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IEEE-RAS International Conference on Humanoid Robots

作者： Hyobin Jeong Jaesung Oh Mingeuk Kim Kyungdon Joo In So Kweon Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory School of Mechanical Aerospace & Systems Engineering Department of Electrical Engineering Korea Advanced Institute of Science and Technology Department of Electrical Engineering KAIST

ISBN: (纸本)9781479968862

This paper proposes strategies for the driving and egress of a vehicle with a humanoid robot. To drive the vehicle, the RANSAC method was used to detect obstacles, and the Wagon model was used to control the steering and velocity of the vehicle with only a limited number of sensors which were installed on the humanoid robot. Additionally, a manual teleoperating method was used with the lane projection technique. For the egress motion, gain override and the Cartesian position/force control technique were used to interact with the vehicle structure. To overcome the disadvantages of a highly geared manipulator, a special technique was used that included modelled friction compensation and a non-complementary switching mode. DRC-HUBO+ used the proposed method to perform a vehicle driving and egress task in the DRC finals 2015.

关键词： Humanoid robots EGRESS vehicle Vehicle driving Automobile driving UTILITY VEHICLES control strategy friction compensation DRIVES Steering

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Derong Liu [People in control]

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IEEE control systems 2014年第2期34卷 26-27页

作者： Liu, Derong State Key Laboratory of Management and Control for Complex Systems Department of Electrical and Computer Engineering University of Illinois at Chicago United States Institute of Automation Chinese Academy of Sciences 95 Zhongguancun East Road Beijing100190 China

关键词： Laboratories

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Low complexity constraint control using contractive sets 19

Low complexity constraint control using contractive sets

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Hovd, Morten Olaru, Sorin Bitsoris, George Engineering Cybernetics Department Norwegian University of Science and Technology TrondheimN-7491 Norway SUPELEC Systems Science Automatic Control Department EPI INRIA DISCO 3 rue Joliot Curie 91192 France Control Systems Laboratory Department of Electrical and Computer Engineering University of Patras Patras26500 Greece

ISBN: (纸本)9783902823625

This paper proposes a simple, non-iterative way of calculating low-complexity controlled contractive sets, and shows how such set can be used for controller design for systems with state and input constraints. The result is a low complexity controller, suitable for implementation in embedded control systems with modest computational power and available memory. © IFAC.

关键词： controllers

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Design and implementation of a range-based formation controller for marine robots 1

Design and implementation of a range-based formation control...

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ROBOT 2013: 1st Iberian robotics Conference

作者： Soares, Jorge M. Aguiar, A. Pedro Pascoal, António M. Martinoli, Alcherio Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico Technical University of Lisbon Av. Rovisco Pais Lisboa1049-001 Portugal Department of Electrical and Computer Engineering University of Porto Rua Dr. Roberto Frias Porto4200-465 Portugal LausanneCH-1015 Switzerland

ISBN: (纸本)9783319034126

There is considerable worldwide interest in the use of groups of autonomous marine vehicles to carry our challenging mission scenarios, of which marine habitat mapping of complex, non-structured environments is a representative example. Relative positioning and formation control becomes mandatory in many of the missions envisioned, which require the concerted operation of multiple marine vehicles carrying distinct, yet complementary sensor suites. However, the constraints placed by the underwater medium make it hard to both communicate and localise the vehicles, even in relation to each other, let alone maintain them in a formation. As a contribution to overcoming some of these problems, this paper deals with the problem of keeping an autonomous marine vehicle in a moving triangular formation with respect to two leader vehicles. Simple feedback laws are derived to drive a controlled vehicle to its intended position in the formation using acoustic ranges obtained to the leading vehicles with no knowledge of the formation path. The paper discusses the implementation of this solution in the MEDUSA class of autonomous marine vehicles operated by IST and describes the results of trials with these vehicles exchanging information and ranges over an acoustic network. © Springer International Publishing Switzerland 2014.

关键词： Machine design

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On the Linear Constrained Regulation Problem for Continuous-Time systems

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IFAC Proceedings Volumes 2014年第3期47卷 4004-4009页

作者： George Bitsoris Sorin Olaru Marina Vassilaki Control Systems Laboratory Department of Electrical and Computer Engineering University of Patras 26500 Patrs Greece SUPELEC Systems Science (E3S) Automatic Control Department Gif-sur-Yvette 91190 France ASPETE Department of Electrical Engineering Education N. Heraklion 14121 Athens Greece

In this paper the regulation problem for linear continuous-time systems by linear state-feedback under linear state and/or control constraints is investigated. This problem, named the Linear Constrained Regulation Problem, has been extensively studied when the regulation concerns an equilibrium situated in the interior of the domain of admissible states. In this paper the case when the desired equilibrium state is on the boundary of the domain of admissible states is considered. The tools used for the analysis and design of this kind of control problems are the conditions of positive invariance of polyhedral sets, Lyapunov-like polyhedral functions, LMI methods and eigenstructure assignment techniques.

关键词： Constrained control polyedral sets positive invariance stability linear systems

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Flexible triangular formation keeping of marine robotic vehicles using range measurements 19

Flexible triangular formation keeping of marine robotic vehi...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Rego, Francisco Soares, Jorge M. Pascoal, António Aguiar, A. Pedro Jones, Colin Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

ISBN: (纸本)9783902823625

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation. © IFAC.

