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The Virtual Laboratory for the Disabled

The Virtual Laboratory for the Disabled

引用

Frontiers in Education (FIE) Conference

作者： M. Duarte B.P. Butz Intelligent Systems Application Center Electrical and Computer Engineering Department Temple University Philadelphia PA USA

The objective of the Virtual Laboratory for the Disabled is to create a realistic, real-time, electrical engineering virtual laboratory. This project targets individuals who do not have adequate mobility of their upper bodies to perform laboratory experiments. To provide a more realistic and enhanced learning experience, the users of the virtual laboratory are allowed the freedom to build and test a wide variety of realistic electrical circuits, and be able to perform curriculum-based experiments. The main goal is to create an environment similar to a real electrical engineering laboratory, and to offer the user a way to learn the different aspects of instrumentation and circuitry.

关键词： Laboratories Instruments electrical engineering Circuit simulation Circuit testing Computational modeling Graphical user interfaces User interfaces Wire Performance evaluation

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Mobile robot that can read symbols

Mobile robot that can read symbols

引用

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

作者： F. Michaud D. Letourneau LABORIUS-Research Laboratory on Mobile Robotics aid Intelligent Systems Department of Electrical and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada

To give an autonomous robot the ability to read symbols, we need to integrate character recognition techniques with methods to position the robot in front of the symbol, to capture the image that will be used in the identification process, and to validate the overall approach on a robot. Our goal is to address the different aspects required in making a mobile robotic platform recognize symbols placed in real world environment, using current hardware and software capabilities. Validated on a Pioneer 2 robot, the approach described in this paper uses colors to detect symbols, a PID controller to position the camera, simple heuristics to select image regions that could contain symbols, and finally a neural system for symbol identification. Results in different lighting conditions are presented.

关键词： Mobile robots intelligent robots Robot vision systems Hardware Cameras Roads Sonar Mobile computing intelligent systems Character recognition

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An observation about monotonic convergence in discrete-time, P-type iterative learning control

An observation about monotonic convergence in discrete-time,...

引用

IEEE International Symposium on intelligent Control (ISIC)

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

In this note we make an observation about the equivalence between the necessary and sufficient condition for convergence and the sufficient condition for monotonic convergence in discrete-time, P-type iterative learning control. Specifically, requirements on the plant are given so that convergence of the learning algorithm ensures monotonic convergence. In particular, for the case where one minus the learning gain times the first Markov parameter is positive, but less than one, it is shown that if the first non-zero Markov parameter of the system has a larger magnitude than the sum of the magnitudes of the next N-1 Markov parameters, then convergence of the learning control algorithm implies monotonic convergence, independent of the learning gain. For the case where one minus the learning gain times the first Markov parameter is negative, but greater than negative one, a condition depending on the learning gain is derived whereby learning convergences also implies monotonic convergence.

关键词： Convergence Control systems Sufficient conditions Iterative algorithms Iterative methods Error correction intelligent systems Delay effects Forward contracts Optimal control

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Structure-oriented design for a class of nonlinear systems

Structure-oriented design for a class of nonlinear systems

引用

IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： K. Tanaka T. Taniguchi S. Hori H.O. Wang Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications Japan Department of Electrical and Computer Engineering Duke University Medical Center USA

Presents a structure-oriented design for Takagi-Sugeno fuzzy control systems. Structure-oriented design conditions that simultaneously determine the feedback gains and the structure of a given control system are derived from a performance index optimization point of view. Furthermore, we discuss an LMI constraint on the time derivative of states from a practical actuator performance point of view. Simulation results show the effectiveness of the optimal feedback design and the structure-oriented design.

关键词： Nonlinear systems Feedback Takagi-Sugeno model Fuzzy control Performance gain Control systems Performance analysis Design optimization Time factors Actuators

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On D/sup /spl alpha//-type iterative learning control

On D/sup /spl alpha//-type iterative learning control

引用

IEEE Conference on Decision and Control

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

The classical Arimoto D-type iterative learning control (ILC) updating law uses the first order derivative (with transfer function s) of tracking error. By using the fractional order derivative, it is proposed to use a fractional order ILC updating law where the fractional order derivative (with transfer function s/sup /spl alpha//, /spl alpha/ /spl isin/ (0, 1]) of tracking error is employed. The basic idea is explained in some detail together with a frequency domain design method. For implementation, a direct discretization technique is introduced. An example is given to show the benefits of the D/sup /spl alpha//-type ILC. Several remarks on future research topics are briefly discussed in the final section.

关键词： Control systems Fractional calculus Error correction Robots Manipulators Frequency domain analysis Convergence Three-term control Signal design Trajectory

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Analytical stability bound for a class of delayed fractional-order dynamic systems

Analytical stability bound for a class of delayed fractional...

