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IEEE International Conference on Robotics and Automation (ICRA)

作者： Wheekuk Kim Do Hyung Kim Byung-Ju Yi Bum Jae You Department of Control and Instrumentation Engineering Korea University South Korea School of Electrical Engineering and Computer Science Hanyang University South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea

ISBN: (纸本)0780365763

A kinematic modeling method is proposed which uses augmenting variables to match the dimensions of the input vector and output vector of each serial subchain of the mobile robots. Firstly, kinematic models of various type of wheels are derived including skidding and sliding velocities. Then the method of augmented generalized coordinates is applied to obtain inverse and forward kinematic models. The kinematic models derived by the direct inverse of the augmented matrices provide an accurate solution, which was not achievable by the modeling method based on the pseudo-inverse method which provides an approximate solution. Lastly, two kinematic models for typical, differential-driven mobile robots are presented to show the effectiveness of the proposed modeling method.

关键词： Mobile robots Wheels Electric variables control Intelligent robots Robot kinematics Instruments Computer science Intelligent systems Intelligent control control system synthesis

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Design of a parallel-type gripper powered by pneumatic actuators

Design of a parallel-type gripper powered by pneumatic actua...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： B.-J. Yi H.Y. Ra J.H. Lee Y.S. Hong J.S. Park S.-R. Oh I.H. Suh W.K. Kim School of Electrical Engineering and Computer Science Hanyang University South Korea Advanced Robotics Research Center KIST South Korea Intelligent System Control Research Center KIST South Korea Department of Control and Instrumentation Engineering Korea University South Korea

A new parallel gripping mechanism is proposed in this work. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular shape or large volume, but also can be utilized as micro-positioning device after grasping the object. Forward position analysis and platform kinematics are investigated to deal with motion tracking and force control. Pneumatic rotator is employed for actuation and a compact sized, 4/3 way proportional pressure valve is also developed to deal with feedback-based dynamic control. The pressure valve also allows indirect force control by measuring the offset pressure occurring due to contact between the grasped object and the parallel platform. In experimental work, performances of the motion tracking and indirect force control are shown satisfactory.

关键词： Grippers Pneumatic actuators Force control Tracking Valves Shape Kinematics Motion analysis Pressure control Size control

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A Rotating Sonar and a Differential Encoder Data Fusion for Map-Based Dynamic Localization

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IFAC Proceedings Volumes 1998年第3期31卷 183-187页

作者： Haeyong Yang Hakyoung Chung KyuCheol Park Jang Gyu Lee LG Industrial System Research & Development Center Anyang-shi Kyongki-do 430-080 Korea Department of Control and Instrumentation Engineering Seoul National Polytechnic University Seoul 139-743 Korea Automatic Control Research Center School of Electrical Engineering Seoul National University Seoul 151-742 Korea

In this paper, a dynamic localization method using a rotating sonar and a map is proposed. The proposed method is implemented by using an extended Kalman filter. The state equation is based on the encoder propagation model and the encoder error model, and the measurement equation is a map-based measurement equation using a rotating sonar sensor. By utilizing sonar beam characteristics, map-based measurements are updated while a mobile robot is moving continuously. Monte-Carlo simulation shows that the proposed global position estimator has the performance of a few millimeter order in position error and of a few tenth degrees in heading error.

关键词： Dynamic Position estimation Model-based recognition Ultra sonic transducer Kalman filter

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Fuzzy inference-based reinforcement learning of dynamic recurrent neural networks

Fuzzy inference-based reinforcement learning of dynamic recu...

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SICE Annual Conference

作者： Hyo-Byung Jun Dong-Wook Lee Dae-Joon Kim Kwee-Bo Sim Robotics and Intelligent Control System Lab Department of Control and Instrumentation Engineering Chung-Ang University Seoul South Korea

ISBN: (纸本)0780342089

This paper presents the fuzzy inference-based reinforcement learning algorithm of dynamic recurrent neural network, similar to the psychological learning scheme of the higher animals. The proposed method follows the way linguistic and conceptional expressions have an effect on human's behavior by reasoning reinforcement based on fuzzy rules. The intervals of fuzzy membership functions are found optimally by genetic algorithms. By using the recurrent neural network composed of dynamic neurons as action-generation network, not only the current state but also the past state is considered to make an action in dynamical environment. We show the validity of the proposed learning algorithm by applying it to the inverted pendulum control problem.

关键词： Learning Recurrent neural networks Fuzzy neural networks Heuristic algorithms Inference algorithms Psychology Animals Fuzzy reasoning Genetic algorithms Neurons

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Artificial immune network-based cooperative control in collective autonomous mobile robots

Artificial immune network-based cooperative control in colle...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Dong-Wook Lee Kwee-Bo Sim Robotics and Intelligent Information System Laboratory Department of Control and Instrumentation Engineering Chung Ang University Seoul South Korea

In this paper, we propose a method of cooperative control based on immune system in distributed autonomous robotic system (DARS). Immune system is living body's self-protection and self-maintenance system. Thus these features can be applied to decision making of optimal swarm behavior in dynamically changing environment. For the purpose of applying the immune system to DARS, a robot is regarded as a B lymphocyte (B cell), each environmental condition as an antigen and a behavior strategy as an antibody respectively. The executing process of proposed method is as follows: when the environmental condition changes, a robot selects an appropriate behavior strategy, and its behavior strategy is stimulated and suppressed by other robot using communication. Finally, such stimulated strategy is adopted as a swarm behavior strategy. This control scheme is based on clonal selection and idiotopic network hypothesis, and it is used for decision making of an optimal swarm strategy.

