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IEEE International Conference on robotics and Automation (ICRA)

作者： G.J. Barlow L.S. Mattos E. Grant C.K. Oh Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA U.S. Naval Research Laboratory Washington D.C. USA

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.

关键词： Unmanned aerial vehicles Mobile robots Sonar navigation Robot control Robot sensing systems Genetic programming Testing Passive radar Remotely operated vehicles Erbium

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Robust stability check of fractional order linear time invariant systems with interval uncertainties

Robust stability check of fractional order linear time invar...

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IEEE International Conference on Mechatronics and Automation

作者： YangQuan Chen Hyo-Sung Ahn I. Podlubny Center for Self-Organizing and Intelligent Systems CSOIS Department of Electrical and Computer Engineering Utah State University Logan UT USA Department of Informatization and Control of Processes Technical University of Kosice Kosice Slovakia

For uncertain fractional-order linear time invariant (FO-LTI) systems with interval coefficients described in state space form, the robust stability check problem is solved for the first time in this paper. Both the checking procedure and the Matlab code are presented with two illustrative examples. The conservatism is shown to be small.

关键词： Robust stability Time invariant systems Uncertainty Control systems Controllability System testing intelligent systems State-space methods Calculus Process control

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Learning distributed grasp in presence of redundant agents

Learning distributed grasp in presence of redundant agents

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

作者： A.H. Elahibakhsh M. Nili Ahmadabadi F. Janabi-Sharifi B. Nadjar Araabi AI & Robotics Laboratory Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Eng. Institute for Studies on Theoretical Physics and Mathematics University of Tehran Tehran Iran Robotics and Manufacturing Automation Lab Department of Mechanical and Industrial Engineering Ryerson University Toronto ONT Canada

Learning distributed object grasp by a group of robots with redundant members is the main focus of this paper. In Elahibakhsh, A. H., et al. (2004), we tackled the problem of learning form closure grasp for planar convex objects by multiple non-communicating robots without any information about the shape of objects. In this paper, the problem in presence of redundant agents is investigated. Agents' states and actions are designed such that the group learns grasping different objects using Q-learning method. As the environment is not intelligent enough to assess each agent's effect on the team performance, a credit assignment algorithm based on knowledge evaluation is designed. The proposed method considers the environment credit for the team, number of redundant agents, and the expertness level of each agent in its credit assignment. Applicability of the designed approach is verified through a set of simulations. It is shown that the team learns grasping different objects. Therefore, it is expected that the proposed method can be extended for distributed grasp of deformable objects

关键词： intelligent robots Learning Robot sensing systems Shape Cognitive robotics robotics and automation intelligent agent Algorithm design and analysis Grasping Redundancy

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Task allocation for event-aware spatiotemporal sampling of environmental variables

Task allocation for event-aware spatiotemporal sampling of e...

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2005 IEEE/RSJ International Conference on intelligent Robots and systems

作者： M.A. Batalin G.S. Sukhatme Yan Yu R. Pon J. Gordon M.H. Rahimi W.J. Kaiser G.J. Pottie D.E. Estrin Center for Robotics and Embedded Systems Robotic Embedded Systems Laboratory Computer Science Department University of Southern California Los Angeles CA USA Department of Computer Science Center for Embedded Networked Sensing University of California Los Angeles CA USA Department of Electrical Engineering Center for Embedded Networked Sensing University of California Los Angeles CA USA

Monitoring of environmental phenomena with embedded networked sensing confronts the challenges of both unpredictable variability in the spatial distribution of phenomena coupled with the demands for a high spatial sampling rate in three dimensions. For example, low distortion mapping of critical solar radiation properties in forest environments may require two-dimensional spatial sampling rates of greater than 10 samples/m/sup 2/ over transects exceeding 1000 m/sup 2/. Clearly, adequate sampling coverage of such transect requires an impractically large number of sensing nodes. A new approach, networked infomechanical system (NIMS), has been introduced to combine autonomous-articulated and static sensor nodes enabling sufficient spatiotemporal sampling density over large transects to meet a general set of environmental mapping demands. This paper describes our work on the critical parts of NIMS, the task allocation module. We present our methodologies and the two basic greedy task allocation policies - based on time of the task arrival (time policy) and distance from the robot to the task (distance policy). We present results from NIMS deployed in a forest reserve and from a lab testbed. The results show that both policies are adequate for the task of spatiotemporal sampling, but also complement each other. Finally, we suggest the future direction of research that would both help us better quantify the performance of our system and create more complex policies.

