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Norm Optimal Iterative Learning control for Planar Tracking Tasks

IFAC Proceedings Volumes 2013年第11期46卷 683-688页

作者： David H. Owens Chris T. Freeman Bing Chu Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD UK Electronics and Computer Science University of Southampton Highfield Southampton SO17 1BJ UK (Department of) Advanced Robotics Instituto Italiano di Tecnologia via Morego 30 16163 Genova

The Iterative Learning control (ILC) problem in which tracking is only required at a subset of isolated time points along the trial duration has recently gained significant attention since it addresses the practical needs of many *** paper extends the framework by embedding simultaneous iterative convergence of subsets of outputs to reference trajectories on subintervals. This enables it to tackle tasks which mix ‘point to point’ movements with linear tracking requirements, which substantially broadens the application domain (e.g. to include automation tasks which include welding or cutting movements, or human motion control where the movement is restricted by the task to straight line and/or planar segments). A solution to the problem is presented in the framework of Norm Optimal ILC (NOILC), providing well-defined convergence properties, design guidelines and supporting experimental results.

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A positive tensions PID controller for a planar cable robot: An experimental study

A positive tensions PID controller for a planar cable robot:...

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

作者： Mohammad A. Khosravi Hamid D. Taghirad Reza Oftadeh Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran Intelligent Hydraulics and Automation Department (lHA) Tampere University of Technology Finland

In this paper design and control of planar cable-driven parallel robots are studied in an experimental prospective. Since in this class of manipulators, cable tensionability conditions must be met, feedback control of such robots becomes more challenging than for conventional robots. To meet these conditions, internal force control structure is introduced and used in addition to a PID control scheme to ensure that all cables remain in tension. A robust PID controller is proposed for partial knowledge of the robot, to keep the tracking errors bounded. Finally, the effectiveness of the proposed control algorithm is examined through experiments on K.N. Toosi planar cable-driven robot and it is shown that the proposed control structure is able to provide suitable performance in practice.

关键词： PD control Assembly Logic gates Servomotors Force

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Segregation in swarms of e-puck robots based on the Brazil nut effect

Segregation in swarms of e-puck robots based on the Brazil n...

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11th International Conference on Autonomous Agents and Multiagent systems 2012: Innovative Applications Track, AAMAS 2012

作者： Chen, Jianing Gauci, Melvin Price, Michael J. Groß, Roderich Natural Robotics Lab. Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom

ISBN: (纸本)9781627481564

When a mixture of particles with different attributes undergoes vibration, a segregation pattern is often observed. For example, in muesli cereal packs, the largest particles-the Brazil nuts-tend to end up at the top. For this reason, the phenomenon is known as the Brazil nut effect. In previous research, an algorithm inspired by this effect was designed to produce segregation patterns in swarms of simulated agents that move on a horizontal plane. In this paper, we adapt this algorithm for implementation on robots with directional vision. We use the e-puck robot as a platform to test our implementation. In a swarm of e-pucks, different robots mimic disks of different sizes (larger than their physical dimensions). The motion of every robot is governed by a combination of three components: (i) attraction towards a point, which emulates the effect of a gravitational pull, (ii) random motion, which emulates the effect of vibration, and (iii) repulsion from nearby robots, which emulates the effect of collisions between disks. The algorithm does not require robots to discriminate between other robots;yet, it is capable of forming annular structures where the robots in each annulus represent disks of identical size. We report on a set of experiments performed with a group of 20 physical e-pucks. The results obtained in 100 trials of 20 minutes each show that the percentage of incorrectly-ordered pairs of disks from different groups decreases as the size ratio of disks in different groups is increased. In our experiments, this percentage was, on average, below 0.5% for size ratios from 3.0 to 5.0. Moreover, for these size ratios, all segregation errors observed were due to mechanical failures that caused robots to stop moving. Copyright © 2012, International Foundation for Autonomous Agents and Multiagent systems (***). All rights reserved.

