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IEEE Symposium (IUS) Ultrasonics

作者： R. Zahiri-Azar S. E. Salcudean Robotics and Control Laboratory Department of Electrical and Computer Engineering University of British Columbia Vancouver Canada

Time domain cross correlation with prior estimates (TDPE) has been recently introduced for high frame rate real-time speckle tracking. TDPE uses prior displacement estimates of neighboring windows to speed up computation. A correlation monitoring technique is then used to verify the estimated displacement and if needed a recovery search is triggered to find the correct displacement. In this paper we extend the idea of TDPE to 2D motion tracking to estimate both the axial and the lateral component of the motion in real-time

关键词： Motion estimation Ultrasonic imaging Capacitive sensors Radio frequency Monitoring Tracking Frequency estimation State estimation Decorrelation Computational efficiency

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Selection of sources as a prerequesite for information fusion with application to SLAM

Selection of sources as a prerequesite for information fusio...

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International Conference on Information Fusion

作者： Xinde Li Jean Dezert Xinhan Huang Intelligent Control and Robotics Laboratory Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China ONERA Chatillon France

ISBN: (纸本)1424409535

We consider in this work evidential sources of information and propose a very general evidence supporting measure of similarity (ESMS) for selecting the most coherent subset of sources to combine among all sources available at each instant. The methodology proposed here coupled with a DSmT-based fusion machine is tested in robotics for the automatic estimation of an unknown simulated environment with obstacles where an autonomous mobile Pioneer II robot with sonar sensors evolves. Our simulation results are based on the fusion of similar and equireliable sensors but same approach can also be used with dissimilar sources as well by using a discounting method taking into account the reliability of each sensor. Our results show clearly the benefit of the selection of the sources as prerequisite for improvement of information fusion

关键词： Simultaneous localization and mapping Information resources Sensor fusion Mobile robots Robot sensing systems robotics and automation Intelligent control Intelligent robots Laboratories Automatic testing

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Adaptive Dual High-Gain Output Feedback Global in Unknown Parameters for a Class of Nonlinear Systems

Adaptive Dual High-Gain Output Feedback Global in Unknown Pa...

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Chinese control Conference (CCC)

作者： P. Krishnamurthy F. Khorrami Control Robotics Research Laboratory CRRL Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY USA

In a recent result, we proposed a dynamic dual high-gain observer/controller architecture for nonlinear systems of the generalized output-feedback canonical form. The designed output-feedback controller was shown to be robust to functional and parametric uncertainties coupled with all states. However, a magnitude bound on the unknown parameters was required. In this paper, we propose two output-feedback controllers, one time-varying and the other time-invariant that can handle time-varying nonlinear parametric uncertainty coupled with all states without requiring any a priori magnitude bounds on the unknown parameters. The proposed dynamic controller designs provide globally asymptotically stabilizing output-feedback solutions for the benchmark open problem proposed in our earlier work with no magnitude bounds or sign information on the unknown parameter being necessary.

关键词： Output feedback Nonlinear systems control systems Nonlinear control systems Uncertainty Adaptive control Riccati equations Programmable control Robot control Laboratories

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Image-based dynamic visual feedback control via passivity approach

Image-based dynamic visual feedback control via passivity ap...

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IEEE International Conference on Computer-Aided Design

作者： Hiroyuki Kawai Toshiyuki Murao Masayuki Fujita Department of Robotics Kanazawa Institute of Technology Ishikawa Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan

This paper deals with the image-based dynamic visual feedback control via the passivity approach which is investigated in the position-based one. We construct an energy function using the error in the image plane. The passivity of the visual feedback system is derived from the energy function. We show passivity of the image-based dynamic visual feedback system by combining the passivity of both the visual feedback system and the manipulator dynamics which allows us to prove stability in the sense of Lyapunov. The L 2 -gain performance analysis, which deals with the disturbance attenuation problem, is then considered via dissipative systems theory. This paper suggests that the two types of classical visual servoing, i.e. the image-based visual servoing and the position-based visual servoing, can be discussed with the same strategy

关键词： Feedback control Manipulator dynamics Visual servoing Robot vision systems control systems Performance analysis Cameras Orbital robotics Target tracking Stability

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Learning Individual Skills and Team Behaviors for Distributed Object Pushing

Learning Individual Skills and Team Behaviors for Distribute...

