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American Control Conference (ACC)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The passivity property of dissipative mechanical structures has long been exploited in designing passive controllers that provide robust stability even in the presence of unmodeled dynamics of the system. For an input/output map of a flexible structure to be passive, collocation of the actuators and sensors is required and also the sensors should measure the velocity of the system. The so-called smart structures frequently have more sensors than actuators. Therefore, the passive controller can at best utilize only a subset of the sensors. In this paper we consider the design of a squaring down matrix which would render a system passive subject to some additional performance considerations. The problem of obtaining the synthesized passive output is cast as a set of linear matrix inequalities (LMIs) which can be efficiently solved by the LMI Toolbox in Matlab. We apply this procedure with the assumption that the sensors provide both displacement and velocity information which is generally not true. We show that the passive controllers can be implemented without the use of velocity information. By using synthesized passive outputs in addition to naturally occurring passive outputs, we obtain better system performance. We present experimental results involving a single flexible beam with torque input and hub angular position and strain gage outputs.

关键词： Feedback control Intelligent sensors Control system synthesis Mechanical sensors Sensor systems Linear matrix inequalities Mechanical factors Control systems Robust stability Flexible structures

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Fuzzy behavior integration and action fusion for robotic excavation

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1996年第3期43卷 395-402页

作者： Shi, XB Lever, PJA Wang, FY Advanced Mining Systems Laboratory and the Robotics and Automation Laboratory University of Arizona Tucson Tucson AZ USA Department of Mining and Geological Engineering University of Arizona Tucson Tucson AZ USA Robotics and Automation Laboratory and the Department of Systems and Industrial Engineering University of Arizona Tucson Tucson AZ USA

This paper discusses control behavior integration and bucket action fusion for excavation control of a robotic front-end-loader type machine, To utilize the experience and expertise from skilled human operators, a fuzzy-logic based control approach is developed, A hierarchical excavation control architecture decomposes excavation goals to tasks, then tasks to behaviors, and finally behaviors to actions, The excavation actions are primitive and can be executed directly by an excavation machine, Finite state machines are used to specify the coordination and integration of behaviors for task execution and actions for behavior implementation, A simple strategy for action fusion is proposed based on fuzzy logic reasoning and the COA defuzzification method. Finally, laboratory experiments are conducted using a PUMA 560 robot arm and a Zebra force/torque sensor in a simulated rock excavation environment. Experimental results indicate that the proposed approach in this paper has led to more efficient task execution than our previous approach.

关键词： Robot kinematics Humans Laboratories robotics and automation Automatic control Robot sensing systems Geology Control system synthesis Fuzzy control Robot control

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A potential field algorithm for fixture synthesis in 2d

A potential field algorithm for fixture synthesis in 2d

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ASME 1996 Design Engineering Technical Conferences and Computers in Engineering Conference, DETC-CIE 1996

作者： Penev, Kamen Requicha, Aristides A. G. Programmable Automation Laboratory Computer Science Department and Institute for Robotics and Intelligent Systems University of Southern California Los AngelesCA90089-0781 United States

ISBN: (纸本)9780791897621

A fixture is an arrangement of fixturing modules that locate and hold a workpart during a manufacturing operation. In this work we address the fixturing problem in the plane. We consider fixtures with frictionless point contacts. The focus is on contact point placement and its integration with fixture analysis. A novel method for planar fixture synthesis has been developed. It is a non-deterministic, potential field algorithm for contact point placement. The method provides a basic framework for the integration of heterogeneous high-level fixturing agents through an interface based on zones of attraction and repulsion on the workpart boundary. The algorithm may produce redundant fixtures, and can augment partial solutions to complete form closure fixtures. © 1996 by ASME.

关键词： Fixtures (tooling)

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Robotic Excavation: Experimental Results Using Fuzzy Behavior Control

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IFAC Proceedings Volumes 1996年第1期29卷 6293-6298页

作者： Xiaobo Shi Fei-Yue Wang Paul J.A. Lever Robotics and Automation Laboratory Systems and Industrial Engineering Department Advanced Mining Systems Laboratory Mining and Geological Engineering Department The University of Arizona Tucson Arizona 85721 USA

This paper presents experimental results for robotic excavation based on fuzzy behaviors. An excavation goal is achieved through excavation tasks, each erf which is completed via sequences of behaviors that are carried out by primitive actions. Both tasks and behaviors are specified by finite state machines. Behavior selection is achieved through situation assessment and behavior arbitration. A method of terminating a behavior execution is proposed. Excavation actions are specified using fuzzy logic rules acquired from human experience and heuristics. Experimental results indicate that the proposed formulation has led to a more efficient execution of excavation tasks than in a previous formulation.

关键词： fuzzy-logic fuzzy behavior control rock excavation artificial intelligence

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An improved fuzzy modeling algorithm. II. System identification

An improved fuzzy modeling algorithm. II. System identificat...

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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 MechanicaMndustrial Engineering University of Toronto Canada Intelligent Fuzzy Systems Laboratory Department of MechanicaUIndustrial Engineering University of Toronto Canada Robotics and Automation Laboratory Department of Mechanicalhdustrial Engineering University of Toronto Canada

For pt.I see ibid. In this part we focus on the fuzzy system identification stage. The Fuzzy C-Means (FCM) clustering algorithm is investigated. Two indices are introduced for assignment of number of rules and level of "fuzziness". An efficient method is also suggested for choosing the initial location of cluster centers. The classification problem is addressed in fuzzy modeling; and an efficient strategy is proposed for assignment of dominant input variables and their membership functions.

关键词： Fuzzy systems System identification Input variables Laboratories robotics and automation Clustering algorithms Intelligent systems Intelligent robots Flowcharts Parameter estimation

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On the closed-loop design of flexible robotic links

On the closed-loop design of flexible robotic links

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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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An improved fuzzy modeling algorithm. I. Inference mechanism

An improved fuzzy modeling algorithm. I. Inference mechanism

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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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Experimental robotic excavation with fuzzy logic and neural networks

Experimental robotic excavation with fuzzy logic and neural ...

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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

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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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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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