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International Conference on Industrial Electronics, control and Instrumentation

作者： T.-J. Pan R.C. Luo Department of Information Engineering Tatung Institute of Technology Taipei Taiwan Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A new approach to solving the collision detection problem for mobile robots in the presence of moving obstacles is proposed. Both the robot and obstacles in the two-dimensional space are assumed to be polygonal and are composed of a set of convex polygons. The half-plane representation uses an algebraic method to describe the object motion including translation and rotation through time. Compared with previous methods, the proposed representation is more general in that obstacles are now allowed to move at nonconstant velocities. To detect collision between polygonal objects, a traversability vector method was developed. Traversability vectors are a simple mechanism used to analyze geometric constraints imposed by polygons. Using these vectors, a simple algorithm for predicting collision is derived. computer simulations were conducted to show the feasibility of the proposed method.< >

关键词： Mobile robots Motion planning Robot motion Orbital robotics Intelligent robots Technology planning Space technology Motion detection Object detection Prediction algorithms

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DIGNET: a self-organizing neural network for automatic pattern recognition and classification

DIGNET: a self-organizing neural network for automatic patte...

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IEEE Conference on Decision and control

作者： S.C.A. Thomopoulos D.K. Bougoulias Decision and Control Systems Laboratory Department of Electrical & Computer Engineering Pennsylvania State University University Park PA USA Information Proc. & Intell. System Laboratory Department of Electrical Engineering Southem Illinois University Carbondale IL USA

The authors present a self-organizing artificial neural network (ANN) that exhibits deterministically reliable behavior to noise interference when the noise does not exceed a specified level of tolerance. The complexity of the proposed ANN, called DIGNET, in terms of neuron requirements versus stored patterns, increases linearly with the number of stored patterns and their dimensionality. The self-organization of DIGNET is based on the idea of competitive generation and elimination of attraction wells in the pattern space. The same neural network can be used for both pattern recognition and classification.< >

关键词： Neural networks Pattern recognition Artificial neural networks Neurons Interference Vectors Laboratories Noise level Signal detection Automatic control

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Fundamentals of control-oriented system identification and their application for identification in H∞

Fundamentals of control-oriented system identification and t...

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American control Conference (ACC)

作者： A. J. Helmicki C. A. Jacobson C. N. Nett Department of Electrical and Computer Engineering University of Cincinnati Cincinnati OH USA Department of Electrical and Computer Engineering Northeastern University Boston MA USA School of Aerospace Engineering Laboratory for Identification and Control of Complex Highly Uncertain Systems Georgia Institute of Technology Atlanta GA USA

This paper examines the system identification problem from the standpoint of control system design. Noting first that nearly all robust control design methods require explicit worst-case/deterministic bounds on the existing plant uncertainty, it is argued that the class of system identification methods which are inherently compatible with robust control design methods-or control-oriented is a subset of the class of system identification methods which yield an explicit worst-case/deterministic bound on the resulting identification error. An abstract theoretical framework for control-oriented system identification is then developed. This framework is inherently worst-case/deterministic in nature, and makes precise such notions as identification error, algorithm convergence, and algorithm optimality from a worst-case/deterministic standpoint. Finally, the abstract theoretical framework is utilized to formulate and solve two related control-oriented system identification problems for stable, linear, shift-invariant, distributed parameter plants. In each of these problems the assumed apriori information is minimal, consisting only of a lower bound on the relative stability of the plant, an upper bound on a certain gain associated with the plant, and an upper bound on the noise level. In neither case are any assumptions made concerning the structure of either the plant (i.e., dynamic order, relative order, etc.) or the noise (i.e., zero-mean, etc.). The first of these problems involves identification of a point sample of the plant frequency response from a noisy, finite, output time series obtained in response to an applied sinusoidal input with frequency corresponding to the frequency point of interest.

关键词： control systems System identification Robust control Design methodology Upper bound Frequency Uncertainty Error correction Convergence Stability

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CAE Tools for Nonlinear systems Analysis and Design Based on Sinusoidal-Input Describing Functions

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IFAC Proceedings Volumes 1991年第4期24卷 89-94页

作者： J.R. O'Donnell J.H. Taylor Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY 12180-3590 USA Control Systems Laboratory General Electric Corporate Research and Development P. O. Box 8 Schenectady NY 12301 USA

We report on recent progress in the development of a computer-aided engineering (CAE) environment for nonlinear control system analysis and design based on sinusoidal-input describing function (SIDF) methods. Several major additions have been made to our nonlinear controls CAE software: ACSL macros were developed to allow the generation of SIDF models of nonlinear plants in a manner analogous to that of the SIMNON-based software developed earlier, and MATLAB routines were developed for the analysis of these models and for the design of general nonlinear controllers based on them. This software provides an integrated tool set for treating very general nonlinear systems with no restrictions on system order, number of nonlinearities, configuration, or nonlinearity type. Based on the new software presented here, the use of SIDF-based nonlinear control system analysis and design methods is substantially easier to carry out and more powerful than before

关键词： Nonlinear control systems describing functions control system design computeraided design computer software

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Worst Case System Identification in l1: Optimal Algorithms and Error Bounds

Worst Case System Identification in l1: Optimal Algorithms a...

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American control Conference (ACC)

作者： C. A. Jacobson C. N. Nett Department of Electrical and Computer Engineering North Eastern University Boston MA USA Laboratory for Identification and Control of Complex Highly Uncertain Systems (LICCHUS) School Institute of Technology Georgia Institute of Technology Atlanta GA USA

This paper analyzes worst case identification of linear shift invariant systems with an l 1 error criterion. A characterization of optimal algorithms and intrinsic errors of identification is given. The application of this characterization is made to identification in l 1 . The assumed apriori information on the plant are bounds on the system gain and decay rate of the impulse response of the unknown system and the experimental data is assumed to be a finite set of corrupted impulse or step response samples of the systems. Comparisons are made with the H ∞ system identification problem. Comments on the l 1 identification of small signal models of smooth nonlinear discrete time systems are made.