关键词： Multipurpose robots

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Potential Function Based Multi-Agent Formation control in 3D Space

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IFAC Proceedings Volumes 2012年第22期45卷 682-689页

作者： Marko Bunic Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering LARICS–Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia

This paper presents the extension of the previously proposed method for multi-agent formation control based on potential function. The method derived for 2D space is extended to 3D. It has been shown that the control algorithm keeps all the properties of the original scheme in case of multi-agent formation moving in 3D. An adaptation mechanism that assures avoidance of unwanted stable equilibria, used in 2D, is implemented in the same form for 3D formations. The obtained simulation results demonstrate stable behavior of the system for various sets of parameters - the desired 3D formation is reached in finite time and maintained during trajectory execution.

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Using enzymatic numerical P systems for modeling mobile robot controllers

Using enzymatic numerical P systems for modeling mobile robo...

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作者： Pavel, Ana Brânduşa Buiu, CǍtǍlin Laboratory of Natural Computing and Robotics Department of Automatic Control and Systems Engineering Politehnica University of Bucharest Splaiul Independenţei Nr. 313 Sector 6 060042 Bucharest Romania

P systems (PSs) are powerful computing models based on the structure of a biological cell and on the way chemicals interact in complex biochemical reactions which take place in various compartments (or membranes) of the cell. A lot of interest has been focused on developing various forms of PSs, from cell-like to tissue-like structures. Most of the research effort has been concentrated on symbolical PSs. Numerical P systems (NPSs) have been introduced in 2006 for possible applications in economics and business processes but no other structures and applications concerning this type of PSs have been provided since then. This paper proposes a newclass of NPSs, in which enzyme-like variables allow the existence of more than one production function in each membrane, while keeping the deterministic nature of the system. The way this new type of deterministic NPSs works and a possible use of it for modeling mobile robot controllers are detailed. © Springer Science+Business Media B.V. 2011.

关键词： Enzymes

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A stochastic self-reconfigurable modular robot with mobility control

A stochastic self-reconfigurable modular robot with mobility...

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Joint of the 13th Annual Conference on Towards Autonomous Robotic systems, TAROS 2012 and the 15th Annual FIRA RoboWorld Congress

作者： Ding, Runxiao Eastwood, Paul Mondada, Francesco Groß, Roderich Natural Robotics Lab. Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom LSRO École Polytechnique Fédérale de Lausanne Lausanne Switzerland

ISBN: (纸本)9783642325267

Recently, a variety of robotic systems have been studied under the umbrella term of modular reconfigurable robotics [7,6]. Unlike conventional fixedmorphology robots, whose performance is usually confined by the operating environment and their own size, modular reconfigurable robots have the potential advantage of being able to change their morphology by rearranging the connectivity of their modular units [3]. This project investigates the development and improvement of a self-reconfigurable modular robot designed in previous work to study the emergence of robotic life-forms in a controllable physical environment [4]. The system contains 7 cm x 7 cm square robot units. Each unit is externally propelled and moves stochastically on an air table [2,1]. Each unit can establish, and break, up to four physical connections with other units by means of swiveling permanent magnets [4,1]. Connected units can communicate using infra-red transceivers. © 2012 Springer-Verlag.

关键词： Stochastic systems

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Segregation in Swarms of e-puck Robots Based On the Brazil Nut Effect 12

Segregation in Swarms of e-puck Robots Based On the Brazil N...

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International Conference on Autonomous Agents and Multiagent systems

作者： Jianing Chen Melvin Gauci Michael J. Price Roderich Gross Natural Robotics Lab Department of Automatic Control and Systems Engineering The University of Sheffield

ISBN: (纸本)9781627481564

When a mixture of particles with different attributes undergoes vibration, a segregation pattern is often observed. For example, in muesli cereal packs, the largest particles-the Brazil nutstend to end up at the top. For this reason, the phenomenon is known as the Brazil nut effect. In previous research, an algorithm inspired by this effect was designed to produce segregation patterns in swarms of simulated agents that move on a horizontal plane. In this paper, we adapt this algorithm for implementation on robots with directional vision. We use the e-puck robot as a platform to test our implementation. In a swarm of epucks, different robots mimic disks of different sizes (larger than their physical dimensions). The motion of every robot is governed by a combination of three components: (i) attraction towards a point, which emulates the effect of a gravitational pull, (ii) random motion, which emulates the effect of vibration, and (iii) repulsion from nearby robots, which emulates the effect of collisions between disks. The algorithm does not require robots to discriminate between other robots; yet, it is capable of forming annular structures where the robots in each annulus represent disks of identical size. We report on a set of experiments performed with a group of 20 physical e-pucks. The results obtained in 100 trials of 20 minutes each show that the percentage of incorrectly-ordered pairs of disks from different groups decreases as the size ratio of disks in different groups is increased. In our experiments, this percentage was, on average, below 0.5% for size ratios from 3.0 to 5.0. Moreover, for these size ratios, all segregation errors observed were due to mechanical failures that caused robots to stop moving.

