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International IEEE Conference on Intelligent Transportation systems

作者： C. Pasquale S. Liu S. Siri S. Sacone B. De Schutter the Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Italy. the Delft Center for Systems and Control Delft University of Technology The Netherlands.

ISBN: (纸本)9781467365970

The main objective of this paper is to propose a new two-class macroscopic emission model to describe the pollutant emissions produced by freeway traffic. The innovative aspect of the proposed model consists in considering the on-ramp emissions, which are explicitly modeled for different traffic scenarios. Next, a two-class local controller based on a ramp metering is reported with the aim of minimizing emissions and congestion in the freeway system. The relevance of the on-ramp emission model is in this way highlighted, since ramp metering may lead to creation of queues at the entering on-ramps and hence a concentration of pollutants on these on-ramps. Simulation results show the effectiveness of the proposed control strategy for a case of study.

关键词： pollutant emissions proposed case of study Emissions On ramps Ramp metering DISCHARGE OF POLLUTANTS Freeway emission Pollutant control strategy Case studies Queue local controller Traffic

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A Radial Basis Function Method for Direct Trajectory Optimization

A Radial Basis Function Method for Direct Trajectory Optimiz...

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American control Conference

作者： Hossein Mirinejad Tamer Inanc Autonomous Robotics and Control Systems (ARCS) Lab Department of Electrical and Computer Engineering University of Louisville Louisville KY 40292 USA

ISBN: (纸本)9781479917730

This paper presents a radial basis function (RBF) method to directly solve an optimal control problem with state and control constraints. The proposed method transcribes the optimal control problem into a nonlinear programming (NLP) problem via RBF parameterization of states and controls along with unequal discretization at shifted Legendre-Gauss-Lobatto (LGL) nodes. The advantage of the method is its flexibility to choose among various RBF functions for parameterization. In fact, regardless of the number of nodes and how they are selected, any RBF with invertible Gram matrix (coefficient matrix) can be arbitrarily chosen for the unique approximation of states and controls. Numerical results are provided to verify the efficiency of the method.

关键词： trajectory optimization Radial basis function Optimal control parameterization Ganglia State control Standing Orders

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CPG-Based Gait Transition of a Quadruped Robot

CPG-Based Gait Transition of a Quadruped Robot

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RSI/ISM International Conference on robotics and Mechatronics

作者： Farhad Asadi Mahdi Khorram S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics & Automated Systems (ARAS) Lab Department of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

Quadruped animals have high agility and grace skills in the motion over natural environment. An important feature of such animals is their abilities in the selection of appropriate gait in the response to the terrain irregularities and also the smooth transition between them in order to increase the stability or conserve the energy. In this paper, a Cartesian CPG-based controller for the gait generation and the transition between them will be developed. The proposed approach uses nonlinear coupled oscillators for generating rhythmic signals. These patterns can be modulated by a programmed excitation signal and proportionally changing the frequency, amplitude and the coupling parameters among oscillators. According to these variations, the step length, duration of swing and stance phases of all legs, relative phase between the legs and the sequence of leg lifting can be adjusted smoothly especially by the duration of gait transition. Then, trajectories of swing legs along the z- and x-axeis will be computed through the data obtained form the CPG controller. The reference ZMP path will be desgined on the basis of the footprints of legs. Then, the COG trajectories will be calculated with a preview servo controller. Finally, some simulations are conducted to verify the effectiveness of the proposed approach both in the gait generation and smooth gait transition for a quadruped robot.

关键词： central pattern generator Gait transition Walking and Trotting gait quadruped robots Pattern gait generation

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CPG-Based Gait Planning Of a quadruped robot for Crossing Obstacles

CPG-Based Gait Planning Of a quadruped robot for Crossing Ob...

