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International Conference on Natural Computation (ICNC)

作者： Evren Daglarli Hakan Temeltas Control Engineering Department Robotics Laboratory Electrical-Electronics Engineering Faculty Istanbul Technical University Maslak Istanbul Turkey

In this study, behavioral system based robot control architecture is built up for a four-wheel driven and four-wheel steered mobile robot. Behavioral system is determined as evolutionary neural-fuzzy inference system for behavior generation and self-learning processes in the general robot control architecture. The kinematics and dynamic model of the mobile robot with non-holonomic constraints is used as present structure which is modeled in previous studies. The posture and speed of the robot and the configurations, speeds and torques of the wheels can be observed from the simulation plant and virtual reality viewer. The behaviors are investigated regarding their gains, fuzzy inference structures, real-time applicability and their coordination.

关键词： Robot sensing systems Mobile robots Robot kinematics Laboratories Robot control control systems Orbital robotics Sensor systems Fuzzy logic Intelligent robots

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On Maximum Stability Margin Design of Nonlinear Uncertain Systems: Fuzzy control Approach

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Asian Journal of control 2008年第3期3卷

作者： Chung-Shi Tseng Bor-Sen Chen Huey-Jian Uang the Department of Electrical Engineering of Ming Hsin Institute of Technology Hsin Chu Taiwan. the Department of Electrical Engineering of National Tsing Hua University Hsin Chu Taiwan. Huey-Jian:Uang received the B.S. degree from the Department of Electrical Engineering Feng-Chia University Taichung Taiwan and the M.S. degree and Ph.D. degree from National Tsing-Hua University Hsin-Chu Taiwan all in electrical engineering. He is now an Assistant Professor at the Ming Hsin Institute of Technology and Commerce Hsin-Chu Taiwan. His current research interests include robotics robust control and fuzzy systems.

This paper studies the maximum stability margin design for nonlinear uncertain systems using fuzzy control. First, the Takagi and Sugeno fuzzy model is employed to approximate a nonlinear uncertain system. Next, based on the fuzzy model, the maximum stability margin for a nonlinear uncertain system is studied to achieve as much tolerance of plant uncertainties as possible using a fuzzy control method. In the proposed fuzzy control method, the maximum stability margin design problem is parameterized in terms of a corresponding generalized eigenvalue problem (GEVP). For the case where state variables are unavailable, a fuzzy observer-based control scheme is also proposed to deal with the maximum stability margin for nonlinear uncertain systems. Using a suboptimal approach, we characterize the maximum stability margin via fuzzy observer-based control in terms of a linear matrix inequality problem (LMIP). The GEVP and LMIP can be solved very efficiently via convex optimization techniques. Simulation examples are given to illustrate the design procedure of the proposed method.

关键词： Maximum stability margin fuzzy control GEVP and LMIP

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Locomotion modeling and simulation of the biped robot with heterogeneous legs

Locomotion modeling and simulation of the biped robot with h...

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2007 2nd IEEE Conference on Industrial Electronics and Applications, ICIEA 2007

作者： Fu, Li Xu, Xinhe Department of Auto-control Shenyang Institute of Aeronautical Engineering Shenyang 110004 China Institute of Artificial Intelligence and Robotics Northeastern University Shenyang 110004 China State Key Laboratory for Intelligence Technology and System Tsinghua University Beijing 100084 China

ISBN: (纸本)1424407370

This paper proposed a methodology for kinematic and dynamic modeling of biped robot with Heterogeneous legs (BRHL). Based on design characteristics in the knee joint used in intelligent prosthesis leg, i.e., multi-axes mechanics with closed loop chain and reluctant coordinates, we use Routh method to develop dynamic model of BRHL and evaluate the relationship between force and moment, giving an algorithm of Routh equation for forward and reverse solution as well as constrain equations. This methodology establishes the basis for locomotion, control and perception of BRHL. In addition, the model thus developed is proven to be robust and the human motion process is well simulated in ADAMS software. © 2007 IEEE.

关键词： Robotic arms

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Learning Cooperative Object Pushing with Variable Contact Point

Learning Cooperative Object Pushing with Variable Contact Po...

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2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Pages 805-1210

作者： Abdol Hossein Aminaiee Majid Nili Ahmadabadi Robotics and AI Laboratory Control and Intelligent Processing Center of Excellence Department of Electerical and Computer Engineering University of Tehran

ISBN: (纸本)9781424412631;1424412633

Learning in multi-agent environments where each agent's action directly affects other agents would be an important matter and a complicated task. To reduce the learning time and simplifying the learning process, it is suitable to learn individual skills and then provide cooperation and coordination utilizing the learned individual skills. In the approach proposed in this paper, agents benefit from their individual knowledge obtained in the individual learning phase to cooperate with other agents. Cooperative object pushing system is used as a testbed to our proposed method where cooperation and coordination between agents are needed in these systems. Agents independently learn to push the object to the target by using the proposed fuzzy reinforcement learning method. Agents attain their cooperative behaviors properly making use of the coded knowledge in the Q-table. Simulation and experimental results show that by interpreting the knowledge in the Q-table, agents can achieve high level behaviors with a high degree of cooperation.

