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International Symposium on Mechatronics and Its Applications, ISMA

作者： Iraj Hassanzadeh Saleh Mobayen Research Laboratory of Robotics Control Engineering Department Faculty of Electrical Computer Engineering University of Tabriz Tabriz Iran

This paper presents an optimum approach to design input-output feedback linearization (IOFL) controller for a rotary inverted pendulum (RIP) using the Binary Genetic Algorithm. Genetic Algorithms (GAs) are stochastic global search methods that emulate the process of natural evolution and because of their simplicity and robustness, they are more popular and applicable. The primary design goal is to minimize the integral absolute error of system angles and velocities and balance the pendulum in the inverted position by minimizing overshoot, settling time and rise time of step response. An objective function using these indexes is established. Then by minimizing the objective function using Binary Genetic algorithm, the optimal controller parameters can be assigned. Simulation results verified capable and competent characteristics of proposed optimal feedback linearization controller. The proposed method can be considered as a promising way for control of various similar nonlinear systems.

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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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International Conference on Bioinformatics and Biomedical engineering (ICBBE)

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

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.

关键词： Neural networks Electroencephalography Mobile robots Brain modeling Electrodes Robot control control systems Biological neural networks Switches Protocols

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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An Adaptive UKF Algorithm for the State and Parameter Estimations of a Mobile Robot

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自动化学报 2008年第1期34卷 72-79页

作者： SONG Qi HAN Jian-Da Robotics Laboratory Shenyang Institute of Automation Chi-. nese Academy of Sciences Shenyang 110016 P.R. China Department of Auto-control Shenyang Institute of Aeronautical Engineering Shenyang 110136 P.R. China

For improving the estimation accuracy and the convergence speed of the unscented Kalman filter(UKF),a novel adaptive filter method is *** error between the covariance matrices of innovation measurements and their corresponding estimations/predictions is utilized as the cost *** the basis of the MIT rule,an adaptive algorithm is designed to update the covariance of the process uncertainties online by minimizing the cost *** updated covariance is fed back into the normal *** an adaptive mechanism is intended to compensate the lack of a priori knowledge of the process uncertainty distribution and to improve the performance of UKF for the active state and parameter *** asymptotic properties of this adaptive UKF are *** are conducted using an omni-directional mobile robot,and the results are compared with those obtained by normal UKF to demonstrate its effectiveness and advantage over the previous methods.

关键词：卡尔曼滤波器算法移动式遥控装置状态估计参数估计过程协方差

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Neural Oscillator for Rhythmic Motion control of Biped Robot

Neural Oscillator for Rhythmic Motion Control of Biped Robot

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International Conference on Signal Processing, Communication and Networking (ICSCN)

作者： Carlos A. Acosta Calderon Mohan Rajesh Elara Changjiu Zhou Lingyun Hu Bharathiselvan Iniya Advanced Robotics and Intelligent Control Centre Advanced Robotics and Intelligent Control Centre Singapore polytechnics Singapore School ofElectrical and Electronics Department of Electronics and Communication Engineering SRM University Tamil Nadu India

This paper presents a structure of a neural oscillator which is used as Central Pattern Generator for a biped robot locomotion. This architecture is suitable to generate different rhythmic motions, according to the amplitude and frequency of the system. Results of the system on a simulated biped robot show the feasibility of this approach.

关键词： Oscillators Motion control Limit-cycles Intelligent robots Signal generators Legged locomotion Neurons Humans Nonlinear dynamical systems Intelligent control

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An Analysis of Common-Mode Noise Generation in Unbalanced and Balanced Switching Converters for Bidirectional DC Motor Drive

An Analysis of Common-Mode Noise Generation in Unbalanced an...

