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International Conference on Mechatronics (ICM)

作者： Adel Akbarimajd Caro Lucas Robotics and AI Laboratory Department of Electrical and Computer Engineering University of Tehran Iran Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Engineering University of Tehran Iran

Several path-planning algorithms for mobile robots have been introduced. Proper architectures for mobile robots to implement the path-planning algorithms are also of interest. If the mobile robots are to perform complicated tasks including complex sensing and planning operations and have accepted performance, must be autonomous: capable of acquiring information and performing tasks without programmatic intervention. In this paper we employ a layered architecture for mobile robots to perform our previously introduced cellular automata based path planning technique. It employs an abstraction approach which makes the complexity manageable. The architecture has an important feature which is its internal artifacts; it has some beliefs about the world and these beliefs are represented in artifacts and most actions are planned and performed with respect to these artifacts

关键词： Path planning Mobile robots Robot kinematics Content addressable storage Lattices Computer architecture Orbital robotics Automata Intelligent sensors robotics and automation

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Force control by flexible manipulator based on resonance ratio control using position sensitive detector

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IEEJ Transactions on Industry Applications 2006年第6期126卷 693-699+1页

作者： Katsura, Seiichiro Ohnishi, Kouhei Department of Electrical Engineering Nagaoka University of Technology 1603-1 Kamitomiokamachi Nagaoka 940-2188 Japan Department of System Design Engineering Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama 223-8522 Japan Nagaoka University of Technology Japan Keio University 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 IEEE Japan

This paper presents a novel force controller to suppress torsional vibration of two-mass resonant system. The resonance ratio control is one of the effective control methods of two-mass resonant system. In this method, the ratio between the resonant frequency of motor and arm is determined arbitrary according to the feedback of estimated reaction torque. The reaction torque is estimated by using position sensitive detector (PSD). Since the estimation method does not need the parameter identification, the torsion information is obtained with accuracy. To attain the affinity and adaptability to environment, motion systems should control the reaction force from the environment. In the force control system, the force response is regarded as a disturbance of the arm portion. The arm disturbance is observed by the arm disturbance observer. The proposed force control system is based on both the conventional PD control and the resonance ratio control and the determination method of pole placement is discussed. The proposed force control system can realize both the suppression of the inner torsional reaction torque and the adaptation to outer force inputs. The numerical and experimental results show viability of the proposed method.

关键词： Flexible manipulators

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A Time-Invariant Dual High-Gain Based Adaptive Output-Feedback controller for Nonlinear Systems

A Time-Invariant Dual High-Gain Based Adaptive Output-Feedba...

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IEEE Conference on Decision and control

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory(CRRL) Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

ISBN: (纸本)1424401704;9781424401703

We propose an adaptive output-feedback controller for a general class of nonlinear triangular (strict-feedback-like) systems. The design is based on our recent results on a dual high-gain observer and controller architecture with a dynamic scaling. The technique provides strong robustness properties and allows the system class to contain unknown functions dependent on all states and involving unknown parameters (with no magnitude bounds required). Unlike our earlier result on this problem where a time-varying design of the high-gain scaling parameter was utilized, the technique proposed here achieves an autonomous dynamic controller by introducing a novel design of the observer, the scaling parameter, and the adaptation parameter. This provides a time-invariant dynamic output-feedback controller 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： Programmable control Adaptive control Nonlinear control systems control systems Nonlinear systems control design Nonlinear dynamical systems Uncertainty Backstepping USA Councils

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Defects Recognition Algorithm on Magneto-Optic Image of Aging Aircraft Skin

Defects Recognition Algorithm on Magneto-Optic Image of Agin...

