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A Study On Iterative Learning Control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of Control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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F&A compensating variable bang-bang control algorithm for pneumatic driving glass-wall cleaning robot

F&A compensating variable bang-bang control algorithm for pn...

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2007 IeeE/RSJ International Conference on intelligent Robots and systems

作者： W. Wang H. X. Zhang W. P. Yu G. H. Zong J. W. Zhang Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany Cognitive Technology Laboratory Shenzhen Institute of Advanced Technology Shenzhen China

To overcome the overshoot and oscillation in the normal Bang-Bang controller applied in the pneumatic driving glass-wall cleaning robot, this paper presents a F&A compensating variable Bang-Bang control algorithm for the pneumatic position servo. Besides a new cylinder driving plan is designed, the control algorithm is also improved by adding a fiction force compensating item in the chamber force evaluation equation. To adjust the controlling parameters dynamically, certain increasing functions, such as step function, linear function and arc-tangent function, are used to define the piston's expectative acceleration along with the reduction of the piston's position error. To testify the feasibility of the control algorithms with the above three expectative acceleration setting functions respectively, a pneumatic glass-wall cleaning robot "Sky Cleaner 4" is used as a testing platform to implement a series of on-load position servo experiments. And the different results of them are compared.

关键词： Bang-bang control Cleaning Robots Servomechanisms Testing Algorithm design and analysis Force control Equations Acceleration Error correction

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A novel modular climbing caterpillar using low-frequency vibrating passive suckers

A novel modular climbing caterpillar using low-frequency vib...

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IeeE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： H. X. Zhang J. Gonzalez-Gomez S.Y. Chen W. Wang R. Liu D. Li J. W. Zhang Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany School of Engineering Universidad Autonoma de Madrid Spain Department of Informatics University of Hamburg Germany College of Information Engineering Zhejiang University of Technology Hangzhou China Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China

This paper presents a novel modular climbing caterpillar named ZC-I. After a related survey on the topic, a systematical summarizing on basic functions provided by this system is given. ZC-I features fast-building mechanical structure and low-frequency vibrating passive attachment principle. Active joints actuated by RC servos endow the connecting modules with the ability of changing shapes in two dimensions. After that the discussion focuses on the various locomotion capabilities. Linear movement, turning movement, lateral movement, rotating and rolling movement are achieved based on an inspired control model to produce rhythmic motion. In the end a conclusion and future work are given.

关键词： Climbing robots Prototypes Kinematics Servomechanisms Joining processes Shape Adhesives Electromagnetic forces Electromagnets Mobile robots

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Using the Waseda Bioinstrumentation System WB-1R to analyze Surgeon’s performance during laparoscopy - towards the development of a global performance index -

Using the Waseda Bioinstrumentation System WB-1R to analyze ...

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2007 IeeE/RSJ International Conference on intelligent Robots and systems

作者： Massimiliano Zecca Filippo Cavallo Minoru Saito Nobutsuna Endo Yu Mizoguchi Stefano Sinigaglia Kazuko Itoh Hideaki Takanobu Giuseppe Megali Oliver Tonet Paolo Dario Andrea Pietrabissa Atsuo Takanishi Institute for Biomedical Engineering ASMeW Waseda University Shinjuku Tokyo Japan Scuola Superiore Sant'Anna CRIM Pisa Italy Graduate School of Science and Engineering Waseda University Tokyo Japan Department of Modern Mechanical Engineering Waseda University Tokyo Japan Humanoid Robotics Institute (HRI) Waseda University Tokyo Japan Department of Mechanical Systems Engineering Kogakuin University Tokyo Japan Center for Computer Assisted Surgery EndoCAS Pisa Italy Department of Modern Mechanical Engineering Humanoid Robotics Institute (HRI) Advanced Research Institute for Science and Engineering Waseda University Shinjuku Tokyo Japan