关键词： Brazil nut effect Collective intelligence Emergent behavior Robot disks cultivators swarms Brazil Nuts directional vision algorithms muesli Mechanical failure segregation

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Cooperative Object Manipulation by a Space Robot with Flexible Appendages

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International Scholarly Research Notices 2013年第1期2013卷

作者： P. Zarafshan 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 P.O. Box 19395-1999 Tehran Irankntu.ac.ir

Modelling and control of rigid-flexible multibody systems is studied in this paper. As a specified application, a space robotic system with flexible appendages during a cooperative object manipulation task is considered. This robotic system necessitates delicate force exertion by several end-effectors to move an object along a desired path. During such maneuvers, flexible appendages like solar panels may get stimulated and vibrate. This vibrating motion will cause some oscillatory disturbing forces on the spacecraft, which in turn produces error in the motion of the end-effectors of the cooperative manipulating arms. In addition, vibration control of these flexible members to protect them from fracture is another challenging problem in an object manipulation task for the stated systems. Therefore, the multiple impedance control algorithm is extended to perform an object manipulation task by such complicated rigid-flexible multibody systems. This extension in the control algorithm considers the modification term which compensates the disturbing forces due to vibrating motion of flexible appendages. Finally, a space free-flying robotic system which contains two 2-DOF planar cooperative manipulators, appended with two highly flexible solar panels, is simulated. Obtained results reveal the merits of the developed model-based controller which will be discussed.

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An impact of model parameter uncertainty on scheduling algorithms

An impact of model parameter uncertainty on scheduling algor...

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14th International Conference on Enterprise Information systems, ICEIS 2012

作者： Rudek, Radoslaw Rudek, Agnieszka Kozik, Andrzej Skworcow, Piotr Institute of Business Informatics Wroclaw University of Economics Wroclaw Poland Department of Systems and Computer Networks Wroclaw University of Technology Wroclaw Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland De Montfort University Water Software Systems Leicester United Kingdom

ISBN: (纸本)9789898565105

This short paper presents a preliminary analysis of the impact of model parameter uncertainty on the accuracy of solution algorithms for the scheduling problems with the learning effect. We consider the maximum completion time minimization flowshop problem with job processing times described by the power functions dependent on the number of processed jobs. To solve the considered scheduling problem we propose heuristic (NEH based) and metaheuristic (simulated annealing) algorithms. The numerical experiments show that NEH and simulated annealing are robust for this problem with respect to model parameter uncertainty.

关键词： Simulated annealing

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Stochastic search strategies in 2D using agents with limited perception

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IFAC Proceedings Volumes 2012年第22期45卷 650-654页

作者： David Puljiz Maja Varga Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering LARICS–Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Laboratory of Intelligent Systems Ecole Polytechnique Federale de Lausanne 1015 Lausanne Switzerland

Animals use stochastic search strategies to find a potential nest or to localize the food source. Animals do not rely much on the environmental cues or their sensory inputs. Since their cognitive capabilities are rather limited, search strategies are usually simplistic and stochastic. And yet such simple search strategies result in high efficiency in finding potential targets in limited time intervals. Similar problems with perception of the environment and limited computational power and sensory inputs are observed on the mobile robots used in search scenarios. In spite of their limitations, such robotic systems usually perform deterministic search strategies which heavily depend on environmental cues and sensory input. The research question we are addressing in this paper is which stochastic search strategy has the best performance in terms of area coverage and can stochastic search strategies outperform deterministic search strategies.

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