关键词： Spatiotemporal phenomena Sampling methods Sensor phenomena and characterization Solar radiation Mobile robots Atmospheric measurements Ecosystems Robot sensing systems Embedded system computer science

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Algebraic $H_infty$ Design of Higher-Order Iterative Learning Controllers

Algebraic $H_infty$ Design of Higher-Order Iterative Learnin...

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IEEE International Symposium on intelligent Control (ISIC)

作者： K.L. Moore YangQuan Chen Hyo-Sung Ahn Research and Technology Development Center Johns Hopkins University-Applied Physics Laboratory Laurel MD USA Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University Logan UT USA

This paper presents an H infin -based design technique for synthesis of higher-order iterative learning controllers (ILC) for plants subject to iteration-domain input/output disturbances and plant model uncertainty. Using a formulation of the higher-order ILC problem into a high-dimensional MIMO discrete-time system, it is shown how the addition of input/output disturbances and plant model uncertainty to the ILC problem can be cast into a standard H infin framework. An algebraic approach to solving the problem in this framework is presented, resulting in a sub-optimal controller that can achieve both stability and robust performance. The key observation is that H infin synthesis can be used for higher-order ILC design to achieve reliable performance in the presence of iteration-varying external disturbances and model uncertainty

关键词： Uncertainty Robust stability Robustness MIMO Robust control Delay Paper technology Physics Laboratories intelligent systems

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Schur stability radius bounds for robust iterative learning controller design

Schur stability radius bounds for robust iterative learning ...

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American Control Conference (ACC)

作者： Hyo-Sung Ahn 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 Research and Technology Development Center Johns Hopkins University-Applied Physics Laboratory Laurel MD USA

This paper computes bounds on the Schur stability radius for use in designing robust iterative learning controllers. The discrete Lyapunov equation is used to compute the Schur stability radius of the ILC system for the case of parametric or interval perturbations in the system Markov parameters. This paper is distinct from the existing ILC works in that the interval robustness concepts are integrated with asymptotic stability and monotonic convergence conditions to suggest design of the learning gain matrix that makes the system robust against interval model uncertainties up to a computable bound. After derivations of the analytical stability radius, optimization schemes are suggested to design the learning gain matrix. The proposed approach allows design of causal/noncausal time-varying learning matrix gains.

关键词： Robust stability Robust control Convergence Uncertainty Asymptotic stability Linear matrix inequalities intelligent systems Physics computing Equations Stability analysis

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Monotonic Convergent Iterative Learning Controller Design Based on Interval Model Conversion

Monotonic Convergent Iterative Learning Controller Design Ba...

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IEEE International Symposium on intelligent Control (ISIC)

作者： Hyo-Sung Ahn 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 Research and Technology Development Center Applied Physics Laboratory Johns Hopkins University-Applied Physics Laboratory Laurel MD USA

This paper presents the design of a robust iterative learning controller for the case of a plant with interval model uncertainty in the "A-matrix" of its state space description. First order perturbation theory is utilized to find bounds on the eigenvalues and eigenvectors of the powers of A when A is an interval matrix. These bounds are then used for calculation of the interval uncertainty of the Markov matrix, which can then be used to design an iterative learning controller that ensures monotonic convergence for all systems in the interval plant

关键词： Uncertainty State-space methods Matrix converters Convergence Control systems Motion control intelligent systems Physics computing Design engineering USA Councils

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A new endoscopic microcapsule robot using beetle inspired microfibrillar adhesives

A new endoscopic microcapsule robot using beetle inspired mi...

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

作者： E. Cheung M.E. Karagozler Sukho Park Byungkyu Kim M. Sitti The NanoRobotics Lab and the Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA USA The NanoRobotics Lab and the Department of Electrical & Computer Engineering Carnegie Mellon University Pittsburgh PA USA Senior Research Scientists at the Intelligent Microsystem Center Korea Institute of Science and Technology Information Seoul South Korea The director of the NanoRobotics Lab and an AssistantProfessor with the Department of Mechanical Engineering and Robotics Institute Carnegie Mellon University Pittsburgh PA USA