引用

IEEE Conference on Decision and Control

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

A class of delayed linear time-invariant (LTI) fractional-order dynamic systems is considered. The analytical stability bound is obtained by using the Lambert function. Two examples are presented to illustrate the ana... 详细信息

ISBN: (纸本)0780370619

关键词： Stability analysis Delay systems Control systems Equations Mathematical model intelligent systems Educational institutions Delay lines Transportation Process control

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Proprioception based behavioral advances in a hexapod robot

Proprioception based behavioral advances in a hexapod robot

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： H. Komsuoglu D. McMordie U. Saranli N. Moore M. Buehler D.E. Koditschek Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor USA Center for Intelligent Machines Ambulatory Robotics Laboratory McGill University Montreal Canada

ISBN: (纸本)0780365763

We report on our progress in extending the behavioral repertoire of RHex, a compliant leg hexapod robot. We introduce two new controllers, one for climbing constant slope inclinations and one for achieving higher speeds via pronking, a gait that incorporates a, substantial aerial phase. In both cases, we make use of an underlying open-loop control strategy, combined with low bandwidth feedback to modulate its parameters. The inclination behavior arises from our initial alternating tripod walking controller and adjusts the angle offsets of individual leg motion profiles based on inertial sensing of the average surface slope. Similarly, the pronking controller makes use of a "virtual" leg touchdown sensing mechanism to adjust the frequency of the open-loop pronking, effectively synchronizing the controller with the natural oscillations of the mechanical system. Experimental results demonstrate good performance on slopes inclined up to /spl sim/250 and pronking up to speeds approaching 2 body lengths per second (/spl sim/1.0 m/s).

关键词： Robots Open loop systems Leg Legged locomotion Control systems Bandwidth Feedback Motion control Frequency synchronization Mechanical systems

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Improved path following of USU ODIS by learning feedforward controller using dilated B-spline network

Improved path following of USU ODIS by learning feedforward ...

引用

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

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

A learning feedforward controller (LFFC) using a dilated B-splines network (BSN) is proposed in this paper. The LFFC acts as an add-on element to the existing feedback controller (FBC) for control performance enhancement. The LFFC signal is updated iteratively based on the FBC signal of previous iteration as the task repeats. In the LFFC approach, there are two parameters to tune: the B-spline support width and the learning gain. A frequency domain design approach is presented with detailed design formulae for dilation 2. Simulation results are presented for the path following control of the USU ODIS robot (omnidirectional inspection systems), a new family member of the Utah State University (USU) ODVs (Omni Directional Vehicles).

关键词： Spline Neural networks Feedforward neural networks Control systems Adaptive control Robots Signal design Sampling methods intelligent systems intelligent networks

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A dual design problem via multiple Lyapunov functions

A dual design problem via multiple Lyapunov functions

引用

IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： K. Tanaka T. Hori H.O. Wang Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications Tokyo Japan Department of Electrical and Computer Engineering Duke University Medical Center Durham NC USA

Presents a dual design problem via multiple Lyapunov functions. Based on a multiple Lyapunov approach, we introduce two important concepts. One is a dual design concept that minimizes/maximizes upper bounds of the time derivative of premise membership functions in a Takagi-Sugeno fuzzy system. The other is a stability margin concept for switching speed among if-then rules. It is related to avoiding conservatism of stability analysis and guaranteeing system response performance. A design example illustrates the utility of the dual design via the multiple Lyapunov function approach.

关键词： Lyapunov method Takagi-Sugeno model Fuzzy systems Control systems Upper bound Mechanical engineering intelligent systems Stability analysis Time measurement Time factors

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Internet-based remote sensing and manipulation in micro environment

Internet-based remote sensing and manipulation in micro envi...

引用

IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： C.K.M. Fung W.J. Li I. Elhajj Ning Xi Center for Micro and Nano Systems Chinese University of Hong Kong New Territories Hong Kong China Robotics and Automation Laboratory Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA

ISBN: (纸本)0780367367

Recent developments in the Internet have significantly increased the human capability to reach and obtain information from remote locations. In parallel, the advent of micro sensors and actuators makes it possible for humans to sense and act in a microenvironment. Combined, the Internet and MEMS will produce a new technology for humans to sense and act in remote microenvironments, allowing the potential development of micro teleoperation and micro automation technologies. These new technologies have potential impact on several fields, including remote micro automation and biomedical engineering. In this paper, we will present our ongoing development of polyvinylidene fluoride (PVDF) sensors that can be used for force-reflective control of micromechanical devices over the Internet. Internet based teleoperation between Hong Kong and Michigan State was demonstrated using an event-based control scheme, which ensured stability and synchronization. Control was enhanced by multimedia feedback, which included, in addition to the traditional video, force feedback. The force fed back augmented the limited information supplied by visual feedback. We believe this project will eventually make a great impact to the globalization of MEMS foundries because it will allow global users to micro-assemble and micro-manipulate surface micromachined devices from their laboratories, and hence, reduce the time from design to production significantly.

关键词： Internet Remote sensing Force feedback Humans Micromechanical devices Automation Automatic control Force control Actuators Biomedical engineering

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