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Progressive fuzzy fusion control of two coupled inverted penduli

Progressive fuzzy fusion control of two coupled inverted pen...

引用

IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： Zhen Song P. Sukthankar YangQuan Chen J. Gu Center for Self-organizing and Intelligent Systems Department of Electrical and Computer Engineering Utah State University Logan UT USA Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

This paper considers the control of two inverted penduli coupled with a spring using a progressive fuzzy fusion control method. The two penduli have some uncertain and unknown parameters and the coupling spring has an unknown spring constant. We assume that the lengths of the penduli and the spring are known. One of the inverted penduli is excited to generate the force disturbance to the other through the spring link. The aim of this paper is to design a controller based on the idea of fuzzy logic and the classical control methods, such that the second pendulum can reject the disturbance from the first pendulum significantly even without precise mathematical model of the system. The angular position and the angular speed for both inverted penduli are measured to feed into the fuzzy fusion controller via the proposed disturbance decoupling procedure. Based on the hardware-in-the-loop realtime simulation environment provided by MATLAB/Simulink RTW (real-time workshop) and plants in Quanser's rotary servo family, the subjective knowledge about this system in a progressive way. Extensive experimental results are reported to demonstrate how effectively benefit from the fuzzy logic control.

关键词： Fuzzy control Springs Fuzzy logic Fusion power generation Mathematical model Position measurement Velocity measurement Feeds MATLAB Real time systems

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Multi-robot autonomous parking security system

Multi-robot autonomous parking security system

引用

IEEE International Symposium on intelligent Control (ISIC)

作者： V. Bahl K.L. Moore Center for Self-organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University Logan UT USA

This paper describes a robotic system for use in parking area security. The system is comprised of two cooperating autonomous vehicles: a large "mothership" robot that is used to perform license plate recognition tasks and that carries and deploys a smaller, low-profile robot that is able to perform under-vehicle inspections with a number of different sensors. The robots are controlled via a multi-resolution, hierarchical, task-decomposition strategy, which is based on a grammar of atomic actions, enabling reactive autonomous decision-making. Experiments with the real robots are also described.

关键词： Robot kinematics Security Mobile robots intelligent robots Robot sensing systems Inspection Remotely operated vehicles Licenses Machine intelligence intelligent systems

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A separative high-order framework for monotonic convergent iterative learning controller design

A separative high-order framework for monotonic convergent i...

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American Control Conference (ACC)

作者： K.L. Moore YangQuan Chen Center for Self-organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University Logan UT USA

This paper proposes a separative high-order framework, both in the iteration axis and in the time axis, for monotonic convergent iterative learning controller (ILC) design. When there exist uncertainties which may variant from iteration to iteration, i.e. iteration-dependent, the existing ILC design methods cannot be used to achieve monotonic convergence with small error. In this situation, an ILc updating law of high-order in both time-axis and iteration-axis is necessary. It is found that the high-order in time-axis is to condition the system dynamics so that a monotonic convergence can be achieved and the high-order in iteration-axis is to reject the iteration-dependent disturbance by virtue of the internal model principle (IMP). As illustrated in this paper, these two high-order schemes can be designed separately. A detailed design example is presented to illustrate the new design framework proposed in this paper.

关键词： Convergence Control systems Design engineering intelligent systems Educational institutions Uncertainty Design methodology Feedback Actuators Frequency domain analysis

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The applicability of social models for self-organizing real-time systems

The applicability of social models for self-organizing real-...

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International Symposium on Parallel and Distributed Processing (IPDPS)

作者： Dazhang Gu L.R. Welch C. Bruggeman R. Shelly Center for Intelligent Distributed and Dependable Systems School of Electrical Engineering and Computer Science Ohio University USA Department of Sociology and Anthropology Ohio University USA

Adaptive resource management (ARM) technology has emerged as a way to: (1) support applications' varying resource needs, and (2) provide reusable solutions to commonly occurring problems. Most existent works on ARM have focused on centralized approaches. However, centralized ARMs are not scalable, which may result in slow responses and wrong allocation decisions based on inaccurate system state information. In this paper, we show how to address these problems with a decentralized resource management approach. Based on social models, the approach appears to have the potential to provide prompt and accurate allocation of resources.

关键词： Real time systems Resource management Application software Quality of service Software systems Distributed computing Monitoring Software development management computer science Sociology

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A colony of robots using vision sensing and evolved neural controllers

A colony of robots using vision sensing and evolved neural c...

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： A.L. Nelson E. Grant G.J. Barlow T.C. Henderson Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA School of Computing University of Utah Salt Lake UT USA

This paper describes the development and testing of a new evolutionary robotics research test bed. The test bed consists of a colony of small computationally powerful mobile robots that use evolved neural network controllers and vision based sensors to generate team game-playing behaviors. The vision based sensors function by converting video images into range and object color data. Large evolvable neural network controllers use these sensor data to control mobile robots. The networks require 150 individual input connections to accommodate the processed video sensor data. Using evolutionary computing methods, the neural network based controllers were evolved to play the competitive team game Capture the Flag with teams of mobile robots. Neural controllers were evolved in simulation and transferred to real robots for physical verification. Sensor signals in the simulated environment are formatted to duplicate the processed real video sensor values rather than the raw video images. Robot controllers receive sensor signals and send actuator commands of the same format, whether they are driving physical robots in a real environment or simulated robots agents in an artificial environment. Evolved neural controllers can be transferred directly to the real mobile robots for testing and evaluation. Experimental results generated with this new evolutionary robotics research test bed are presented.

关键词： Robot sensing systems Robot vision systems Testing Mobile robots Neural networks Image sensors Robot control computer networks Games Computational modeling

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Model reduction for fork/join overhaul & repair systems with rotable inventory

Model reduction for fork/join overhaul & repair systems with...