关键词： System identification Robust control Convolution Jacobian matrices Algorithm design and analysis Signal processing Discrete time systems control system synthesis Nonlinear control systems Design methodology

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SENSORS AND INTERFACING IN robotics AND MANUFACTURING

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robotics AND computer-INTEGRATED MANUFACTURING 1990年第3-4期7卷 243-253页

作者： JAMSHIDI, M CAD Laboratory for Systems/Robotics Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM 87131 U.S.A.

Sensing is one of the most essential aspects of any robotic application, be it manufacturing or any automated process. Robotic sensors can be divided into two classes of " internal " and " external ". Examples of the first group are position or velocity, while the second group includes proximity, touch, or vision to name a few. The other important problem in manufacturing is interfacing with the environment within a cell. The object of this tutorial paper is to survey the two issues of "sensing" and "interfacing" in robotics and manufacturing.

关键词： Robots, Industrial

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INCREMENTAL FUZZY EXPERT PID control

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1990年第5期37卷 365-371页

作者： TZAFESTAS, S PAPANIKOLOPOULOS, NP Div. of Comput. Eng. Nat. Tech. Univ. of Athens Greece Department of Electrical and Computer Engineering the Robotics Institute Carnegie Mellon University Pittsburgh PA USA Robotics and Control Laboratory Computer Engineering Division National and Technical University of Athens Athens Greece

An approach to intelligent PID (proportional integral derivative) control of industrial systems which is based on the application of fuzzy logic is presented. This approach assumes that one has available nominal controller parameter settings through some classical tuning technique (Ziegler-Nichols, Kalman, etc.). By using an appropriate fuzzy matrix (similar to Macvicar-Whelan matrix), it is possible to determine small changes on these values during the system operation, and these lead to improved performance of the transient and steady behavior of the closed-loop system. This is achieved at the expense of some small extra computational effort, which can be very easily undertaken by a microprocessor. Several experimental results illustrate the improvements achieved.< >

关键词： Fuzzy control Three-term control PD control Pi control Proportional control control systems electrical equipment industry Industrial control Fuzzy logic Kalman filters

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An intelligent path planning system for robot navigation in an unknown environment

An intelligent path planning system for robot navigation in ...

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Mobile Robots IV 1989

作者： Luo, Ren C. Pan, Tai-Jee Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

In this paper, a novel approach to solve the mobile robot path planning problem in an unknown environment is presented. Inherently, the obstacle information from robot perception is contaminated with uncertainties, and thus, the acquired obstacle knowledge for path planning needs to be updated dynamically. Therefore, the development of an adaptive path planning scheme capable of determining a desired path with uncertain, and incomplete obstacle knowledge is necessary. We use the concept of traversability vectors to analyze the spatial-relations between the robot and obstacles in the task environment. Then, these analyzed relations are used to determine the obstacles that must be bypassed by the robot, and the ways to bypass them. Dynamically changing obstacle knowledge can be accommodated by replanning the path at the time when a change is reported. The proposed scheme can work very efficiently since because of the elimination of an exhausted search process that is often required in previous approaches. We implement a computer program to simulated the proposed planning scheme. A graphical representation for robot motions guided by the planned paths is illustrated to show the feature of the presented work. © 1990 SPIE. All rights reserved.

关键词： Motion planning

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Intelligent motion control system for autonomous vehicles operating in a factory floor

Intelligent motion control system for autonomous vehicles op...

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1990 IEEE International Workshop on Intelligent Motion control, IMC 1990

作者： Luo, Ren C. Pan, T.J. Aras, C.M. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University University RaleighNC27695 United States

To improve the performance of autonomous vehicles operating in a factory environment, it is important to develop an intelligent planning system to avoic. vehicle collisions as well as to design a good path network which can minimize the congestion problem. Given a path network, the collision problem can be eliminated by velocity planning for vehicles. To achieve this, we first represent each vehicle as an intersection of time varying half-planes. Then, we use traversability vectors method to predict vehicle collisions along their paths. Once a collision is predicted, time constraints on lower-priority vehicles are registered on a constraint map which shows time instances when the path is obstructed. Velocity planning is then accomplished ty a search on the map. To solve the congestion problem, we must reduce the average waiting time of vehicles. We use a queueing network model to evaluate the average waiting time for different path network configurations. As a result. the network that yields the best performance is selected. © 1991 IEEE.

关键词： Autonomous vehicles

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Surface reconstruction based on descripions of cross-sectional contours

Surface reconstruction based on descripions of cross-section...

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Sensing and Reconstruction of Three-Dimensional Objects and Scenes 1990

作者： Kim, Yonghoon Luo, Ren C. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

Surface reconstruction from cross-sectional contours has become increasingly important in medical image applications. In this paper, a method of reconstructing the surface of an object based on the descriptions of cross-sectional contours has been developed. Each cross-sectional contour is first partitioned into convex/concave segments based on the relative locations of points on the contour. Each segment of the contour is then described by a parametric cubic polynomial, and the boundary is recovered based on the description. A matching technique incorporating possible deformations between adjacent cross-sections is used to obtain the correspondence between adjacent cross-sectional contours. Once the correspondence is established, the surface between correspondent segments of adjacent crosssectional contours is reconstructed by a traditional triangulation technique. As the reconstruction is based on the shape of the cross-sections, the reconstructed surfaces are more close to that of the original object. © 1990 SPIE. All rights reserved.

关键词： Surface reconstruction

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