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IEEE International Conference on Fuzzy Systems

作者： Geun Bum Koo Jin Bae Park Young Hoon Joo Department of Electrical and Electronic Engineering Yonsei University Department of Control and Robotics Engineering Kunsan National University

ISBN: (纸本)9781467315074

This paper presents a decentralized fuzzy controller design for the stochastic stabilization of the large-scale fuzzy systems with packet losses. Sufficient conditions are derived for the stochastic stabilization of the closed-loop system. Using the cost function, the fuzzy guaranteed cost control is defined and minimization of a given cost function is formulated in terms of linear matrix inequalities. Finally, a numerical example is provided to verify the effectiveness of the proposed technique.

关键词： Fuzzy systems Stochastic processes Cost function Large-scale systems Closed loop systems Numerical stability Upper bound

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Mechanical properties of boron nitride nanocones

Mechanical properties of boron nitride nanocones

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作者： Tian, Y. Wei, R. Eichhorn, V. Fatikow, S. Shirinzadeh, B. Zhang, D. School of Mechanical Engineering Tianjin University Tianjin 300072 China Division of Microrobotics and Control Engineering University of Oldenburg 26111 Oldenburg Germany Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Clayton VIC 3800 Australia

Using classic molecular dynamics simulation, the mechanical properties of boron nitride nanocones (BNNCs) have been systematically investigated. The influences of the apex angle, cone height on tensile, and compressive behavior of BNNCs under axial strains are analyzed. The failure strains and strain energy per atom of BNNCs decrease with the increasing cone height, whereas the failure forces almost remain constant for BNNCs under axial tensile strains. For the buckling analyses of BNNCs, the critical strain and critical axial force reduce significantly with the increase of the apex angle. The increasing cone height can also significantly decrease the critical strain of BNNCs and only slightly affects the critical force of BNNCs. The cone height has little influence on the resulting buckling patterns;however, the apex angle has a significant effect on the buckling patterns of the BNNCs. From the computational analyses, it is noted that there exist three deformation patterns, i.e., fourfold rotational symmetric, threefold rotational symmetric, and reflection symmetric modes for the BNNC with an apex angle of 83.6° and the former pattern will gradually transform to the latter pattern during the postbuckling stage. On the contrary, there is only one reflection symmetric fin-like buckling pattern for the BNNC with an apex angle of 39.8°. © 2012 American Institute of Physics.

关键词： Boron nitride

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Automatic generation and learning of finite-state controllers

Automatic generation and learning of finite-state controller...

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15th International Conference on Artificial Intelligence: Methodology, Systems, and Applications, AIMSA 2012

作者： Leonetti, Matteo Iocchi, Luca Patrizi, Fabio Department of Advanced Robotics Istituto Italiano di Tecnologia via Morego 30 16163 Genova Italy Department of Computer Control and Management Engineering Sapienza University of Rome via Ariosto 25 00185 Rome Italy

ISBN: (纸本)9783642331848

We propose a method for generating and learning agent controllers, which combines techniques from automated planning and reinforcement learning. An incomplete description of the domain is first used to generate a non-deterministic automaton able to act (sub-optimally) in the given environment. Such a controller is then refined through experience, by learning choices at non-deterministic points. On the one hand, the incompleteness of the model, which would make a pure-planning approach ineffective, is overcome through learning. On the other hand, the portion of the domain available drives the learning process, that otherwise would be excessively expensive. Our method allows to adapt the behavior of a given planner to the environment, facing the unavoidable discrepancies between the model and the environment. We provide quantitative experiments with a simulator of a mobile robot to assess the performance of the proposed method. © 2012 Springer-Verlag.

关键词： Reinforcement learning

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The reduction methodology of external noise with segmentalized PSO-FCM: Its application to phased conversion of the radar system on board

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Journal of Institute of control, robotics and Systems 2012年第7期18卷 638-643页

作者： Son, Hyun Seung Park, Jin Bae Joo, Young Hoon Department of Electrical and Electronic Engineering Yonsei University Korea Republic of Department of Control and Robotics Engineering Kunsan National University Korea Republic of

This paper presents an intelligent reduction method for external noise. The main idea comes from PSO-FCM (Particle Swam Optimization Fused fuzzy C-Means) clustering. The data of the target is transformed from the antenna coordinates to the vessel one and to the system coordinates. In the conversion, the overall noises hinder observer to get the exact position and velocity of the maneuvering target. While the filter is used for tracking system, unexpected acceleration becomes the main factor which makes the uncertainty. In this paper, the tracking efficiency is improved with the PSO-FCM and the compensation methodology. The acceleration is approximated from the external noise splitted by the proposed clustering method. After extracting the approximated acceleration, the rest in the noise is filtered by the filter and the compensation is added to after that. Proposed tracking method is applicable to the linear model and nonlinear one together. Also, it can do to the on-line system. Finally, some examples are provided to examine the reliability of the proposed method. © ICROS 2012.

关键词： Target tracking

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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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control system simulation for endoscopie surgical manipulator based on virtual chain approach

Control system simulation for endoscopie surgical manipulato...