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Computational engineering in Systems Applications, CESA, IMACS Multiconference on FLAGGED

作者： Zhiwei Xing Qingji Gao Department of Control Science & Engineering Nankai University Tianjin China Robotics Research Institute Civil Aviation University of China Tianjin China

A recognition algorithm on magneto-optic image of surface & subsurface defects in aging aircraft is proposed in this paper. The star vector method is adopted to extract the defect feature of rivet's profile in aircraft skin. And the extracted features of rivet's profile in aircraft skin are used as training samples to train the support vector classifier machine (SVCM) and produce a super defect classifier plane. Radial basis kernel function in the SVCM training process and grid method is selected to optimize the SVCM model. The fuzzy membership function is introduced to the algorithm to solve the wrong & refusal recognition problems in multi-type classifier. The experiment result shows that, the algorithm can detect both the existence and the direction of the defect exactly and performs a better capability of recognition

关键词： Image recognition Aging Aircraft Skin Feature extraction Inspection Corrosion Magnetooptic effects Surface cracks Aerospace control

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Multi-agent-based Auctions for Multi-robot Exploration

Multi-agent-based Auctions for Multi-robot Exploration

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World Congress on Intelligent control and Automation (WCICA)

作者： Xia Ma Fang Meng Yibin Li Weidong Chen Yugeng Xi Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiaotong University Shanghai China Centre for Robotics Department School of Control Science and Engineering Shandong University Jinan Shandong China

Aiming at improving the efficiency of the multi-robot exploration, this paper presents a novel auction algorithm based on the contact net protocol of the multi-agent theory. On the basis of the analysis of the limitations of the usual auction methods to the multi-robot exploration, the contract net protocol in the multi-agent theory is presented to design a completely distributive structure for the multi-robot exploration in order to increase the tolerance and reliability of the whole system. Then an improved multi-round single-item auction algorithm is presented to assign the frontiers to the multiple robots effectively. The theoretical analysis and the simulation experiments prove that the algorithm can lead to the effective coordination of multi-robot exploration with the decreasing computation compared to the combinatorial auctions

关键词： Robot kinematics Protocols Robustness robotics and automation Computational modeling Educational robots Automatic control control engineering education Contracts Reliability theory

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ANALYSIS OF FRACTIONAL - ORDER ROBOT AXIS DYNAMICS

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IFAC Proceedings Volumes 2006年第11期39卷 367-372页

作者： J.M. Rosario D. Dumur J.A. Tenreiro Machado Laboratory of Automation and Robotics - Faculty of Mechanical Engineering UNICAMP - University of Campinas 13083-970 – Campinas- SP Brazil Department of Automatic Control SUPELEC 91192 - Gif-sur-Yvette France Department of Electrical Engineering Institute of Engineering Polytechnic Institute of Porto 4200-072 Porto Portugal

Robots are complex mechatronics systems where several electric drives are employed to control the movement of articulated structures. In industrial environments they must perform tasks with rapidity and accuracy in order to produce goods and services with minimal production time. These procedures require the use of flexible robots which can act in a large workspace, thus subjected to important parameters variations and nonlinear dynamics effects. This paper investigates the fractional order dynamics during the evolution of trajectories of three robotic joints, considering the complete system dynamics.

关键词： Mechatronics robotics Simulation Dynamics control Fractional calculus

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Integrated Guidance and control of AUVs Using Shrinking Horizon Model Predictive control

Integrated Guidance and Control of AUVs Using Shrinking Hori...

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OCEANS

作者： Charmane V. Caldwell Emmanuel G. Collins Srinivas Palanki Center for Intelligent System Control and Robotics epartment of Electrical and Computer Engineering Florida A&M University-Florida State University Tallahassee FL USA Center for Intelligent System Control and Robotics Department of Mechanical Engineerin Florida A&M University-Florida State University Tallahassee FL USA Center for Intelligent System Control and Robotics Department of Chemical and Biomedical Engineering Florida A&M University-Florida State University Tallahassee FL USA

There are problems controlling autonomous underwater vehicles (AUVs) because they are nonlinear and coupled and have external environmental disturbances acting on the vehicle. More difficulties arise when the vehicle tasks require precise positioning and control as in military missions. This paper presents an integrated guidance and control method for an AUV. The algorithm is based on an optimal control method called shrinking horizon model predictive control (SHMPC). Scenarios for reconnaissance and reacquisition in mine countermeasures missions are explored applying SHMPC. In addition, there are scenarios with obstacle avoidance. Simulations of this method show the control method is able to systematically handle disturbances and constraints to successfully maneuver through volatile areas

关键词： Predictive models Predictive control Underwater vehicles Remotely operated vehicles Nonlinear control systems Intelligent vehicles Mobile robots Intelligent robots control system synthesis Biomedical engineering

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A Target Differentiation Algorithm of Multi-neural-network based on Rough Set for Mobile Robot

A Target Differentiation Algorithm of Multi-neural-network b...

