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Design of augmented extended and unscented Kalman filters for differential-drive mobile robots

Journal of Applied Sciences 2008年第16期8卷 2901-2906页

作者： Hassanzadeh, Iraj Fallah, Mehdi Abedinpour Research Laboratory of Robotics Department of Control Engineering Faculty of Electrical and Computer Engineering University of Tabriz Tabriz Iran

In this study, we present the local reconstruction of differential-drive mobile robots position and orientation with an accurate odometry calibration. Starting from the encoders readings and assuming an absolute measurement available, Augmented Extended and Unscented Kalman Filters (AEUKF) are proposed to localize the vehicle while estimating a proper set of odometric parameters. In order to compare their estimation performances explicitly, both observers are designed for the same mobile robot model and run with the equal covariance matrices under the identical initial conditions. In the simulation results, it is shown that Augmented Unscented Kalman Filter (AUKF) outperforms the Augmented Extended Kalman Filter (AEKF). © 2008 Asian Network for Scientific Information.

关键词： Mobile robots

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Design and implementation of a controller for magnetic levitation system using genetic algorithms

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Journal of Applied Sciences 2008年第24期8卷 4644-4649页

作者： Hassanzadeh, Iraj Mobayen, S. Sedaghat, G. Research Laboratory of Robotics Department of Control Engineering University of Tabriz Postal Code *** Tabriz Iran

This research presents an optimum approach for designing of controller parameters for an unstable system using Genetic Algorithms (GA). The design goal is to minimize the integral absolute error and reduce transient response by minimizing overshoot settling time and rise time of step response. We define an objective function of these indexes. Then by minimizing the function using binary and real-coded GA, the optimal controller parameters can be assigned. In this study, a magnetic levitation system is considered as a case study and the controller is designed to keep a magnetic object suspended in the air counteracting the weight of the object. The proposed algorithms are implemented using xPCtarget® toolbox and Simulink® which facilitate to utilize hardware in the loop (HIL) property, Tele-lab implementation and fast prototyping approoch. Simulation and experimental results show the effectiveness and robustness of the proposed methods which are applicable to various control systems. Also, binary and real-coded performances are compared and discussed. © 2008 Asian Network for Scientific Information.

关键词： Genetic algorithms

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Annual business and news: Beginning the 32nd year

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Journal of Guidance, control, and Dynamics 2009年第1期32卷 1-7页

作者： Schmidt, George T. Akella, Maruthir Balakrishnan, S.N. Campbell, Mark E. Clarke, John-Paul Colgren, Richard D. Crassidis, John L. Doman, David B. Eke, Fidelis O. Enns, Russell J. Gawronski, Wodek Hablani, Hari B. Leitner, Jesse A. Ping, Lu MacDonald, Malcolm McFarland, Michael B. Melton, Robert G. Mitchell, James Mukhopadhyay, Vivekanand Sasiadek, Jurek Z. Schaub, Hanspeter Wise, Kevin A. United States NATO Systems and Electronics Technology Panel Lecture Series on Low Cost Navigation Sensors and Integration Technology U.S. Air Force Office of Scientific Research United States United States American Automatic Control Council United States Sibley School of Mechanical and Aerospace Engineering Cornell University United States School of Aerospace Engineering Air Transportation Laboratory Georgia Institute of Technology United States Lockheed Martin Aeronautics Company Palmdale CA United States United States Wright-Patterson Air Force Base Dayton OH United States Davis United States Apache Longbow Jet Propulsion Laboratory California Institute of Technology United States GSFC United States Department of Aerospace Engineenng Iowa State University United States Raytheon Electronic Systems United States Department of Aerospace Engineering Pennsylvania State University United States NASA Langley Research Center United States Indian Institute of Technology India Department of Aerospace Engineering Carleton University Canada International Federation of Automatic Control Robotics Technical Committee Joint Robotics and Control Systems Societies Chapter Ottawa Canada X-45 Joint-Unmanned Combat Air System Program

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Classification accuracy of an imagined-movements mental task set for brain-machine interface

Classification accuracy of an imagined-movements mental task...