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2012 1st International Conference on Innovative engineering Systems, ICIES 2012

作者： Ibrahim, Khalil Ramadan, Ahmed Farmi, Mohamed Kobayashi, Yo Abo-Ismail, Ahmed Fujie, Masakatus G. Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Computers and Automatic Control Engineering Dep. Tanta University Tanta Egypt Mechanical Department Mansoura University Mansoura Egypt Faculty of Science and Engineering Waseda University Tokyo Japan

ISBN: (纸本)9781467344388

This paper deals with the design process and the dynamic control simulation of a new type of 4-DOFs parallel mechanism that can be used as an endoscopie surgical manipulator. The proposed mechanism, 2-PUU 2PUS, is designed based on the screw theory and the parallel virtual chain type synthesis method. Based on the structure analysis of the 4-DOF parallel mechanism, the inverse position equation is studied using the inverse analysis theory of kinematics. The design and the stress analysis of the mechanism are investigated using SolidWorks software. The virtual prototype of the parallel mechanism is constructed, and the dynamic simulation is performed using ADAMS™ software. The system model utilizing PID and PI controllers has been built using MATLAB software. A more realistic simulation in accordance with a given bending angle and point to point control is implemented by the use of both ADAMS/MATLAB software. The simulation results showed that this control method has solved the coordinate control for the 4-DOF parallel manipulator so that each output is feedback to the four driving rods. From the results, the tracking performance is achieved. Other control techniques, such as intelligent ones, are recommended to improve the tracking performance and reduce the numerical truncation error. © 2012 IEEE.

关键词： MATLAB

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Comparison of MUSIC and ESPRIT for direction of arrival estimation of jamming signal

Comparison of MUSIC and ESPRIT for direction of arrival esti...

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IEEE Instrumentation and Measurement Technology Conference

作者： Jeong-Geun Hong Chan-Sik Park Bo-Seok Seo Department of Electronics Engineering Chungbuk Cheongju-si Korea Department of Control & Robotics Engineering Chungbuk Cheongju-si Korea

For antijamming design of global positioning system (GPS) in military applications, the direction of arrival (DOA) estimation of jamming signal is positively necessary. The DOA estimation is also used in mobile communication systems to expand the coverage area or to increase the channel capacity, where the base station forms a beam to the direction of the user terminal. In this paper, we compare the performance of MUSIC and ESPRIT algorithms with two-dimensional antenna arrays. MUSIC and ESPRIT algorithms are two typical DOA estimation methods in nonparametric and parametric methods, respectively. With ESPRIT, we derive the estimates of two-dimensional azimuth and elevation from two one-dimensional DOAs. Computer simulations are shown to demonstrate the performance.

关键词： Jamming Direction of arrival estimation Multiple signal classification Estimation Antenna arrays Sensors Azimuth

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Conceptual design and kinematic analysis of a parallel rotational robot 1

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5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Herrera, Fray J. Acuña, Hernan Gonzalez Lengerke, Omar Dutra, Max Suell Research Group in Control and Mechatronics Mechatronics Engineering Program Universidad Autonoma de Bucaramanga Bucaramanga Colombia Research Group in Machine Design and Robotics Department of Mechanical Engineering COPPE UFRJ Federal University of Rio de Janeiro Rio de Janeiro Brazil

ISBN: (数字)9783642335037

ISBN: (纸本)9783642335020

This paper presents the conceptual design and simulation of a rotational parallel robot. This robot is used to reproduce movement;the robot workspace, inverse kinematic study and a simulation of the system in a trajectory were analyzed. Computational tools were used to resolve equations, create a virtual design and conduct simulation in the conceptual design. The rotational parallel robot used 6 servomotors and 6 links with spherical joints that provide 360° rotational capabilities on its axis. This is a big flexibility in comparison with Stewart platform but the workspace is smaller than that of the Stewart platform. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Inverse kinematics

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Bond Graph Modelling of In Vivo Robot for Biopsy

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IFAC Proceedings Volumes 2012年第2期45卷 421-426页

作者： Mihir Kumar Sutar P.M. Pathak A.K. Sharma N.K. Mehta V.K. Gupta Robotics and Control Laboratory Mechanical and Industrial Engineering Department Indian Institute of Technology Roorkee Practising Physian Vinay Nursing Home Roorkee

Abstract Endoscopes have been in use for many procedures including limited surgery. And biopsy is one of its very common applications. Existing endoscopes have limitations in number of degrees of freedom. This paper presents a new design of In- Vivo robot. The work presents bond graph model of a robot for taking a biopsy sample inside the stomach. To develop the bond graph model a kinematic analysis is carried out and various transformer modulli required for drawing of bond graph model are evaluated. The developed bond graph model can be used for trajectory or force control of in vivo robots.

关键词： In-Vivo robot Biopsy dexterity kinematic analysis Bond graph modeling

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Multibody bionic systems modeling - The puppet master approach

Multibody bionic systems modeling - The puppet master approa...

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International Carpathian control Conference (ICCC)

作者： Janusz Kowal Wojciech Lepiarz Andrzej Sioma Faculty of Mechanical Engineering and Robotics Department of Process Control AGH University of Science and Technology Krakow Poland

In this study, the puppet master approach to solve the kinematics of complex multi-body systems is introduced. The puppet master approach is shown in comparison with traditional analytical one. The method is used to solve multi-body systems of bio-inspired concept prototypes. In these examples the strong and weak sides of this approach are shown. The puppet master approach can be used to rapidly evaluate and compare different concept prototypes.

关键词： Legged locomotion Kinematics Prototypes Algorithm design and analysis Joints Dynamics

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