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2005 IEEE International Conference on robotics and Automation

作者： Barlow, Gregory J. Mattos, Leonardo S. Grant, Edward Oh, Choong K. Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC 27695 U.S. Naval Research Laboratory 4555 Overlook Ave. S.W. Washington DC 20375 Robotics Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh PA 15213

ISBN: (纸本)078038914X

Transference of controllers evolved in simulation to real vehicles is an important issue in evolutionary robotics (ER). We have previously evolved autonomous navigation controllers for fixed wing UAV applications using multi-objective genetic programming (GP). Controllers were evolved to locate a radar source, navigate the UAV to the source efficiently using on-board sensor measurements, and circle around the emitter. We successfully tested an evolved UAV controller on a wheeled mobile robot. A passive sonar system on the robot was used in place of the radar sensor, and a speaker emitting a tone was used as the target in place of a radar. Using the evolved navigation controller, the mobile robot moved to the speaker and circled around it. The results from this experiment demonstrate that our evolved controllers are capable of transference to real vehicles. Future research will include testing the best evolved controllers by using them to fly real UAVs. ©2005 IEEE.

关键词： Unmanned vehicles

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Structured object-oriented co-analysis/co-design of hardware/software for the FACTS power system

Structured object-oriented co-analysis/co-design of hardware...

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IEEE Annual International computer Software and Applications Conference (COMPSAC)

作者： M. Ryan S. Markose Xiaoging Liu B. McMillin Ying Cheng Department of Computer Science Intelligent Systems Center University of Missouri Rolla USA Department of Electrical and Computer Engineering University of Missouri Rolla USA

There are several approaches to the hardware/software design in embedded systems, ranging from the traditional sequential methods which focus on the determination of the hardware architecture prior to software design, to newer object-oriented approaches that attempt to apply software engineering methods to hardware design without a systematic process. This paper discusses a structured object-oriented methodology for the integrated co-analysis and co-design of hardware/software systems using an extended high order object-oriented modeling technique (HOOMT). This methodology offers a uniform method for hardware and software developers to jointly develop the specifications for and partitioning of the hardware and software components of a system, as well as developing the interfaces between components, and allows easy design migration of components between hardware and software. In this paper it is applied to the co-analysis/co-design of the hardware and software of a simulated advanced power grid control system.

关键词： Hardware Power systems Software design Object oriented modeling Embedded system computer architecture Software engineering Design methodology Software systems Power grids

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Self-Organizing Running in a Quadruped Robot Model

Self-Organizing Running in a Quadruped Robot Model

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.D. Berkemeier P. Sukthankar Department of Electrical & Computer Engineering and Center for Self-Organizing & Intelligent Systems Utah State University Logan UT USA

In this paper it is demonstrated that pronking (or trotting or pacing) is the preferred mode of behavior of a fairly generic quadruped model. This gait often occurs even though no explicit control is used to force it, and thus the system is said to "self-organize." Further, it is demonstrated that, despite the complicated coupled nonlinear dynamics, the system is still amenable to analysis if certain parameters are assumed small, namely the leg masses and the hip spring constants. Explicit conditions are presented for a symmetric pronk. In one condition, the leg length and the hip spring constant determine the pronking height, which has implications for quadruped robot design.

关键词： Robots Legged locomotion Leg Hip Springs Animals Foot Force control Dogs intelligent systems

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Discrete Control for Visual Servoing the ODIS Robot to Parking Lot Lines

Discrete Control for Visual Servoing the ODIS Robot to Parki...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.D. Berkemeier L. Ma Department of Electrical & Computer Engineering and Center for Self-Organizing & Intelligent Systems Utah State University Logan UT USA

This paper contains 3 new contributions to our previous work: First, a continuous visual servoing model for the ODIS omni-directional robot is extended to consider rotation about the robot center, instead of the camera center. This is shown to lead to an undesirable limit cycle due to a Hopf bifurcation. Second, 2 new discrete controllers and models for visual servoing ODIS are derived, which are closer to the servoing methods used in experiments. It is shown that the resulting closed-loop systems are locally asymptotically stable. Finally, experiments are presented which demonstrate successful discrete visual servoing.

关键词： Visual servoing Robots robotics and automation

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Modular behavior control for a cognitive robot

Modular behavior control for a cognitive robot

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12th International Conference on Advanced robotics, 2005. ICAR '05

作者： Ratanaswasd, Palis Dodd, Will Kawamura, Kazuhiko Noelle, David C. IEEE Vanderbilt University Nashville TN 37235 United States Department of Electrical and Computer Engineering Vanderbilt University Nashville TN 37235 United States Center of Intelligent Systems Vanderbilt University Nashville TN 37235 United States Department of Computer Science and Psychology Vanderbilt University Nashville TN 37235 United States

ISBN: (纸本)0780391772

We propose a method for a cognitive robot behavior control in which a small number of behaviors are loaded into a workspace, called working memory, where they are combined to generate actions during a task execution. We use the existing components in our cognitive robot architecture, such as the Long-Term Memory, the Short-Term Memory, with the addition of a working memory system and a control mechanism called the Central Executive Agent to create a modular control system. This control method is used to drive the behaviors of our humanoid robot ISAC. © 2005 IEEE.

