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IEEE International Conference on Self-Adaptive and Self-Organizing systems Workshops, SASOW

作者： Payam Zahadat Michael Bodi Ziad Salem Frank Bonnet Marcelo Elias De Oliveira Francesco Mondada Karlo Griparic Tomislav Haus Stjepan Bogdan Rob Mills Pedro Mariano Luis Correia Olga Kernbach Serge Kernbach Thomas Schmickl Artificial Life Laboratory of the Department of Zoology Karl-Franzens University Graz Austria Computer Engineering Department Aleppo University Syrian Arab Republic Rbotic Systems Laboratory Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Universidade de Lisboa Lisboa Lisboa PT Cybertronica Research Research Center of Advanced Robotics and Environmental Science Stuttgart Germany

The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.

关键词： Animals Heating Vibrations Robot sensing systems Hardware Biochemistry

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An Approach to Distributed Robust Model Predictive control of Discrete-Time Polytopic systems

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IFAC Proceedings Volumes 2014年第3期47卷 2576-2581页

作者： Alexandra Grancharova Sorin Olaru Institute of System Engineering and Robotics Bulgarian Academy of Sciences Acad. G. Bonchev str. Bl.2 P.O.Box 79 Sofia 1113 Bulgaria (Tel: +*** E3S (SUPELEC Systems Science) Automatic Control Department and EPI INRIA DISCO Gif-sur-Yvette France

A suboptimal approach to distributed robust MPC for uncertain systems consisting of polytopic subsystems with coupled dynamics subject to both state and input constraints is proposed. The approach applies the dynamic dual decomposition method and reformulates the original centralized robust MPC problem into a distributed robust MPC problem. It is based on distributed on-line optimization by applying an accelerated gradient method. The suggested approach is illustrated on a simulation example of an uncertain system consisting of two interconnected polytopic subsystems.

关键词： Predictive control Distributed control Decomposition methods Interconnected systems Uncertainty Robust control Constraints

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Tuning the position of a fuzzy cognitive map attractor using backpropagation through time

Tuning the position of a fuzzy cognitive map attractor using...

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7th International Conference on Integrated Modeling and Analysis in Applied control and Automation, IMAACA 2013, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2013

作者： Gregor, Michal Groumpos, Peter P. Department of Control and Information Systems Faculty of Electrical Engineering University of Žilina Slovakia Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Greece

ISBN: (纸本)9781629934884

The paper proposes a new learning method for fuzzy cognitive maps, which makes it possible to encode an attractor into the map. The method is based on the principle of backpropagation through time known from the theory of artificial neural networks. Simulation results are presented to show how well the method performs. It is shown that the results are superior to those achieved using Hebbian learning approaches such as nonlinear Hebbian learning. Some lines for possible future research and development are given.

关键词： Fuzzy Cognitive Maps

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Momentum based traversal of mobility challenges for autonomous ground vehicles

Momentum based traversal of mobility challenges for autonomo...

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2013 IEEE International Conference on robotics and Automation, ICRA 2013

作者： Ordonez, Camilo Gupta, Nikhil Chuy Jr., Oscar Collins Jr., Emmanuel G. Center for Intelligent Systems Control and Robotics Department of Mechanical Engineering Florida AandM University Tallahassee FL 32310 United States

ISBN: (纸本)9781467356411

Autonomous ground vehicles operating in the field are likely to be faced with several mobility challenges such as piles of rubble, water crossings, steep hills, mud, and stiff vegetation patches. These scenarios are particularly critical for smaller robots with torque and power limited actuators, which as experimentally shown in this work can easily fail to accomplish their tasks in these environments. This paper motivates and provides a methodology that integrates the robot, actuator and terrain models with an efficient motion planner to exploit the vehicle momentum as a way to successfully traverse these difficult terrains. In particular, experimental results showing the efficacy of the proposed methodology are presented for a vegetation patch and a steep hill. Finally, a discussion of the necessary perception work to fully automate the process is included. © 2013 IEEE.

关键词： Actuators

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on control (control)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion Robot sensing systems Impedance Force

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Experimental Testing of a Traction control System with On-line Road Condition Estimation for Electric Vehicles

Experimental Testing of a Traction Control System with On-li...

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Mediterranean Conference on control & Automation

作者： Goran Vasiljevic Karlo Griparic Stjepan Bogdan LARICS - Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering. Faculty of Electrical Engineering and Computing University of Zagreb

ISBN: (纸本)9781479909964

In this paper experimental results of testing slip-based traction control system (TCS) with an on-line road condition estimation are presented. TCS is designed for a car with in-wheel electric motors, so that estimation and control are implemented independently for each wheel thus enabling the optimal friction coefficient for every wheel, even if they are on different surfaces or have different tire characteristics. A road condition is approximated using a function which is estimated in the real-time and used as the input to the TCS. The design of the presented TCS is based on the wheel slip ratio, controlled to it's optimal value by a PI controller and with the addition of a feedforward branch for the transition response speed up. System is tested on a newly developed experimental setup consisting of the wheel with embedded (in-wheel) motor rolling on the metal drum loaded by the second motor simulating car behaviour.