Minimally invasive surgery (MIS) has become very common in recent years, thanks to the many advantages it provides for patients. Since it is difficult for surgeons to learn and master this technique, several training methods and metrics have been proposed, both to improve the surgeon's abilities and also to assess his/her skills. This paper presents the use of the WB-1R (Waseda bioinstrumentation system no.1 refined), which was developed at Waseda University, Tokyo, to investigate and analyze a surgeon's movements and performance. Specifically, the system can measure the movements of the head, the arms, and the hands, as well as several physiological parameters. In this paper we present our experiment to evaluate a surgeon's ability to handle surgical instruments and his/her depth perception using a laparoscopic view. Our preliminary analysis of a subset of the acquired data (i.e. comfort of the subjects; the amount of time it took o complete each exercise; and respiration) clearly shows that the expert surgeon and the group of medical students perform very differently. Therefore, WB-1R (or, better, a newer version tailored specifically for use in the operating room) could provide important additional information to help assess the experience and performance of surgeons, thus leading to the development of a global performance index for surgeons during MIS. These analyses and modeling, moreover, are an important step towards the automatization and the robotic assistance of the surgical gesture.

关键词： Performance analysis Surges Laparoscopes robotics and automation Humanoid robots Management training Minimally invasive surgery intelligent robots USA Councils

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Multi-agent strategic modeling in a robotic soccer domain 06

Multi-agent strategic modeling in a robotic soccer domain

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Fifth International Joint Conference on Autonomous Agents and Multiagent systems, AAMAS

作者： Bezek, Andraz Gams, Matjaz Bratko, Ivan Department of Intelligent Systems Jožef Stefan Institute Faculty of Computer and Information Science University of Ljubljana

ISBN: (纸本)1595933034

This paper presents an algorithm for multi-agent strategic modeling (MASM) applied in a robotic soccer domain. It transforms a multi-agent action sequence into a set of strategic action descriptions in a graphical and symbolic form. By using hierarchically ordered domain knowledge, the algorithm is able to generate graphic and symbolic strategic action descriptions together with corresponding rules at different levels of abstraction. The method was evaluated on the RoboCup Soccer Server Internet League data. Copyright 2006 ACM.

关键词： robotics

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Application of Neural Network to Nonlinear Static Decoupling of Robot Wrist Force Sensor

Application of Neural Network to Nonlinear Static Decoupling...

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World Congress on intelligent Control and Automation (WCICA)

作者： Jianhe Lei Liankui Qiu Ming Liu Quanjun Song Yunjian Ge Department of Automation University of Science and Technology Hefei China Institute of Intelligent Machine Chinese Academy and Sciences Hefei China Department of Electrical & Computer Systems Engineering Monash University Melbourne VIC Australia

The static coupling of wrist force sensor is a major influencing factor to its measuring precision. Aiming at resolving the disadvantages such as low decoupling precision of the traditional method, we put forward a nonlinear decoupling method based on neural network. The major idea applied is to use the BP network to realize the mapping from input to output of the sensor. Owing to BP network's good nonlinear mapping ability, the decoupling result can reach an arbitrary precision theoretically. The effectiveness of this method was verified in the calibration of wrist force sensor of a force sensing system for an underwater robot gripper. The decoupling results demonstrate the validation of neural network method

关键词： Neural networks Robot sensing systems Wrist Force sensors Calibration Force measurement Grippers robotics and automation Manipulators Sensor systems

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An experimentation on creating a mental state transition network

An experimentation on creating a mental state transition net...

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ICIA 2005: 2005 International Conference on Information Acquisition

作者： Hua, Xiang Ren, Fuji Kuroiwa, Shingo Peilin, Jiang Department of Information Science and Intelligent Systems University of Tokushima Tokushima Japan Institute of Artificial Intelligence and Robotics University of Xian Jiaotong Xian Shannxi Province China

ISBN: (纸本)0780393031

Studies on the model of artificial psychology [1] are the first step in the development of human-computer interaction. As affective computing remains unpredictable, creating a reasonable mental model becomes the primary task for building a hybrid system. A pragmatic mental model is also the fundament of some key topics such as recognition and synthesis of emotions. In this paper a Mental State Transition Network is presented and a psychological experiment based on the model is carried out [2]. In this work, we hypothesize that internal mental movements of a human depend on a Mental State Transition Network that is made up of seven discrete emotional states. And we propose a new method to predict the emotional transitional probability distribution by using psychological questionnaires. The transition probability distribution of the model is calculated through a psychological experiment and the model provided a relatively high precision rate of 0.872 for the 50 random data examples used in an experimentation. © 2005 IeeE.

