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IEEE Conference on Decision and Control

作者： Y.H. Kim F.L. Lewis C.T. Abdallah Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

A nonlinear observer for a general class of single-output nonlinear systems is proposed based on a generalized dynamic recurrent neural network (DRNN). The neural network (NN) weights in the observer are tuned online, with no off-line learning phase required. The observer stability and boundness of the state estimates and NN weights are proven. No exact knowledge of the nonlinear function in the observed system is required. Furthermore, no linearity with respect to the unknown system parameters is assumed. The proposed DRNN observer can be considered as a universal and reusable nonlinear observer because the same observer can be applied to any system in the class of nonlinear systems.

关键词： Recurrent neural networks Neural networks Observers Nonlinear systems State estimation Stability Erbium Chaos robotics and automation Linearity

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Quasi-Static Modeling of Compliance-Governed Redundant Manipulators

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Intelligent automation and Soft Computing 1996年第3期2卷 285-300页

作者： Park, Jonghoon Chung, Wan-Kyun Youm, Youngil Robotics Laboratory Department of Mechanical Engineering ARC (Automation Research Center) Pohang University of Science and Technology Pohang 790-784 South Korea

A compliance-governed (redundant) manipulator is the main subject of the article, and its global quasi-static behaviors are studied. To implement those behaviors in an actual manipulator, mathematical compliance paradigms in three forms are proposed. They are: kinematic (or equilibrating motion) level, quasi-static (or transient motion) level, and stiffness level compliance paradigm. Each has its own usefulness and implication as described in this article. Repeatable kinematic behavior of a compliance-governed manipulator can be implanted into the inverse kinematic algorithm for redundant manipulator either by the kinematic level or quasi-static level compliance paradigm. If the transient behavior with stiffness characteristic is required in a non-compliance-governed manipulator, we will use the stiffness level compliance paradigm. It makes the arm respond equivalently to the intended compliance-governed manipulator. © 1996 Taylor & Francis Group, LLC.

关键词： Compliance paradigm Compliance-governed manipulator Kinematically redundant manipulator Quasi-statically equilibrating motion Stiffness behavior

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On the uncertainty and ignorance of statistical decision and evidence combination

On the uncertainty and ignorance of statistical decision and...

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： Xiao-Gang Wang Wen-Han Qian E. Pagello Ren-Qing Pei College of Mechanical Engineering & Automation Shanghai University China Research Institute of Robotics Shanghai Jiaotong University China Department of Electronics & Computer Science University of Padova Padova Italy

The classical Bayesian decision theory and the hypothesis testing for processing distributed decision fusion problems have an important shortcoming-lack of flexibility. In other words, they can not discriminate uncertainty and ignorance. The Dempster-Shafer (DS) theory overcomes this shortcoming, but its mathematical basis, the axiomatic definition of evidence is not very rigorous. Therefore, a perfect, reliable, and general method of statistical decision and evidence combination is demanded. In this respect, Thomopoulos presented a generalized evidence processing (GEP) method, based on Bayesian theory and DS theory. This paper presents a new strategy for statistical decision and evidence combination-the double bound testing (DBT). Compared with GEP, DBT not only increases the flexibility of decision, but also presents a sound mathematical basis and an explicit concept.

关键词： Uncertainty Bayesian methods Military aircraft Aerospace electronics Intelligent sensors Sensor fusion robotics and automation Decision theory Electronic equipment testing Radar detection

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THE CHALLENGE OF INTELLIGENT MANUFACTURING SYSTEMS (IMS) - THE EUROPEAN IMS INFORMATION EVENT

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JOURNAL OF INTELLIGENT MANUFACTURING 1995年第1期6卷 67-77页

作者： GROUMPOS, PP Laboratory for Automation & Robotics Electrical Engineering Department University of Patras Rio Greece

In the suburb of Patras, Rion on 7-8 April, the European Intelligent Manufacturing Systems (IMS) Information Event took place, in the form of a symposium. The symposium was organized, as part of the IMS series of dissemination events, by the EC after the completion of the two-year feasibility study. The main objective of the event was the presentation of the results of each test case and of the feasibility study in general. Interactive sessions were organized to discuss the experience of international cooperation. The symposium was coorganized with the University of Patras.

关键词： INTELLIGENT MANUFACTURING SYSTEMS (IMS) TEST CASES INTERNATIONAL COLLABORATION

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OPTIMUM-SHAPE CONSTRUCTION OF FLEXIBLE MANIPULATORS WITH TOTAL WEIGHT CONSTRAINT

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS 1995年第4期25卷 605-614页

作者： WANG, FY RUSSELL, JL Robotics and Automation Laboratory Department of Systems and Industrial Engineering University of Arizona Tucson Tucson AZ USA

This paper addresses the problem of optimum shape design of flexible manipulators that maximizes the fundamental frequency of vibration under a specified total weight constraint, Successive iteration schemes are developed to solve the unconstrained optimum shape design problem analytically using the variational approach, while nonlinear programming methods are used to solve the constrained optimum shape design problem numerically using the optimization approach. In addition, since the tip load greatly influences the optimum frequency of a flexible arm and it is unavoidable for the arm to handle multiple tip loads, a minimax design method is proposed to construct the optimum shape under a finite range of tip loads, It is shown that the fundamental frequency of a flexible manipulator can be increased substantially through the optimum tapering of the cross section of its link, For example, numerical analysis indicates that, depending on the values of hub inertia and tip load, an increment from 149.76% to 642.31% in the fundamental frequency can be achieved for manipulators with links of geometrically similar cross sections, The results of this paper suggest a practical method of building flexible manipulators which can move faster under a given weight without causing serious vibration problems, thereby increasing productivity.