关键词： Traction control systems Pavement condition Electric vehicles Wheels PI control coefficient of friction experimental test SLIP RATIO Cars Best value IN-LINE

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Real-time fall and overturn prevention control for human-cane robotic system

Real-time fall and overturn prevention control for human-can...

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2013 44th IEEE International Symposium on robotics, ISR 2013

作者： Di, Pei Huang, Jian Nakagawa, Shotaro Sekiyama, Kosuke Fukuda, Toshio Department of Micro-Nano Systems Engineering Nagoya University 464-0814 Aichi Nagoya Japan Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China Faculty of Science and Engineering Meijo University Nagoya Aichi Japan Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479911738

A Intelligent Cane Robot(iCane) has been proposed to assist the elderly walking in daily life. As a nursing-care robot, the safety and dependability are the most important issues that should be investigated. For preventing the human subject from falling, the angle of human body and the acceleration of center of gravity(COG) should be less than some threshold. Although in a human-in-the-loop system, the human subject is regarded a uncontrollable object. However, while the user is falling over, the cane robot can move to a appropriately position and support the user for balance. As the prerequisite condition that the cane robot support the human balance, the stability of cane robot should be ensured firstly. According Newton-Euler Law, a dynamic model is proposed to present the stability of human-cane robotic system. A impedance control are used to achieve position, posture and force control of iCane for fall prevention. The simulation and experimental results show the performance of fall prevention by using iCane. © 2013 IEEE.

关键词： Accident prevention

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Characteristics identification of continuum robots for exact modeling

Characteristics identification of continuum robots for exact...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mohammad Dehghani S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Laboratory Department of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran

Continuum robots do not have any joint in contrast to traditional articulated robots. Instead, these robots can bend, twist and stretch their backbone, to shape desired configurations and end-effector position. Therefore, exact modeling of these robots is a challenging problem, particularly in spatial deformations. This paper suggests identification of some mechanical characteristics of the backbone of continuum robots, to achieve accurate results. The importance of identification of characteristics, such as undeformed shape and modulus of elasticity, will be discussed. Then, some methods to identify these characteristics are presented. Theory of Cosserat Rod will be introduced and used for modeling continuum robotic arms in this paper. Finally, the proposed approach is used for a given robot, and the model obtained based on the identified parameters will be validated by experimental results.

关键词： Robots Temperature measurement Elasticity

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A new approach for orientation determination

A new approach for orientation determination

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

In some modeling and control problems, especially in robotics, determination of orientation of a rotating body or frame requires slow and time taking numerical calculations. In some cases, such as for continuum robots, these time-taking calculations are an impediment to real-time control. The common approaches for orientation determination, such as Euler angles or Euler parameters, are beneficial when generalized coordinates are needed. Otherwise, these approaches require some time-taking equations for calculation of the rotation matrix (direction cosine matrix). Another method is to calculate the rotation matrix directly, based on the angular velocity. Although this method is very fast, it is numerically unstable, because of accumulation of some numerical errors. In this paper, an approach is introduced that cancels these errors with the least numerical efforts, and provides high accuracies. The application and importance of this approach is studied and discussed in the case of modeling and control of continuum robotic arms, as an instance. The proposed methods are used to model a spring, as a case study. The obtained results are validated by analytic data, and are compared to the results obtained by other methods.

关键词： Vectors

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Modeling of continuum robots with twisted tendon actuation systems

Modeling of continuum robots with twisted tendon actuation s...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

In contrast to traditional articulated robots, continuum robots do not have any joints. The backbone of these robots can be bent, twisted and stretched by environmental and actuation forces. A group of continuum robotic arms use tendon-driven actuation systems. In this group, the shape of robot backbone can be controlled by pulling the tendons. Generally, exact modeling of the forces and moments produced by tendon-driven systems has no closed form solution. However, for a simplified case where the backbone shape is a planar curve with a constant curvature, some closed-form solutions have been introduced. Such solutions are valuable, especially in control applications where Jacobian matrices must be calculated. For exact modeling of elastic rods in spatial deformations, constant curvature models are not accurate. In such cases, the theory of Cosserat rod can be used for backbone modeling. Continuum robots usually consist of an elastic rod as the backbone and an actuation system. The effects of the actuation systems must be included to the model of Cosserat rod. The effects of the actuation systems are more complicated, when the tendon passages are not parallel to the backbone. In this paper, a model for continuum robotic arms is presented, which considers both, the elastic backbone and the effects of the actuation system. Furthermore, the tendons can twist around the backbone, in an arbitrary passage. The presented model is more compact than other solutions, and will be validated in a case study, by comparison with numerical results obtained from existing models.

关键词： Robots Vectors

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