关键词： Agents Learning Point contacts pushing variable contact

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Neural network-based compensation control of robot manipulators with unknown dynamics

Neural network-based compensation control of robot manipulat...

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2007 American control Conference, ACC

作者： Xuemei, Ren Rad, A.B. Lewis, Frank L. IEEE Department of Automatic Control Beijing Institute of Technology Beijing 100081 China Department of Electrical Engineering Hong Kong Polytechnic University Hung Hom Kowloon Hong Kong Automation and Robotics Research Institute University of Texas at Arlington Fort Worth TX 76118 United States

ISBN: (纸本)1424409888

A neural network (NN)-based compensation control is proposed for the trajectory tracking of robotic manipulators with unknown dynamics. This compensation controller includes a PD feedback controller, a nonlinear feedback controller and a neural network compensator with input modification. The PD controller and the nonlinear feedback controller are used to ensure the stability of the robot system, while the neural network is employed to provide the required feedforward compensation input torque for the trajectory tracking. The inputs of the neural network are modified by the reference tracking error and the network derivatives in order to further improve the control performance. The theoretical result concerning the tracking error asymptotically convergent to a neighborhood of zero is given. In addition, a NN-based robust compensation controller is proposed, using a slide mode control in the control law, which leads to asymptotic stability of the tracking errors. Simulation studies have been carried out to verify the effectiveness of the approaches and show the feasibility of the proposed schemes on a two-link manipulator. © 2007 IEEE.

关键词： Asymptotic stability

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A Force Feedback Virtual Simulator for Education and Training

A Force Feedback Virtual Simulator for Education and Trainin...

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IEEE International Symposium on Virtual Environments, Human-Computer Interfaces and Measurement Systems (VECIMS)

作者： Lucio Tommaso De Paolis Euro Blasi Alessandro De Mauro Giovanni Aloisio Department of Innovation Engineering Salento University Lecce Italy SPACI Consortium Italy Institute for Process Control and Robotics (IPR) Medical Robotics Group University of Karlsruhe Germany

The essential requirements of a virtual reality based simulator are a realistic virtual environment and a reproduction of haptic sensation due to the interactions in the virtual environment. The interactions need to be performed in real-time, since a delay between the user action and the system reaction reduces the user experience. Accuracy and efficiency are two opposite requirements; in fact, increased accuracy implies higher computational time and vice versa. So, it is necessary to find a trade-off according to the application and, sometimes, to reduce the realism in favour of the real-time interaction. In this paper is presented a virtual simulator provided of a haptic interface and a virtual environment reconstructed from real patient's medical images in order to have haptic sensations in addition to a very realist virtual environment.

关键词： Force feedback Virtual environment Haptic interfaces Virtual reality Real time systems Delay Computational modeling Medical simulation Image reconstruction Biomedical imaging

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Multi-Robot Localization and Mapping Strategy: Utilizing Behavior Based Dynamic Tree Structure and Observer-explorer Routine

Multi-Robot Localization and Mapping Strategy: Utilizing Beh...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Kevin K. Leung Garratt Gallagher Robotics Autonomous Systems and Controls Laboratory (RASCAL) Department of Mechanical and Aeronautical Engineering University of California Davis USA Department of Electrical and Computer Engineering Robotics Autonomus Systems and Control Laboratory (RASCAL) Department of Mechanical and Aeronautical Engineering University of California Davis USA

In this paper, we propose a simultaneous localization and map-building (SLAM) strategy to explore unknown environment. Multiple robots are deployed in unknown area and required to localize each other accurately while exploring. Instead of relying on active obstacle detector, we propose a method of exploration which uses only tactile sensors and inter-robot distance measurements. To avoid dead-reckoning and odometry errors, an observer-explorer based routine is adopted. A dynamic spanning tree structure is implemented for multi-robot coordination. Parent (observer) nodes monitor the distances of their children (explorer) nodes. In order to promote completeness of the map, the reconfigurable spanning tree structure favors unexplored area implicitly. An online behavior-based finite state machine drives the configuration of the structure. Our exploration scheme allows the differentiation between robots and obstacles or boundaries. When an obstacle or boundary is detected, it is recorded on a map that is shared with all other robots. The proposed strategy is simulated and results are presented.

