufacturing automation Computer aided manufacturing Concurrent computing Systems engineering and theory Joining processes Concatenated codes

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Application of feature-based multi-view servoing for lamp filament alignment

Application of feature-based multi-view servoing for lamp fi...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： R. Joshi A.C. Sanderson NYS Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

This paper presents an application of feature-based visual servoing to achieve accurate and robust 3D filament alignment. Two orthogonal cameras are used to localize the five degrees of freedom of an axi-symmetric filament. An algorithm for precisely estimating the center and orientation features of a filament in a camera view is described. The use of feature-based servoing overcomes the difficulty of 3D camera calibration in a factory environment. These features drive a PID control loop for each view. The two views are coupled in one degree of freedom, and the multiple-view controller switches between two single-view controllers to achieve 3D servoing. The overall accuracy achieved is in thousandths of an inch. Experimental results on the performance of the control algorithm are discussed. Models explaining the system behavior are presented. The use of visual servoing in this application far exceeds the positioning accuracy and the repeatability of human operators.

关键词： Lamps Cameras Visual servoing robotics and automation Manufacturing automation Robot vision systems Robustness Application software Computer aided manufacturing Calibration

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Improved inference for Takagi-Sugeno models

Improved inference for Takagi-Sugeno models

引用

IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： R. Babuska C. Fantuzzi U. Kaymak H.B. Verbruggen Department of Electrical Engineering Control Laboratoiy Delft University of Technnology Delft Netherlands Laboratory of Automation and Robotics University of Bologna-DEIS Bologna Italy

Some undesirable properties of the standard Takagi-Sugeno (TS) inference method are discussed in relation to an analysis of the TS model and its approximation accuracy. A new inference method based on a smoothing maximum function is proposed. This method guarantees smoothness of the model output to a desired degree, boundedness of the output gradient at each point by the local gradients of the rule consequences and also improves the accuracy of the TS model, as demonstrated in the given numerical examples.

关键词： Takagi-Sugeno model Fuzzy sets Interpolation Vectors Artificial intelligence

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Real-time robot motion control with circulatory fields

Real-time robot motion control with circulatory fields

引用

IEEE International Conference on robotics and automation (ICRA)

作者： L. Singh H. Stephanou J. Wen NYS Center for Advanced Technology in Robotics Automation and Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper introduces a new feedback algorithm for steering a point robot through an obstacle field. The key innovation is the use of a circulatory field to rotate the robot path around the obstacles instead of the common potential field which repels the robot. This idea is motivated by a charged particle in a magnetic field generated by a current flowing around the obstacle. In constrast, the potential field approach is associated with a repulsive static electric field generated by charges of the same polarity as the robot, on the obstacle. The circulatory field does not generate any spurious local minimum as it does not change the total energy of the system. By combining with an attractive potential field associated with the desired destination, this method achieves global convergence while avoiding collisions with obstacles.

关键词： Robot motion Motion control Robot control robotics and automation Feedback Manufacturing automation Computer aided manufacturing Orbital robotics Electrostatics Navigation

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Experimental robotic excavation with fuzzy logic and neural networks

Experimental robotic excavation with fuzzy logic and neural ...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Xiaobo Shi P.J.A. Lever Fei-Yue Wang Mining and Geological Engineering Department Advanced Mining Systems Laboratory Tucson AZ USA Robotics and Automation Laboratory Systems and Industrial Engineering Department University of Arizona Tucson Tucson AZ USA

This paper describes experimental results for autonomous robotic rock excavation with fuzzy logic and neural networks. An excavation goal is decomposed into several tasks, whereas a take is accomplished by executing appropriate excavation behaviors. Finally, a behavior is carried out by a sequence of primitive, machine executing excavation actions. Excavation goals, tasks, and behaviors are specified using finite state machines (FSM) based on excavation heuristics and expertise from skilled human operators. The decision making in the FSMs are implemented using neural networks which are capable of improving their performance from previous task executions. Excavation actions are given using fuzzy logic rules acquired from human experience and heuristics. Several experiments are presented that demonstrate the system's ability to complete required excavation tasks effectively.

关键词： Fuzzy logic Neural networks Humans Soil robotics and automation Laboratories Service robots Geology Immune system Control systems

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Modular robotics: design and examples

Modular robotics: design and examples

引用

International Conference on Emerging Technologies and Factory automation (ETFA)

作者： A.C. Sanderson Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA Intellignet robotics Laboratory Institute for Information Science and Electronics University of Tsukuba Tsukuba Japan

An object-oriented modular approach to the engineering of complex robotic systems emphasizes reliability, reusability, ease of development, and user and network interfaces. This modular approach integrates many architectural principles and computational techniques which support adaptive and learning capability at the local, modular level. The TETROBOT is a modular and reconfigurable robotic system which was developed to demonstrate the reliable performance in a wide variety of task domains through reconfiguration of the same fundamental hardware and software components. Such a modular approach emphasizes the synthesis and integration of engineering modules and takes advantage of object-oriented engineering principles to design for a family of tasks. This paper provides an overview of the TETROBOT modular system and describes three modular systems in other applications domains.

关键词： Robots Hardware Robustness Humans Indium phosphide Utility programs

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