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IEEE International Conference on Mechatronics and Automation

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

In this paper we discuss a learning approach to distributed object pushing. In the proposed approach, first the required individual skills for single-robot object pushing are learned using a fuzzy reinforcement learning method. Then, the robots learn how to coordinate their actions to push the object to the desired configuration cooperatively in a distributed manner. The proposed team-level learning benefits from the knowledge, which is in the form of a Q-table, that the agent has gained in its individual learning phase by a special design of reward signal and state-action representation. Each robot learns a threshold on its Q-value using a single state reinforcement learning method and pushes the object when the Q-value of its best action in the current state is above this threshold. The reward signal is designed based on the robots' Q-tables and no external critic is needed for learning cooperation. Simulation results show that the robots learn their individual skills and a cooperation protocol to push the object cooperatively

关键词： Robot kinematics Learning Protocols Robot control robotics and automation Intelligent robots Signal design Mechatronics Process control Intelligent control

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Learning Distributed Object Pushing: Individual Learning and Distributed Cooperation Protocol

Learning Distributed Object Pushing: Individual Learning and...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Hossein Aminaiee Majid Nili Ahmadabadi Control and Intelligent Processing Center of Excellence Robotics and AI Lab Department of Electrical and Computer Engineering University of Tehran Iran

In this paper we study learning in cooperative object pushing systems. The proposed approach is based on the idea of learning individual skills and then mapping the required cooperative behaviors on the learned skills. The control point for each individual robot is chosen so as to simplify the design of the reinforcement signal and reduce the role of delayed reward on individual learning in addition to make cooperative protocol simpler. A fuzzy Q-learning system for learning individual object pushing is proposed, together with a method for coordination among the robots to push the object cooperatively. The coordination method takes into account the dynamics of the object and the learned individual skills. The idea of the coordination protocol is based on the notion of ability and active regions defined in this paper. In effect, the cooperation protocol is mapped to a Q-value based policy. Simulation results supportively show that the robots learn individual and cooperative object pushing efficiently

关键词： Protocols Robot kinematics Intelligent robots Fuzzy systems Learning Friction control systems Artificial intelligence Robot control Fuzzy control

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Self-organizing approach for robot's behavior imitation

Self-organizing approach for robot's behavior imitation

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IEEE International Conference on robotics and Automation (ICRA)

作者： S. Wanitchaikit P. Tangamchit T. Maneewarn Department of Control System and Engineering Faculty of Engineering Institute of Field Robotics Thailand King Mongkut's University of Technology Thonburi Bangkok Thailand

In this paper, an approach for behavior imitation using visual information was introduced. The imitation process is done by a self organizing neural network module. From several demonstrations of task operation, a vision system captures movement of the demonstrator mobile robot and associated objects in an operation field. Then, the movement features are extracted to present to an imitation engine. Finally, skill or decision policy from teacher's demonstration is extracted and embedded into a self organizing neural network without explicit external supervisory signals. A simple action selection algorithm for choosing action from learned network is proposed. The algorithm was implemented and tested on a simulated robot and a real mobile robot to imitate two simple robot soccer behaviors: approaching the target and obstacle avoidance. Furthermore, the concept of similarity measure is introduced to evaluate imitation performance from the demonstrator

关键词： Neural networks Mobile robots Educational robots Humans Organizing Data mining Machine learning Robot programming Artificial neural networks control systems

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Quarry of modal information from environment for advanced motion control

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IEEJ Transactions on Industry Applications 2006年第4期126卷 372-378+1页

作者： Katsura, Seiichiro Ohnishi, Kouhei Department of Electrical Engineering Nagaoka University of Technology 1603-1 Kamitomiokamachi Nagaoka Niigata 940-2188 Japan Department of System Design Engineering Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama 223-8522 Japan Nagaoka University of Technology Nagaoka Niigata Japan IEEJ Japan IEEE Industrial Electronics Society Japan Society of Instrumentation and Control Engineers Japan Robotics Society of Japan Japan Keio University Yokohama Japan Nagaoka University of Technology Japan Keio University Japan