关键词： Tree data structures Robot kinematics Robot sensing systems Simultaneous localization and mapping robotics and automation Distance measurement Automata Service robots Global Positioning System Costs

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IMPROVED CONTINUATION METHOD controlLER FOR PWM SYSTEMS: AN EXPERIMENTAL CASE STUDY

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Asian Journal of control 2008年第1期1卷

作者： T. Iwata M. Yamakita K. Furuta Dept. of Mechanical and Environment Informatics Tokyo Institute of Technology. Takaaki Iwata received the BE degrees in Mechanical Engineering in 1990 from Waseda University Japan. From 1990 to 1996 he jointed NOK Co. Ltd. In 1996 he received his ME degrees in Mechanical and Environmental Informatics from Tokyo Institute of Technology. He is currently a PhD student of Tokyo Institute of Technology. He is a member of SICE RSJ JSME and IEEE. Dept. of Control and Systems Engineering Tokyo Institute of Technology. Masaki Yamakita received Be ME and PhD from Tokyo Institute of Technology in 1984 1986 and 1989 respectively. From 1989 he was a Research Associate in the Department of Control Engineering of Tokyo Institute of Technology and from 1993 he was a Lecturer at Tokyohashi University of Technology. He is currently an Associate Professor in the Department of Control and Systems Engineering of Tokyo Institute of Technology. His research interests include robotics learning control robust control and non-linear control. Katsuhisa Furuta was born in Tokyo Japan in 1940. He received his B.S. M.S. and Ph.D. degrees in Chemical Engineering from Tokyo Institute of Technology in 1962 1964 and 1967 respectively. Since 1967 he has been a teaching staff of Tokyo Institute of Technology where he is currently a Professor of Graduate School of Information Science and Engineering. He is a fellow of IEEE and SICE. He is now a member of Science Council of Japan the secretary of the engineering division a council member of IFAC and the President of SICE in 1999.

In this paper, an improved version of online continuation method controller for PWM systems is presented. The online continuation method controller solves the PWM-type deadbeat control problem numerically. By using this algorithm, iterations for solving the set of nonlinear equations always start from a good solution candidate and therefore it can be used online. The original continuation method is modified so that it is applicable to real systems. The validity of the proposed control method is demonstrated by a laboratory-scale flexible arm manipulator.

关键词： PWM continuation method homotopy deadbeat GPC

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Job shop scheduling problems with Genetic Algorithms

Job shop scheduling problems with Genetic Algorithms

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International Conference on Computer engineering and Systems

作者： Antonio Ferrolho Manuel Crisostomo Robert Wojcik Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal Department of Electrical Engineering Superior School of Technology of Viseu Polytechnic Institute of Viseu Viseu Portugal Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wroclaw Poland

ISBN: (纸本)1424413656;9781424413652

The Job-Shop Scheduling Problem (JSSP) is an extremely difficult problem because it requires very large combinational search space and the precedence constraint between machines. A software tool called Hybrid and Flexible Genetic Algorithm (HybFlexGA) was developed for solving the JSSP. Computational results demonstrate that the proposed HybFlexGA is very efficient and potentially useful in solving the JSSP. The results obtained with standard JSSP benchmark demonstrate its efficiency.

关键词： Job shop scheduling Genetic algorithms Artificial neural networks Space technology Simulated annealing control engineering computing Genetic engineering Robot control control systems Orbital robotics

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Enrichment of Qualitative Beliefs for Reasoning under Uncertainty

Enrichment of Qualitative Beliefs for Reasoning under Uncert...

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International Conference on Information Fusion

作者： Xinde Li Xinhan Huang Jean Dezert Florentin Smarandache Intelligent Control and Robotics Laboratory Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China ONERA Chatillon France Department of Mathematics University of New Mexico Gallup NM USA

ISBN: (纸本)9780662478300;0662478304

This paper deals with enriched qualitative belief functions for reasoning under uncertainty and for combining information expressed in natural language through linguistic labels. In this work, two possible enrichments (quantitative and/or qualitative) of linguistic labels are considered and operators (addition, multiplication, division, etc) for dealing with them are proposed and explained. We denote them qe-operators, qe standing for "qualitative-enriched" operators. These operators can be seen as a direct extension of the classical qualitative operators (q- operators) proposed in the Dezert-Smarandache theory of plausible and paradoxist reasoning (DSmT). q-operators are also justified in details in this paper. The quantitative enrichment of linguistic label is a numerical supporting degree in [0,infin), while the qualitative enrichment takes its values in a finite ordered set of linguistic values. Quantitative enrichment is less precise than qualitative enrichment, but it is expected more close with what human experts can easily provide when expressing linguistic labels with supporting degrees. Two simple examples are given to show how the fusion of qualitative-enriched belief assignments can be done, and a simulation application is given to show its advantage in rough navigation map building of mobile robot.

关键词： Uncertainty Intelligent robots Humans Intelligent sensors Intelligent actuators Navigation Mobile robots Intelligent control Laboratories Mathematics

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