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RSI/ISM International Conference on robotics and Mechatronics

ISBN: (纸本)9781467372350

ability of quadruped robots for adjusting posture for crossing natural obstacles is an important issue. These robots should change their footholds to avoid any obstacles. In this paper, a gait planning algorithm based on Cartesian CPG-based controller for a quadruped robot in order to cross different planar obstacles will be developed. In proposed approach, the rhythmic patterns in central pattern generator are modulated by feedback signals which encode foothold positions in respect to the planar obstacles. By using these feedback signals the frequency of oscillation will be adjusted so that desired gait avoids the obstacles. The obtained gait results in the swing and stance sequences and also step length for each foot. Then, the trajectory of the swing legs in Cartesian space will be computed based on the CPG output data. So, the desired ZMP (Zero moment Point) trajectory will be obtained by using the footholds. Then, COG trajectory will be obtained by using a preview controller on the basis of the desired ZMP trajectory. Finally, proposed algorithm will be tested for crossing planar obstacles in different size and distance. Obtained results show the effectiveness of the proposed approach in crossing obstacles with different size and distance to each other.

关键词： central pattern generation gait planning Quadruped robots obstacle-crossing phase resetting

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Dynamics of a 9-DoF Robotic Leg for a Football Simulator

Dynamics of a 9-DoF Robotic Leg for a Football Simulator

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RSI/ISM International Conference on robotics and Mechatronics

作者： Masoud Vahidi S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

This paper focuses on a robotic human-like leg. This robot was designed and modeled for task of kicking soccer ball to desired target. In addition, applications of this robot have been explained and its kinematics and dynamics equations have been developed. Kinematic analysis has been done using Denavit-Hartenberg method and position, velocity and acceleration of center of mass (CoM) of all links can be obtained. Dynamics equations of this robot have been written using recursive Lagrange method and inverse dynamics problem has been solved. Finally, kinematics and dynamics equations of this robot are verified using a numerical simulation in MATLAB simmechanics.

关键词： robotic leg simmechanics verification kinematics dynamics

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Time Optimized Digital Image Processing of Ball and Plate System Using Artificial Neural Network

Time Optimized Digital Image Processing of Ball and Plate Sy...

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RSI/ISM International Conference on robotics and Mechatronics

作者： Yasaman Parandian Hannaneh Z. Arabshahi Ali Nasr S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

Regarding robot interaction with moving objects and the necessity for robot controller to react in a timely manner having the objects current position, finding an efficient positioning method has always been a challenge. As ball and plate system is considered to be a standard experimental system in control laboratories. The system is consisted of the following pieces: a horizontal plate which gets tilted along each horizontal axes. The ball, which is located on the plate;is controlled by the system in a way to be placed in any point on the plate. In fact, the ball and plate system is an extension of the classical ball on beam experiment that is often used to study various types of control and stability problems.

关键词： Forward Kinematics Neural Networks Real-Time Computer Vision 3RRS Parallel Robot Ball and Plate

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Experimental exergy analysis of the solar thermal system in the Off-Grid Zero Emissions Building

Experimental exergy analysis of the solar thermal system in ...

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Conference on Technologies for Sustainability (Sustech)

作者： Sam Yang Mauricio B. Chagas Tomas Solano Juan C. Ordonez Taylor Davis Jose V. C. Vargas Camilo Ordonez Department of Mechanical Engineering Center for Advanced Power Systems Florida State University Tallahassee FL USA Department of Mechanical Engineering Control and Robotics Florida State University Tallahassee FL USA

This paper presents an experimental exergy analysis of the solar thermal system in the Off-Grid Zero Emissions Building (OGZEB) at the Florida State University in efforts to identify components with major irreversibilities, i.e., exergy destruction. The solar thermal system comprises a series of flat-plate solar thermal collectors and 250-gal sensible thermal energy storage tank, and it is an essential constituent of the OGZEB heating system. In this study, exergy flow and destruction rates throughout the solar thermal system were evaluated using the experimental data obtained on two different days. According to the analysis, the greatest exergy destruction rate was observed in the solar thermal collector as expected, and its average exergetic efficiencies were 7.9% and 6.5% on each respective day. In the thermal energy storage tank, most of the exergy destruction was attributed to the mixing of hot water from the collector with the reservoir. This work serves as an initial step to the integrative thermodynamic optimization of the HVAC system in an off-grid residential building, where most energy is consumed for air-conditioning and heating.