Motion control in open environment will be more and more important. The recent machines are required to have an ability to contact unknown environment. The environmental information is a key to be compliant to unknown environment. It is obtained from the modal decomposition. The environment may have infinite modes. On the contrary, motion control systems have finite number of degree-of-freedom (DOF) for their motion. It is necessary for motion controller to quarry information from the environment at least to the extents of DOF. This paper develops a novel viewpoint of motion control based on quarry of environmental information. A quarry process of information from the environment using Hadamard matrix has been proposed. An extension method of the Hadamard matrix is proposed and quarry matrix is generalized in this paper. This paper shows a quarry of the planar environmental modes using the third-order quarry matrix. The motion of a robot with three supporting points has three modes, which are heaving, rolling and pitching modes. As a result, compliant motion control to unknown environment is attained in each mode. The modal system design method based on the quarry matrix will be a fundamental technique of design of decentralized system.

关键词： Motion control

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A FUSION MACHINE BASED ON DSMT AND PCR5 FOR ROBOT'S MAP RECONSTRUCTION

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International Journal of Information Acquisition 2006年第3期3卷 201-211页

作者： XINHAN HUANG XINDE LI MIN WANG JEAN DEZERT Intelligent Control and Robotics Laboratory Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China ONERA 29 Av. de la Division Leclerc 92320 Chǎtillon France

Characteristics of uncertainty, imprecision, and even imperfection are presented from knowledge acquisition in map reconstruction using sonar sensors fixed on autonomous mobile robot. In order to improve the precision of the fusion and performances of map reconstruction, we propose in this paper a new fusion machine based on Dezert-Smarandache Theory (DSmT) coupled with the fifth Proportional Conflict Redistribution rule (PCR5) for dealing with uncertain and conflicting evidences provided by homogeneous or heterogeneous sources of information. We propose a belief model for sonar grid map and show how to construct efficiently generalized basic belief assignment functions for sensors onboard. A Pioneer II mobile robot with 16 sonar range finders serves as the experiment platform. In our experiment, the robot evolves in a real environment with some obstacles and the environment map is rebuilt online with our self-developing software platform. In this study, we also compare our new approach with other ones based on probability theory, fuzzy theory, Dempster-Shafer Theory (DST) and gray system theory. Our results show an improvement of the performances in precision of map reconstruction of mobile robot with respect to those obtained from aforementioned classical approaches.

关键词： Uncertainty DSmT grid map information fusion mobile robot PCR

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controlled Anti-phase Synchronization of Passive Gait

Controlled Anti-phase Synchronization of Passive Gait

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IEEE International Conference on robotics and Biomimetics

作者： Zhenze Liu Yantao Tian Changjiu Zhou Department of Communication Engineering Jilin University Changchun China Advanced Robotics and Intelligent Control Center School ofElectrical and Electronic Engineering Singapore polytechnics Singapore

Symmetry property of healthy gait in human walking has been applied to the analysis and design of the compass-like biped robot, as to explicitly explain the efficiency and control of human locomotion. A new control strategy of "anti-phase synchronization" has been presented here. The controller of anti-phase synchronization is able to solve the synchronization problem in such a way that the robot reaches a desired level of mechanical energy and its two legs move synchronously in opposite directions. With new presumption of the collision model, this control strategy can reduce the complexity of the hybrid dynamic system such as nonlinearity and strong coupling between dynamics of two legs. In addition to the discussion of the construction of a new Lyapunov function, simulation results have just proved the validity of the strategy. The method stated in the paper is helpful to practical application of the design of the robot's gait. To the best of our knowledge, it is the first time to introduce the concept of synchronization to explain and control the motion of passive biped theoretically.

关键词： Legged locomotion Humans Leg Nonlinear dynamical systems Mechanical energy Nonlinear control systems Couplings Lyapunov method Robots Motion control

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