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World Congress on Intelligent control and Automation (WCICA)

作者： Xin Ma Wei Liu Yibin Li Weidong Chen Yugeng Xi Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiaotong University Shanghai China Centre for Robotics School of Control Science and Engineering Shandong University Jinan Shandong China

Aiming at the uncertainty of sonar data in the problem of sonar-based target differentiation for mobile robot, the paper firstly presents a hierarchical reduction approach to reduce a sonar data set based on rough set theory. Then on the basis of the reduction, a multi-neural network based target differentiation algorithm is designed on the fact that the effective combination of multiple neural networks can increase the ability to pattern classification and generalization of the whole system. Parallel network architecture is adopted locally to increase the differentiation accuracy. And the average weighed strategy is applied to fuse the outputs of the parallel neural network classifiers to improve the robustness of the differentiation system to noise, physically plausible failure and missing sonar data situation. The simulation experiments prove that the new method combining with the traditional target differentiation algorithm can increase the accuracy of sonar-based target differentiation for mobile robot in indoor environments

关键词： Mobile robots Sonar Neural networks Uncertainty Set theory Algorithm design and analysis Pattern classification Fuses Noise robustness Working environment noise

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control of the multi agent micro-robotic platform MiCRoN

Control of the multi agent micro-robotic platform MiCRoN

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IEEE International Conference on Computer-Aided Design

作者： Panagiotis Vartholomeos Savvas Loizou Michael Thiel Kostas Kyriakopoulos Evangelos Papadopoulos Mechanical Engineering Department Control Systems Laboratory National and Technical University of Athens Athens Greece GRASP lab University of Pennsylvania Philadelphia PA USA Mechanical Engineering Department Control Systems Laboratory National and Technical University of Athens Greece Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

This paper presents the theoretical framework for the centralized control architecture of the multi agent micro-robotic platform MiCRoN. The entire control system architecture integrates sensory modules, modeling modules, and control modules. The latter are composed by (i) a high level simulation and autonomous execution unit that is capable for on-line multi-robot navigation with collision avoidance, (ii) a trajectory tracking unit for manipulation purposes, and (iii) a low level position controller that performs position control exploiting machine learning algorithms. The high level controllers take into account behaviors specific to the micro-scale. The performance of the layered control system is evaluated through simulations and preliminary hardware experiments on a micro-robotic platform. The application domain of the MiCRoN platform is cell manipulation, and 3-D assembly for micro-fabrication.

关键词： control systems Robots Nanobioscience Mechanical engineering robotics and automation Navigation Centralized control Assembly systems Robotic assembly Trajectory

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Modeling and control of Interaction Forces in Dynamically-Coupled Robotic Systems

Modeling and Control of Interaction Forces in Dynamically-Co...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Goo Bong Chung Byung-ju Yi Whee-kuk Kim The Robotics Institute Carnegie Mellon University Pittsburgh USA School of Electrical Engineering and Computer Science Hanyang University Ansan Republic of Korea Department of Control and Instrumentation Engineering Korea University Chochiwon Republic of Korea

In this paper, we propose a new closed-form dynamic model of interaction forces between two interacting robotic modules and a methodology to control the interaction forces by using inherent kinematic redundancy of robotic systems. To show the usefulness of controlling interaction forces, two exemplary cases are introduced. The first example investigates the interaction force between a mobile platform and a serial robot mounted on the platform. The interaction force between the two modules is controlled so that the motion of the mobile platform can be controlled in a desired way. The second example deals with interaction between a serial robot and a human operator. An interaction force is controlled so that the human operator does not feel uncomfortable when the operator performs a designed trajectory motion in cooperation with the robot

关键词： Force control Mobile robots Manipulator dynamics Kinematics Motion control Orbital robotics Intelligent robots Parallel robots Human robot interaction Force measurement

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