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： Guoyu Tu Qianchuan Zhao P.B. Luh Jihua Wang Center for Intelligent and Networked Systems Tsinghua University Beijing China Department of Electrical and Computer Engineering University of Connecticut Storrs Connecticut US United Technologies Research Center East Hartford CT USA

Overhaul and repair services are an important segment of the remanufacturing industry, where an asset is disassembled, and component parts are repaired and then assembled to restore the asset to an "as new" condition. A key characteristic of such services is the wide use of rotable parts, i.e., using repaired parts from other assets for assembly, as opposed to waiting for the completion of part repairs from the original assets. However, it is difficult to evaluate the performance of such system. In this paper, and overhaul and repair system characterized by a fork/join structure with rotable inventory is studied. The effects of rotable inventory to system performance are analyzed, and an approximation method is then developed for evaluating key performance measures. By modelling the rotable inventory as a "negative" queue, a system with one overhaul center and one rotable repair shop is first reduced to a tandem queue. Numerical results demonstrate that by this model reduction, TAT can be efficiently estimated within ten percent loss of accuracy as compared with results obtained from hours of simulation. A system with one overhaul center and N rotable repair shops is then reduced to a fork/join system with multiple branches of tandem queues. With appropriate methods to analyze fork/join tandem systems, approximated performance measures can be evaluated.

关键词： Reduced order systems Assembly systems Performance analysis intelligent systems intelligent networks intelligent structures Automation computer networks Silver computer industry

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A new boundary control method for beam equation with delayed boundary measurement using modified Smith predictors

A new boundary control method for beam equation with delayed...

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IEEE Conference on Decision and Control

作者： Jinsong Liang YangQuan Chen Bao-Zhu Guo Center for Self-organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University Logan UT USA Institute of Systems Sciences Academy of Mathematics and System Sciences Academia Sinica Beijing China

The Smith predictor and its variants are applied to the boundary control of Euler-Bernoulli beam equation with delayed boundary measurement to solve the well-known instability problem due to a small time delay. Simula... 详细信息

ISBN: (纸本)0780379241

关键词： Delay effects Control systems Time measurement Transfer functions Force control Partial differential equations Predictive models Feedback control Stability intelligent systems

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An optimization framework for dynamic, distributed real-time systems

An optimization framework for dynamic, distributed real-time...

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International Symposium on Parallel and Distributed Processing (IPDPS)

作者： K. Ecker D. Juedes L. Welch D. Chelberg C. Bruggeman F. Drews D. Fleeman D. Parrott B. Pfarr Department of Computer Science Technical University of Clausthal-Zellerfeld Clausthal-Zellerfeld Germany Center for Intelligent Distributed and Dependable Systems School of Electrical Engineering and Computer Science Ohio University Athens OH USA Real-Time Software Engineering Branch NASA Goddard Space Flight Center Baltimore MD USA

The paper presents a model that is useful for developing resource allocation algorithms for distributed real-time systems that operate in dynamic environments. Interesting aspects of the model include dynamic environments, utility and service levels, which provide a means for graceful degradation in resource-constrained situations and support optimization of the allocation of resources. The paper also provides an allocation algorithm that illustrates how to use the model for producing feasible, optimal resource allocations.

关键词： Real time systems Resource management NASA Satellites computer networks Space technology Geoscience computer science Sensor arrays Instruments

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Automatic face region tracking for highly accurate face recognition in unconstrained environments

Automatic face region tracking for highly accurate face reco...

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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Y.-O. Kim J. Paik Jingu Heo A. Koschan B. Abidi M. Abidi Korea Electronics and Technology Institute Puchon Gyeonggi South Korea Image Processing Laboratory Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University Seoul South Korea Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville USA

We present a combined real-time face region tracking and highly accurate face recognition technique for an intelligent surveillance system. High-resolution face images are very important to achieving accurate identification of a human face. Conventional surveillance or security systems, however, usually provide poor image quality because they use only fixed cameras to record scenes passively. We have implemented a real-time surveillance system that tracks a moving face using four pan-tilt-zoom (PTZ) cameras. While tracking, the region-of-interest (ROI) can be obtained by using a low-pass filter and background subtraction with the PTZ. Color information in the ROI is updated to extract features for optimal tracking and zooming. FaceIt/sup /spl reg//, which is one of the most popular face recognition software packages, is evaluated and then used to recognize the faces from the video signal. Experimentation with real human faces showed highly acceptable results in the sense of both accuracy and computational efficiency.

关键词： Face recognition Surveillance Real time systems Humans Cameras intelligent systems Security Image quality Layout Low pass filters

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Stochastic modelling and analysis of dynamic plasma reflection 15th

Stochastic modelling and analysis of dynamic plasma reflecti...

引用

15th World Congress of the International Federation of Automatic Control, 2002

作者： Zhang, Y.M. Ma, Y. Center for Robotics and Manufacturing Systems Department of Electrical and Computer Engineering College of Engineering University of Kentucky LexingtonKY40506 United States

ISBN: (纸本)9783902661746

Keyhole arc welding is a cost-effective process to weld thick materials. To successfully apply this process, the state of the keyhole must be accurately detected and used in feedback control. In this paper, the dynamic behavior of the plasma reflection is described using the reflection arc angle (RAA). It is found that the RAA series can be considered an autoregressive moving-average (ARMA) process. The parameters of the ARMA are recursively estimated using the extended least squares algorithm. It is found that the recursive estimates of the model parameters change as the state of the keyhole changes. A discriminator has been proposed to determine the state of the keyhole based on the recursive estimates of the model parameters. Copyright © 2002 IFAC.

关键词： Parameter estimation

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