关键词： Robots

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ROBUSTNESS OF BOUNDARY CONTROL OF DAMPED WAVE EQUATIONS WITH LARGE DELAYS AT BOUNDARY MEASUREMENT

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IFAC Proceedings Volumes 2005年第1期38卷 60-64页

作者： Jinsong Liang Weiwei Zhang YangQuan Chen Center for Self-Organizing Intelligent Systems (CSOIS) Dept. of Electrical & Computer Engineering Utah State University Department of Mathematics Michigan State University

The Smith predictor is applied to the boundary control of damped wave equations with large delays at the boundary measurement. The instability problem due to large delays is solved and the scheme is proved to be robus... 详细信息

关键词： Robust boundary control Smith predictor damped wave equation delay

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Automatic dynamic flocking in mobile actuator sensor networks by central Voronoi tessellations

Automatic dynamic flocking in mobile actuator sensor network...

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IEEE International Conference on Mechatronics and Automation

作者： Yang Quan Chen Zhongmin Wang Jinsong Liang Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University Logan UT USA

In this paper, we discuss the application of Voronoi diagram and central Voronoi tessellations in the distributed control of mobile robots for area coverage, dynamic target tracking and feedback control of the environment. Based on TKJ Cortes, et al., (April 2004), we extend the application of central Voronoi tessellations (CVT) to a dynamic changing environment, provided that the environment changes relatively slow. Then we describe how automatic flocking behavior of mobile robots can be achieved by using CVT in area coverage control and multiple target tracking. We also discuss the hierarchical structure of CVT-based mobile actuator/sensor network where formation control can be applied for the subgroup of robots within a Voronoi cell. Simulation results show the correctness of our proposed method.

关键词： intelligent networks Mobile robots Wireless sensor networks intelligent sensors Target tracking Communication system control intelligent robots intelligent actuators Automatic control Robot sensing systems

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Formation control: a review and a new consideration

Formation control: a review and a new consideration

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2005 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Yang Quan Chen Zhongmin Wang Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University Logan UT USA

In this paper, we presented a review on the current control issues and strategies on a group of unmanned autonomous vehicles/robots formation. Formation control has broad applications and becomes an active research topic in the recent years. In this paper, we attempt to review the key issues in formation control with a focus on the main control strategies for formation control under different kinds of scenarios. Then, we point out some important open questions and the possible future research directions on formation control. This paper contributes with a new and interesting consideration on formation control and its application in distributed parameter systems. We pointed out that formation control should be classified as formation regulation control and formation tracking control, similar to regulator and tracker in conventional control.

关键词： Robot kinematics Mobile robots Control systems Remotely operated vehicles Robot sensing systems Robot control intelligent robots Distributed parameter systems Road vehicles intelligent systems

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State-dependent disturbance compensation in low-cost wheeled mobile robots using periodic adaptation

State-dependent disturbance compensation in low-cost wheeled...

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2005 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Hyo-Sung Ahn YangQuan Chen Zhongmin Wang Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University Logan UT USA

This paper presents an adaptive controller for the compensation of state-dependent disturbance with unknown amplitude in low-cost wheeled mobile robot servo control. The considered state-dependent disturbance is caused by the friction and the eccentricity between the wheel axis and the motor driver. Our proposed control algorithm guarantees the asymptotical stability for both the velocity and the position tracking. Experiment results show the effectiveness of the adaptive disturbance compensator for the wheeled mobile robot in low velocity diffusion tracking.

关键词： Mobile robots Friction Adaptive control Wheels Servomotors Servomechanisms intelligent systems Programmable control Servosystems Angular velocity

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Range identification for perspective dynamic systems with 3D imaging surfaces

Range identification for perspective dynamic systems with 3D...

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American Control Conference (ACC)

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

Range identification using image sequence via observations from a traditional camera-type vision system has been discussed in the literature. In this paper, the camera-type planar imaging surface is extended to several well-known 3D surfaces, such as an arbitrary plane, a sphere, an ellipsoid, and a paraboloid. For a general imaging surface, the resulting perspective dynamic system is not guaranteed to preserve an affine form. In this case, most-existing nonlinear observers that are applicable to the perspective dynamic system observed via a camera can not be applied for the range identification problem directly. We show via simulations that our recently proposed linear approximation observer can perform the state estimation.

关键词： Cameras Lenses Machine vision Nonlinear dynamical systems Observers Videoconference intelligent systems Ellipsoids USA Councils Image sequences

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