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第三届亚洲机械电子学学术会议

作者： Terdsak Intachot Kittisak Wadsuntud Yothin Prempraneerach Shuichi Nitta Department of Control Systems and Robotics Engineering Faculty of Industrial Technology Valaya Alongkorn Rajabhat University Pathumtani Thailand

This paper presents the analytical and the experimental investigation of common-mode (CM) current generation in a half-bridge converter (HBC) circuit comparison to a full-bridge converter (FBC) circuit by the viewpoint of circuit unbalance. Because of the CM current generation is the effect of the circuit unbalance. The circuit unbalance is mainly caused by the switching action, and parasitic capacitances occurrence in the circuit with respect to the frame ground or chassis. The HBC and FBC circuits analysis by equivalent circuit model is resultant that the HBC is the unbalanced switching circuit, especially unbalanced transmission path (sending and returning line) impedances, however, the FBC is the balanced switching circuit (especially balanced Transmission path impedances). The experimental results show that HBC circuit mostly generates the unbalanced CM voltages at the dc source terminals and produces the CM current, 348 mA flowing into the frame ground, however, the generated CM voltages of the FBC circuit at the dc source terminals are equal or balanced voltage, so that the production of CM current flowing into the frame ground is greatly reduced to 100 mA.

关键词： Unbalanced half-bridge converter Balanced full-bridge converter Unbalanced circuit model Unbalanced transmission paths.

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A CMAC-Q-Learning based Dyna agent

A CMAC-Q-Learning based Dyna agent

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SICE Annual Conference

作者： Yuan-Pao Hsu Wei-Cheng Jiang Hsin-Yi Lin Department of Computer Science and Information Engineering National Formosa University Yunlin Taiwan Robotics Control Technology Department Intelligent Robotics Technology Division Industrial Technology and Research Institute Hsinchu Taiwan

In the this paper, a CMAC-Q-learning based Dyna agent is presented to relieve the problem of learning speed in reinforcement learning, in order to achieve the goals of shortening training process and increasing the learning, speed. We combine CMAC, Q-learning, and prioritized sweeping techniques to construct the Dyna agent in which a Q-learning is trained for policy learning; meanwhile, model approximators, called CMAC-model and CMAC-R-model, are in charge of approximating the environment model. The approximated model provides the Q-learning with virtual interaction experience to further update the policy within the time gap when there is no interplay between the agent and the real environment. The Dyna agent switches seamlessly between the real environment and the virtual environment model for the objective of policy learning. A simulation for controlling a differential-drive mobile robot has been conducted to demonstrate that the proposed method can preliminarily achieve the design goal.

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Rut Detection for Mobile Robots

Rut Detection for Mobile Robots

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Southeastern Symposium on System Theory

作者： Camilo Ordonez Emmanuel G. Collins Center for Intelligent Systems Control and Robotics (CISCOR) and the Department of Mechanical Engineering Florida State University Tallahassee FL USA

ISBN: (纸本)9781424418060

The guidance and control of autonomous ground vehicles on challenging terrains will improve if off-road driving rules, developed based on the knowledge of experienced off-road drivers, are taken into consideration when designing motion planners and control systems for robotic vehicles. When navigating on off-road surfaces, ruts are commonly encountered. If the vehicle does not guide itself properly in the presence of these ruts, the result may be poor vehicle performance or in some cases even instability. However, if the vehicle guidance system takes advantage of the extra traction that can be achieved by aligning itself with a rut, then a rut can actually be used to increase vehicle performance and stability. This paper presents a rut detection algorithm for mobile robots.

关键词： Mobile robots Navigation Motion control control systems Land vehicles Remotely operated vehicles Robot control Road vehicles Vehicle driving Stability

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Verification of Markov Models of Ageing Power Equipment

Verification of Markov Models of Ageing Power Equipment

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International Conference on Probabilistic Methods Applied to Power Systems (PMAPS)

作者： Jaroslaw Sugier George J. Anders Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Poland Department of Microelectronics of the Technical University of Lodz Poland

ISBN: (纸本)9781934325216;9781934325407;1934325406

Markov models are a well established technique widely used for modeling deterioration processes of the electric power equipment and in reliability analysis. Recently, several papers using Markov and semi-Markov models have been published addressing the issue of the calculation of the remaining life, future failure rates and the probability of failure of power equipment. This paper focuses on one such model and addresses an issue of accuracy of Markov model analysis. The paper presents a method of model adjustment and discusses implementation of three numerical algorithms solving the problem of parameter approximation. A practical example confirms validity of the approach and illustrates its efficiency.

关键词： Aging Power system modeling Power system reliability Costs Inspection Power system economics Power generation economics Frequency Preventive maintenance Power system restoration

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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

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

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.

关键词： Security Field programmable gate arrays Protection Fabrics Cryptography control systems Runtime Prototypes Current measurement Hardware

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