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2nd International Conference on Bioinformatics and Biomedical engineering, iCBBE 2008

作者： Abundo, Michael Lochinvar S. Marco, Eliezer A. Mempin, Gino Francisco R. Talampas, Marc Caesar R. Sison, Luis G. Instrumentation Robotics and Control Laboratory Department of Electrical and Electronics Engineering University of the Philippines Diliman Philippines

ISBN: (纸本)9781424417483

We study the classification accuracy of a neural network (NN) classifier for a Brain-Machine Interface (BMI) system that uses an imagined-movements mental task set and compare the performance of the classifier when the user is subjected to a non-moving (static) reference frame (SRF) and to a moving (dynamic) reference frame (DRF) while performing the mental tasks. We use the band powers and power differences of electroencephalogram (EEG) signals recorded from 8 surface electrodes. Results show that tasks involving imagined movements are the most immune to the SRF-DRF switch but may not be the most appropriate BMI protocol for BMI classification. © 2008 IEEE.

关键词： Brain computer interface

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SeReCon: A Secure Dynamic Partial Reconfiguration controller

SeReCon: A Secure Dynamic Partial Reconfiguration Controller

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IEEE Computer Society Annual Symposium on VLSI: Trends in VLSI Technology and Design, ISVLSI 2008

作者： Kepa, Krzysztof Morgan, Fearghal Kosciuszkiewicz, Krzysztof Surmacz, Tomasz Department of Electronic Engineering National University of Ireland Galway Ireland Institute of Computers Control and Robotics Wroclaw University of Technology Poland

ISBN: (纸本)9780769531700

As Reconfigurable Computing systems become more popular, concerns arise about their security and integrity. Runtime access to the configuration memory of Dynamic Partially Reconfigurable FPGA devices offers new design possibilities, but also introduces security threats. This paper discusses various security threats present in such systems. The paper proposes a Secure Reconfiguration controller (SeReCon) which provides secure runtime management of designs downloaded to the DPR FPGA system and protects the design IP. SeReCon requires minor modification to the FPGA fabric. A prototype implementation of SeReCon is evaluated. ©2008 IEEE.

关键词： Field programmable gate arrays (FPGA)

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Tree of Words for visual loop closure detection in urban SLAM

Tree of Words for visual loop closure detection in urban SLA...

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2008 Australasian Conference on robotics and Automation, ACRA 2008

作者： Callmer, Jonas Granström, Karl Nieto, Juan Ramos, Fabio Division of Automatic Control Department of Electrical Engineering Linköping University Sweden Australian Centre for Field Robotics University of Sydney Australia

ISBN: (纸本)9780646506432

This paper introduces vision based loop closure detection in Simultaneous Localisation And Mapping (SLAM) using Tree of Words. The loop closure performance in a complex urban environment is examined and an additional feature is suggested for safer matching. A SLAM ground experiment in an urban area is performed using Tree of Words, a delayed state information filter and planar laser scans for relative pose estimation. Results show that a good map estimation using our vision based loop closure detection can be obtained in near real, yet constant, time. It is shown that an odometry supported recall rate of almost 70% can be obtained with a false detection rate of about 0.01%.

关键词： Forestry

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MotesArt: Wireless sensor network for monitoring relative humidity and temperature in an art gallery

MotesArt: Wireless sensor network for monitoring relative hu...

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IEEE International Conference on Networking, Sensing and control

作者： Lee, Agnes Meiling C. Angeles, Chester T. Talampas, Marc Caesar R. Sison, Luis G. Soriano, Maricor N. Department of Electrical and Electronics Engineering University of the Philippines Diliman Philippines Project Grant # 060629OG Entitled Art Beyond Appearances: Physics Looks Into Paintings Instrumentation Robotics and Control Laboratory Department of Electrical and Electronics Engineering

ISBN: (纸本)9781424416851

Artworks in museums and art galleries are significantly affected by temperature and relative humidity (RH) variations. Significant variations in temperature can double the deterioration rate of paper and other canvases. Fluctuating levels of RH cause materials to corrode, shrink, swell, or warp. Monitoring and control of indoor climate conditions is thus crucial in ensuring the preservation of art collections. This study addresses the need for monitoring by designing and implementing a wireless sensor network composed of several specialized sensor nodes dumping temperature and RH readings to a base station computer. Each sensor node is equipped with an ASK transmitter and no ASK receiver. This design allows for lower power consumption and highly simplifies communication between the sensor node and base station. The MAC protocol used for the wireless sensor network is ALOHA without retransmissions. The wireless sensor network is evaluated in terms of cost, range, power consumption and packet error rate.