关键词： Shape Frequency Manipulator dynamics Structural beams Service robots Orbital robotics Space exploration Bandwidth Control systems Boundary conditions

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NEURAL-NETWORK-BASED INSPECTION OF SOLDER JOINTS USING A CIRCULAR ILLUMINATION

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IMAGE AND VISION COMPUTING 1995年第6期13卷 479-490页

作者： KIM, JH CHO, HS Center for Robotics and Automation Department of Precision Engineering and Mechatronics Korea Advanced Institute of Science and Technology 373-1 Kusong-dong Yusong-gu Taejon 305-701 Korea

In this paper, we describe an approach to inspection of solder joints on printed circuit boards by using a circular illumination technique and a neural network classifier. The illumination technique, consisting of three tiered circular colour lamps and one colour camera, gives good visual cues to infer 3D shape of the solder joint surface. A general aspect of this inspection is that the shape of the solder joint tends to greatly vary according to soldering conditions. Due to this, a neural network classifier based on a supervised version of Kohonen learning vector quantization (LVQ) is proposed to automatically and efficiently make classification criteria of the solder joint shapes according to their quality. The practical feasibility of the proposed approach is demonstrated by building a prototype inspection machine and testing its performance.

关键词： SOLDER JOINT INSPECTION CIRCULAR ILLUMINATION TECHNIQUE LEARNING VECTOR QUANTIZATION ADAPTIVE LEARNING MECHANISM

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Issues of Model Reduction in Discrete Event Dynamic Systems

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IFAC Proceedings Volumes 1995年第10期28卷 253-257页

作者： Nick T. Koussoulas Laboratory for Automation and Robotics Electrical Engineering Department University of Patras GREECE

Petri nets have proven to be a valuable model for discrete event dynamic systems, especially automated manufacturing systems. To model uncertainty within this representation approach, stochastic Petri nets have been developed. They suffer, however, from dimensionality explosion when it is attempted to model large real-world systems. There have been approaches based on the equivalent Markov chain, which is either solved through aggregation or through its singular perturbation treatment a reduced net is produced. We propose a method here to reduce directly the stochastic Petri net

关键词： Stochastic Petri Nets Markov Chains Model Reduction

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MOBILE ROBOT LOCALIZATION USING A SINGLE ROTATING SONAR AND 2 PASSIVE CYLINDRICAL BEACONS

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ROBOTICA 1995年第3期13卷 243-252页

作者： BEOM, HR CHO, HS Research & Development Laboratory Gold Star Industrial Systems CO. Ltd. Anyang (Korea). Center for Robotics and Automation Department of Precision Engineering and Mechatronics Korea Advanced Institute of Science and Technology373–1 Kusong-dongTaejeon305–701 (Korea).

This paper proposes a new method of estimating the position and heading angle of a mobile robot moving on a flat surface. The proposed localization method utilizes two passive beacons and a single rotating ultrasonic sensor. The passive beacons consist of two cylinders with different diameters and reflect the ultrasonic pulses coming from the sonar sensor mounted on the mobile robot. The sonar sensor, again, mounted on a pan-tilt device then receives the reflected pulses while scanning over a wide area. The geometric parameter set of beacon is acquired from the sonar scan data obtained at a single mobile robot location using a new data processing algorithm. The presented algorithm is especially suitable for processing the sonar scan data obtained by ultrasonic sensor with wide beam spread. From this parameter set, the position and heading angle of the mobile robot is determined directly. The performance and validity of the proposed method are evaluated using two beacons and a single sonar sensor attached at the pan-tilt device mounted on a mobile robot, named LCAR, in our laboratory.

关键词： MOBILE ROBOT SONAR BEACON LOCALIZATION

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An adaptive approach to constrained robot motion control

An adaptive approach to constrained robot motion control

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IEEE International Conference on robotics and automation (ICRA)

作者： R.R.Y. Zhen A.A. Goldenberg Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Canada

In this paper, a new method of design of position/force controller for robots with parametric uncertainty is presented. An adaptive control scheme is proposed for constrained robot motion control. The proposed control scheme possesses an important practical feature: under the suggested controller, position, velocity, acceleration and force errors converge to zero without requiring measurements or estimates of acceleration and force derivative. Computer simulation results are also presented for illustration.

关键词： Programmable control Adaptive control Robot motion Motion control Robot control Force control Force measurement Velocity control Accelerometers Acceleration

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The role of supply chain management within the industrial ecosystem

The role of supply chain management within the industrial ec...

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IEEE International Symposium on Electronics and the Environment

作者： J. Sarkis N.M. Darnall G.I. Nehman J.W. Priest Department of Industrial and Manufacturing Systems Engineering Automation and Robotics Research Institute USA

The field of environmentally conscious design and manufacturing has focused primarily on internal functions and activities within an organization. However, external enterprise practices and relationships are of equal concern and often overlooked. External relationships serve as links in the development of a closed loop industrial ecosystem and are an integral part of supply chain management and environmental management strategy. This paper identifies emerging and potential research and development issues within supply chain management and the industrial ecosystem.

关键词： Supply chain management Ecosystems Industrial relations Environmental management Supply chains Environmental factors engineering management Manufacturing industries Research and development management Research and development

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