The diagnosis of gastrointestinal diseases within the small intestine has been greatly advanced with the introduction of the endoscopic microcapsule in recent years. In an effort to increase its reliability and expand its functionality, a mechanism for stopping and locomoting the capsule within the digestive tract is proposed in this paper. This mechanism, actuated by shape memory alloy wires, utilizes a synthetic microfibrillar adhesive similar to the attachment mechanisms employed by beetles. This fibrillar attachment mechanism is a combination of molecular adhesion caused by van der Waals forces and liquid adhesion caused by capillary forces. The molecular adhesion is enhanced by the presence of microfibers, and the liquid adhesion arises from a secretion from the beetle's footpad. A synthetic version of the beetle's footpad was fabricated from PDMS using a silicon mold. Another version was created from SU-8 using photolithography. Testing revealed decent adhesion with glass and prepared pig intestine in vitro both with a silicone oil to simulate the secretion and without it. A prototype robot with simple polymer adhesive pads for stopping successfully attached and detached inside a flexible vinyl tube. An inch worm locomotion mechanism is proposed and is in the preliminary stages of fabrication and testing

关键词： Robots Adhesives Intestines Fluids and secretions Testing Gastrointestinal tract Diseases Digestive system Shape memory alloys Wires

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Journal of Information Science and engineering: Editorial notice

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Journal of Information Science and engineering 2005年第5期21卷 i-ii页

作者： Lee, Der-Tsai Amato, Nancy M. Chang, Shih-Fu Chen, Homer H. Chen, Tsuhan Hsu, Tsan-Sheng Hwang, Jenq-Neng Kuo, Sy-Yen Kuo, Tei-Wei Li, Chung-Sheng Tokuyama, Takeshi Wing, Jeannette Wu, Tzong-Chen Yen, John Computer Science at Texas A and M University United States Parasol Laboratory United States IEEE Transactions on Parallel and Distributed Systems Computing Research Association's Committee on the Status of Women in Computing Research CRA-W's Distributed Mentor Program United States Department of Electrical Engineering Columbia University United States Lab. United States College of Electrical Engineering and Computer Science National Taiwan University Taiwan IEEE Transactions on Circuits and Systems for Video Technology IEEE Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA United States ACM ACM SIGACT IEEE Computer Society IICM Austria Research and Development of the Department Multimedia Signal Processing Technical Committee IEEE Signal Processing Society United States IEEE Transactions on Circuits and systems for Video Technology College of Electrical Engineering and Computer Science National Taiwan Ocean University Keelung Taiwan Department of Electrical Engineering National Taiwan University Taiwan Department of Computer Science and Information Engineering National Taiwan University Taipei Taiwan IEEE Technical Committee on Real-Time Systems Computer Science Division IBM T.J. Watson Research Center United States IBM Research Division Graduate School of Information Sciences Tohoku University Japan ACM IPSJ Mathematical Society of Japan Japan Department of Computer Science Computer Science Department Carnegie Mellon University United States National Academies of Science's Computer Science and Telecommunications Board United States Microsoft's Trustworthy Academic Advisory Board Intel Research Pittsburgh's Advisory Board United States Dartmouth's Institute for Security Technology Studies Advisory Committee Canada Sloan Research Fellowships Program Committee United States ACM Taiwan China Information Sciences and Technology Pennsylvania State University United States Laboratory for Intelligent Agents Penn State's School of Info

No abstract available

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MULTI-SENSORY SYNERGIES IN HUMANOID robotics

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International Journal of Humanoid robotics 2004年第2期1卷 289-314页

作者： RUSSELL, R. ANDREW TAYLOR, GEOFFREY KLEEMAN, LINDSAY PURNAMADJAJA, ANIES H. Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University ClaytonVIC3800 Australia

Sensing is a key element for any intelligent robotic system. This paper describes the current progress of a project in the intelligent robotics Research center at Monash University that has the aim of developing a synergistic set of sensory systems for a humanoid robot. Currently, sensing modes for colour vision, stereo vision, active range, smell and airflow are being developed in a size and form that is compatible with the humanoid appearance. Essential considerations are sensor calibration and the processing of sensor data to give reliable information about properties of the robot's environment. In order to demonstrate the synergistic use of all of the available sensory modes, a high level supervisory control scheme is being developed for the robot. All time-stamped sensor data together with derived information about the robot's environment are organized in a blackboard system. Control action sequences are then derived from the blackboard data based on a task description. The paper presents details of each of the robot's sensory systems, sensor calibration, and supervisory control. Results are also presented of a demonstration project that involves identifying and selecting mugs containing household chemicals. Proposals for future development of the humanoid robot are also presented. © 2004 World Scientific Publishing Company

关键词： Stereo vision

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