关键词： Base stations

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An IMC based enhancement of accuracy and robustness of impedance control

An IMC based enhancement of accuracy and robustness of imped...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Sang Hoon Kang Maolin Jin Pyung Hun Chang Robotics and Control Laboratory Department of Mechanical Engineering KAIST Daejeon South Korea

An accurate and robust impedance control technique is developed based on internal model control structure and time-delay estimation: the former injects desired impedance and corrects dynamics estimation error; the latter estimates and compensates the nonlinear dynamics of robot manipulators. Owing to the simple structure, the proposed control is designed without requiring entire dynamics computation or complex algorithms. The accuracy and robustness of the proposed control are verified using a two degrees of freedom robot with stiff wall simulation. The proposed control realizes desired impedance accurately compared with other competent controllers throughout the task, i.e., free motion, constrained motion, and transition between these motions. Further, proposed control realizes four sets of desired impedance accurately. Thus, accuracy and robustness of proposed control is confirmed.

关键词： Robust control Impedance Robots Robustness Automatic control Iron Manipulator dynamics Error correction Delay estimation Motion control

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Multiple Mobile Robots Map Building Based on DSmT

Multiple Mobile Robots Map Building Based on DSmT

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IEEE Conference on robotics, Automation and Mechatronics

作者： Peng Li Xinhan Huang Min Wang Xiangjin Zeng Intelligent Control and Robotics Laboratory Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China

In this paper, a new multi-robot system framework is introduced to solve the problem of multi-robot map building. Compared with the classical architectures introduced in the literature, this kind of framework enhances overall system performance, especially in reducing calculations and communications, improving real-time performance. Meanwhile a general basic belief assignment function (gbbaf) is constructed to deal with the uncertain and imprecise information obtained by sonar sensors with the application of new information fusion method DSmT (dezert and smarandache theory) in the system and consideration of characteristics of sonar sensors. At last, Pioneer II mobile robots are used to carry out experiments of map building for both single-robot system and multi-robot system. The comparison of created ichnography with the real map testified the validity of DSmT and efficiency of multi-robot system for fusing imprecise information and map building proposed by this research.

关键词： Mobile robots Buildings Multirobot systems Sonar applications Sensor fusion Sensor phenomena and characterization Sensor systems and applications System performance Mobile communication Real time systems

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Annual business and news:: Beginning the 31st year of the Journal of Guidance, control, and Dynamics

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JOURNAL OF GUIDANCE control AND DYNAMICS 2008年第1期31卷 1-1页

作者： Schmidt, George T. Aeronautics and Astronautics Massachusetts Institute of Technology (MIT) AIAA Institute of Electrical and Electronics Engineers Russian Federation Academy of Navigation and Motion Control Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla(UMR) Lockheed Electronics Company Center for Space Research University of Texas Austin United States Wright Laboratory Eglin Air Force Base UMR AIAA Guidance Navigation and Control Technical Committee American Automatic Control Council Lockheed Martin Aeronautics Company Palmdale CA United States C4ISR and Unmanned Air Vehicle (UAV) Programs for Air Vehicle Sciences and Systems Accreditation Board Engineering and Technology Inc./Aeronautical National Technical Committee on Guidance Navigation and Control Department of Mechanical and Aerospace Engineering University at Buffalo State University of New York (SUNY) AIAA Technical Committee on GN and C Air Vehicles Directorate Air Force Research Laboratory (AFRL) Wright-Patterson Air Force Base Space Access and Hypersonic Vehicle Guidance and Control Group Control Science Center of Excellence AFRL AIAA Technical Committee on Guidance Navigation and Control Department of Mechanical and Aeronautical Engineering University of California (UC) Davis United States Boeing Company Modernized Flight Control System for the Apache Longbow AIAA Institute of Electrical and Electronics Engineers AHS Jet Propulsion Laboratory California Institute of Technology Boeing Company Flight Sciences and Advanced Design Group Guidance Navigation and Control (GN and C) Systems Engineer Distributed Space Systems NASA Goddard Space Flight Center (GSFC) AIAA GN and C Technical Committee Department of Aerospace Engineering and Engineering Mechanics University of Texas Austin United States Institute of Navigation American Astronautical Society AIAA Guidance Navigation (GN and C) and Control Technical Committee Department of Aerospace Engineering Iowa State University Iowa

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