关键词： Gesture recognition

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An experimentation on creating a mental state transition network

An experimentation on creating a mental state transition net...

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International Conference on Information and Automation (ICIA)

作者： Hua Xiang F. Ren S. Kuroiwa Peilin Jiang Department of Information Science and Intelligent Systems University of Tokushima Tokushima Japan Institute of Artificial Intelligence and Robotics Xi''an Jiaotong University Xi'an Shanxi China

Studies on the model of artificial psychology are the first step in the development of human-computer interaction. As affective computing remains unpredictable, creating a reasonable mental model becomes the primary task for building a hybrid system. A pragmatic mental model is also the fundament of some key topics such as recognition and synthesis of emotions. In this paper a mental state transition network is presented and a psychological experiment based on the model is carried out. In this work, we hypothesize that internal mental movements of a human depend on a mental state transition network that is made up of seven discrete emotional states. And we propose a new method to predict the emotional transitional probability distribution by using psychological questionnaires. The transition probability distribution of the model is calculated through a psychological experiment and the model provided a relatively high precision rate of 0.872 for the 50 random data examples used in an experimentation.

关键词： Humans Psychology Cognitive science Hidden Markov models Artificial intelligence intelligent robots Emotion recognition Probability distribution Computational modeling computer simulation

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Online searching with an autonomous Robot

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Springer Tracts in Advanced robotics 2005年 17卷 139-154页

作者： Fekete, Sándor P. Klein, Rolf Nüchter, Andreas Department of Mathematical Optimization Braunschweig University of Technology D-38106 Braunschweig Germany Institute of Computer Science University of Bonn D-53117 Bonn Germany Fraunhofer Institute for Autonomous Intelligent Systems Schloss Birlinghoven D-53754 Sankt Augustin Germany

ISBN: (纸本)9783540257288

We discuss online strategies for visibility-based searching for an object hidden behind a corner, using Kurt3D, a real autonomous mobile robot. This task is closely related to a number of well-studied problems. Our robot uses a three-dimensional laser scanner in a stop, scan, plan, go fashion for building a virtual three-dimensional environment. Besides planning trajectories and avoiding obstacles, Kurt3D is capable of identifying objects like a chair. We derive a practically useful and asymptotically optimal strategy that guarantees a competitive ratio of 2, which differs remarkably from the well-studied scenario without the need of stopping for surveying the environment. Our strategy is used by Kurt3D, documented in a separate video. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Visibility

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Lyapunov-based control of macro-micro manipulator considering bending and torsional vibrations

Lyapunov-based control of macro-micro manipulator considerin...

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International Workshop on Robot Motion and Control (RoMoCo)

作者： Y. Morita M. Kimata H. Ukai H. Kando F. Matsuno Nagoya Kogyo Daigaku Nagoya Aichi JP Dept. of Comput. Sci. & Eng. Nagoya Inst. of Technol. Japan Department of Computer Science & Engineering Nagoya Institute of Technology Nagoya Aichi Japan Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications Chofu Tokyo Japan

This paper presents a Lyapunov-based positioning controller for a macro-micro manipulator suppressing the bending and torsional vibrations of the macro arm. On the basis of the distributed parameter model, the output feedback controller is constructed using the Lyapunov method. The asymptotic stability in the neighborhood of the desired states of the closed-loop system is proven. The proposed controller consists of the PD feedback of the motor angles and a feedback of the torsional strain at the tip of the macro arm. Some simulations are performed to show the effectiveness of the proposed controller.

关键词： Vibration control Lyapunov method Manipulator dynamics Control systems Orbital robotics Output feedback Asymptotic stability Strain control Capacitive sensors Safety

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