关键词： Vehicle performance

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Decoding of Intentional Actions from Scalp Electroencephalography (EEG) in Freely-behaving Infants

Decoding of Intentional Actions from Scalp Electroencephalog...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Zachery R. Hernandez Jesus Cruz-Garza Teresa Tse Jose L. Contreras-Vidal Non-Invasive Brain-Machine Interface Systems Laboratory at the Department of Electrical and Computer Engineering University of Houston (UH) Center for Robotics and Intelligent Systems Tecnologico de Monterrey

ISBN: (纸本)9781424479276

The mirror neuron system (MNS) in humans is thought to enable an individual's understanding of the meaning of actions performed by others and the potential imitation and learning of those actions. In humans, electroencephalographic (EEG) changes in sensorimotor a-band at central electrodes, which desynchronizes both during execution and observation of goal-directed actions (i.e., μ suppression), have been considered an analog to MNS function. However, methodological and developmental issues, as well as the nature of generalized μ suppression to imagined, observed, and performed actions, have yet to provide a mechanistic relationship between EEG μ-rhythm and MNS function, and the extent to which EEG can be used to infer intent during MNS tasks remains unknown. In this study we present a novel methodology using active EEG and inertial sensors to record brain activity and behavioral actions from freely-behaving infants during exploration, imitation, attentive rest, pointing, reaching and grasping, and interaction with an actor. We used δ-band (1-4Hz) EEG as input to a dimensionality reduction algorithm (locality-preserving Fisher's discriminant analysis, LFDA) followed by a neural classifier (Gaussian mixture models, GMMs) to decode the each MNS task performed by freely-behaving 6-24 month old infants during interaction with an adult actor. Here, we present results from a 20-month male infant to illustrate our approach and show the feasibility of EEG-based classification of freely occurring MNS behaviors displayed by an infant. These results, which provide an alternative to the μ-rhythm theory of MNS function, indicate the informative nature of EEG in relation to intentionality (goal) for MNS tasks which may support action-understanding and thus bear implications for advancing the understanding of MNS function.

关键词： Electroencephalography Scalp Acceleration Training Coherence Electrodes Testing

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Robust control reconfiguration of resource allocation systems with Petri nets and integer programming

Robust control reconfiguration of resource allocation system...

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作者： Li, Jun Zhou, Mengchu Guo, Tao Gan, Yahui Dai, Xianzhong Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China School of Automation Southeast University Nanjing 210096 China Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 201804 China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ 07102 United States

Supervisory control reconfiguration can handle the uncertainties including resource failures and task changes in discrete event systems. It was not addressed to exploit the robustness of closed-loop systems to accommodate some uncertainties in the prior studies. Such exploitation can cost-efficiently achieve reconfigurability and flexibility for real systems. This paper presents a robust reconfiguration method based on Petri nets (PNs) and integer programming for supervisory control of resource allocation systems (RASs) subject to varying resource allocation relationships. An allocation relationship is seen as a control specification while the execution processes requiring resources as an uncontrolled plant. First, a robust reconfiguration mechanism is proposed. It includes updating the P-invariant-based supervisor and evolving the state of the closed-loop system. The latter adapts to the control specification changes by the self-regulation of the closed-loop system's state. Next, two novel integer programming models for control reconfiguration are proposed, called a reconfiguration model with acceptability and reconfiguration one with specification correction. Since both models integrate the firability condition of transitions, no additional efforts are required for the state reachability analysis. Finally, a hospital emergency service system is used as an example to illustrate them. © 2014 Elsevier Ltd. All rights reserved.

关键词： Integer programming

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous robotics systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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ANN-based DTC scheme to improve the dynamic performance of an IM drive

ANN-based DTC scheme to improve the dynamic performance of a...

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7th IET International Conference on Power Electronics, Machines and Drives, PEMD 2014

作者： Bouhoune, K. Yazid, K. Boucherit, M.S. Power and Industrial Systems Laboratory Faculty of Electronics and Computer Science University of Science and Technology Houari Boumediene PO Box 32 El Alia Bab Ezzouar 16111 Algiers Algeria Process Control Laboratory Department of Electrical Engineering Polytechnic National School PO Box 182 10 Hassan Badi El-Harrach 16200 Algiers Algeria

ISBN: (纸本)9781849198158

In addition to simplicity, the DTC of the IM allows a good torque control in steady-state and transient operating conditions. However, high torque ripple is produced, which is reflected in speed estimation responses. It also increases acoustical noise and makes the voltage source inverter operated in high and variable switching frequency, requiring a high sampling frequency. In this paper, a simple effective ANN-based DTC of the induction machine is proposed. Neural networks with a simple architecture are designed and implemented in influential points of the direct torque control block of the three phase induction machine in order to improve its dynamic performance while preserving the DTC structure simplicity as much as possible. In particular, this paper proposes to reduce, on the one hand, the torque ripple and commutation frequency. Neural comparators are used to select the appropriate bandwidth for the torque and flux hysteresis controllers. Their aim is to optimize the ripple level in the developed torque and flux. On the other hand, a neural speed controller is designed in order to improve the system ability to respond rapidly to changes in process variables and mitigate the effects of external perturbations. The performance of the proposed control are tested in simulation and highlighted by comparing to the conventional DTC control based on conventional hysteresis comparators and conventional PI speed controller. The obtained results show the feasibility and good performances of the proposed control.

关键词： Neural networks

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