关键词： Intelligent networks Mobile robots Immune system control systems Intelligent robots Mobile communication Decision making Humans Robot sensing systems Intelligent systems

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Behavior learning and evolution of collective autonomous mobile robots based on reinforcement learning and distributed genetic algorithms

Behavior learning and evolution of collective autonomous mob...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Hyo-Byung Jun Kwee-Bo Sim Robotics and Intelligent Information System Laboratory Department of Control and Instrumentation Engineering Chung Ang University Seoul South Korea

In this paper, we present the reinforcement learning and distributed genetic algorithm based behavior learning of the distributed autonomous mobile robots. The internal reinforcement signal for the reinforcement learning is generated by fuzzy inference, and dynamic recurrent neural networks are used as action generation module. We adopt the distributed genetic algorithms for the cooperative behavior emergence. We show the validity of the proposed learning and evolution algorithm by computer simulation.

关键词： Mobile robots Learning Genetic algorithms Inference algorithms Signal generators Intelligent robots Animals Mobile communication Education Intelligent systems

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Qualitative and quantitative modeling of steam generator in a nuclear power plant using logic processor

Qualitative and quantitative modeling of steam generator in ...

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SICE Annual Conference

作者： Myung-Geun Chun Sam-Sun Ma Myung-Soo Lee Department of Control and Instrumentation Engineering Chungbuk National University Chungbuk South Korea Korea Electric Power Research Institute System and Communication Laboraratory Taejon South Korea

ISBN: (纸本)0780342089

In this work, we propose a qualitative and quantitative modeling method for a steam generator in a nuclear power plant. Modeling the steam generator is known to be difficult due to several facts especially, the dynamics of the steam generator is nonminimum phase which is mainly caused by the swell and shrink phenomena from thermal effects. In order to overcome this difficulty, we adopt logic processor (LP) whose structure itself of the finally trained LPs has a logical meaning to be easily interpreted. In such a manner, we could derive an useful qualitative description model expressing the behavior of the steam generator and a quantitative mathematical model simulating the dynamics of the steam generator simultaneously.

关键词： Power generation Nuclear power generation Logic Mathematical model Neurons Power system modeling Communication system control Instruments Power engineering and energy Thermal engineering

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Architectural Design for Open Intelligent Manufacturing system

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IFAC Proceedings Volumes 1997年第14期30卷 251-254页

作者： Hyoung Joong Kim Gi Taek Kim Byung-Wook Choi Department of Control and Instrumentation Engineering Kangwon National University Chunchon 200-701 Korea Advanced Manufacturing System R&D Office Korea Institute of Industrial Technology Chonan 230-820 Korea

The next generation manufacturing systems will exploit new features from distributed computing, object-oriented software engineering, and Internetworking. In this respect, the role of agents for intelligent manufacturing systems is addressed. This paper mainly surveys the state-of-the-art of the distributed object and agent technologies, which are the core of the intelligent manufacturing systems. Open architecture for interoperability is stressed. Standardization activities are also addressed.

关键词： Intelligent manufacturing systems Intelligent agents Open Architecture Distributed computing Interoperability

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A neural network recognition system for machine printed characters on coils

A neural network recognition system for machine printed char...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： T. Yanagita T. Tanaka A. Toshima Kashina Steel Works Sumitomo Metal Industries Limited Japan Kokura Steel Works Sumitomo Metal Industries Limited Japan Instrumentation System & Development Department Sumitomo Metal Industries Control Engineering Corporation

A new system applying the inherent pattern recognition capability of a neural network has been developed for the task of recognizing machine printed alphanumerics on steel coils. The system has been used in the newly constructed No.2 Kashima cold strip mill (2KCM) since April 1993 and has contributed to fully automatic operation in the 2KCM. The system is 100% accurate in detecting coils that have been transported by mistake, and can do so within a few seconds.

关键词： Neural networks Character recognition Coils Milling machines Strips Steel Metals industry Automatic control control systems Computer displays

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Explicit fuzzy force control of industrial manipulators with position servo drives

Explicit fuzzy force control of industrial manipulators with...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： I.H. Suh K.S. Eom H.J. Yeo B.H. Kang S.-R. Oh B.H. Lee Intelligent Control and Robotics Laboratory Department of Electrvnics Engineering Hanyang University South Korea Samsung Data System Company Limited South Korea Division of Electronics and Infonmation technology KIST Seoul South Korea Robotics and Intelligent Systems Laboratory Department of Control and Instrumentation Engineering Seoul National University South Korea

In this paper, a fuzzy force control algorithm is suggested for commercialized industrial robots equipped with the position servo drives, where control rules of the proposed fuzzy controller are changed according to the magnitude of environmental stiffness in such a way that good force response is maintained regardless of changes of environmental stiffness. Specifically, some fuzzy control rules are designed for several representative environmental stiffness values, and then a control action for a given arbitrary environmental stiffness value is decided by a fuzzy interpolation method. To show the validity of the proposed fuzzy controller, several experimental results are illustrated, where a 5-axis articulated robot manipulator equipped with the wrist force/torque sensor system and our prototype dual robot controller are employed.< >

关键词： Fuzzy control Force control Industrial control Manipulators Torque control control systems Robot sensing systems Commercialization Service robots Servomechanisms

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