关键词： Heat transfer Buildings Temperature measurement Sun Thermal analysis Thermal energy

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Real time object tracking via a mixture model

Real time object tracking via a mixture model

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Dongxu Gao Zhaojie Ju Jiangtao Cao Honghai Liu Intelligent Systems and Biomedical Robotics group School of Computing’ University of Portsmouth Portsmouth England Department of Information and Control Engineering Liaoning Shihua University Fushun Liaoning China

Object tracking has been applied in many fields such as intelligent surveillance and computer vision. Although much progress has been made, there are still many puzzles which pose a huge challenge to object tracking. Currently, the problems are mainly caused by appearance model as well as real-time performance. A novel method was been proposed in this paper to handle both of these problems. Locally dense contexts feature and image information (i.e. the relationship between the object and its surrounding regions) are combined in a Bayes framework. Then the tracking problem can be seen as a prediction question which need to compute the posterior probability. Both scale variations and temple updating are considered in the proposed algorithm to assure the effectiveness. To make the algorithm runs in a real time system, a Fourier Transform (FT) is used when solving the Bayes equation. Therefore, the MMOT (Mixture model for object tracking) runs in real-time and performs better than state-of-the-art algorithms on some challenging image sequences in terms of accuracy, quickness and robustness.

关键词： Computational modeling Image color analysis Hidden Markov models Computer vision Object tracking Pattern recognition Real-time systems

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Erratum to: Supplemental vibrotactile feedback control of stabilization and reaching actions of the arm using limb state and position error encodings

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Journal of neuroengineering and rehabilitation 2017年第1期14卷 69页

作者： Alexis R Krueger Psiche Giannoni Valay Shah Maura Casadio Robert A Scheidt Biomedical Engineering Marquette University Milwaukee WI USA. Informatics Bioengineering Robotics and Systems Engineering University of Genova Genoa Italy. Robotics Brain and Cognitive Science Italian Institute of Technology Genoa Italy. Biomedical Engineering Marquette University Milwaukee WI USA. robert.scheidt@marquette.edu. Physical Medicine and Rehabilitation Northwestern University Feinberg School of Medicine Chicago IL USA. robert.scheidt@marquette.edu. Sensory Motor Performance Program Rehabilitation Institute of Chicago Chicago IL USA. robert.scheidt@marquette.edu. Neurology Medical College of Wisconsin Wauwatosa WI USA. robert.scheidt@marquette.edu. Neuromotor Control Laboratory Department of Biomedical Engineering Marquette University Olin Engineering Center 206 P.O. Box 1881 Milwaukee WI 53201-1881 USA. robert.scheidt@marquette.edu.

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Agent Motivational and Repulsion Forces Optimization in Agent Basic Movement Model

Agent Motivational and Repulsion Forces Optimization in Agen...

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Asian control Conference

作者： Nurulaqilla Khamis Mohammad Fadzli Haniff Hazlina Selamat Omar Farouq Lutfy Centre for Artificial Intelligence & Robotics Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia Centre for Artificial Intelligence & Robotics Electrical Engineeering Faculty Universiti Teknologi Malaysia Centre for Artificial Intelligence & Robotics Electrical Engineering Faculty Universiti Teknologi Malaysia Control & Systems Engineering Department University of Technology

ISBN: (纸本)9781479978632

Human will have their own preferences when they are walking such as direction in their movement, destination and walking speed. These preferences and walking patterns can be affected by several factors including psychological behavior of evading other people or obstacle to avoid any collision by exerting certain repulsion forces. To demonstrate plausible human movement pattern, agent simulation model as a tool has been developed in this research studies where the agent will represent the human with the physical characteristics of body radius and Field of View (FoV) to navigate their surroundings. The modification in the proposed agent model was done by utilizing the physical force approach which results in a simpler mathematical representation compared to the original model. In the proposed model, two parameters, namely, K_(ad) and K_(ro), are used to represent the agent motivational force to move towards its target destination and the obstacle repulsion, respectively. Moreover, heuristics and non-linear parameters were used in the proposed model to provide more realistic agent motion by maintaining their safety boundary from obstacles. To increase the accuracy of the modified model, the Particle Swarm Optimization (PSO) algorithm is used to find the optimal settings for the parameters of the agent basic movement model. The PSO has achieved superior results by optimizing the model parameters to provide safe distance trajectories between agents and obstacles.

关键词： Agents research report Repulsion model parameters original model walking barriers Human Force Movements Diaphysis of radius Two-Parameter Models Physical characteristics

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