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A New Architecture to Execute CAs-Based Path-Planning Algorithm in Mobile Robots

A New Architecture to Execute CAs-Based Path-Planning Algori...

引用

International Conference on Mechatronics (ICM)

作者： Adel Akbarimajd Caro Lucas Robotics and AI Laboratory Department of Electrical and Computer Engineering University of Tehran Iran Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Engineering University of Tehran Iran

Several path-planning algorithms for mobile robots have been introduced. Proper architectures for mobile robots to implement the path-planning algorithms are also of interest. If the mobile robots are to perform complicated tasks including complex sensing and planning operations and have accepted performance, must be autonomous: capable of acquiring information and performing tasks without programmatic intervention. In this paper we employ a layered architecture for mobile robots to perform our previously introduced cellular automata based path planning technique. It employs an abstraction approach which makes the complexity manageable. The architecture has an important feature which is its internal artifacts; it has some beliefs about the world and these beliefs are represented in artifacts and most actions are planned and performed with respect to these artifacts

关键词： Path planning Mobile robots Robot kinematics Content addressable storage Lattices computer architecture Orbital robotics Automata Intelligent sensors robotics and automation

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Learning Individual Skills and Team Behaviors for Distributed Object Pushing

Learning Individual Skills and Team Behaviors for Distribute...

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IEEE International Conference on Mechatronics and Automation

作者： Hossein Aminaiee Majid Nili Ahmadabadi Control and Intelligent Processing Center of Excellence Robotics Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

In this paper we discuss a learning approach to distributed object pushing. In the proposed approach, first the required individual skills for single-robot object pushing are learned using a fuzzy reinforcement learning method. Then, the robots learn how to coordinate their actions to push the object to the desired configuration cooperatively in a distributed manner. The proposed team-level learning benefits from the knowledge, which is in the form of a Q-table, that the agent has gained in its individual learning phase by a special design of reward signal and state-action representation. Each robot learns a threshold on its Q-value using a single state reinforcement learning method and pushes the object when the Q-value of its best action in the current state is above this threshold. The reward signal is designed based on the robots' Q-tables and no external critic is needed for learning cooperation. Simulation results show that the robots learn their individual skills and a cooperation protocol to push the object cooperatively

关键词： Robot kinematics Learning Protocols Robot control robotics and automation Intelligent robots Signal design Mechatronics Process control Intelligent control

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A High-Level controller for Robot-Assisted Rehabilitation

A High-Level Controller for Robot-Assisted Rehabilitation

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

作者： Duygun Erol Nilanjan Sarkar Bibhrajit Halder Department of Electrical Engineering and Computer Science Vanderbilt University USA Department of Mechanical Engineering Robotics and Autonomous Systems Laboratory Vanderbilt University USA

The goal of our research is to develop a high-level controller to provide reference trajectories automatically to the low-level controller of a rehabilitation robotic device. The high-level controller, which is the supervisory controller, is an event driven, asynchronous discrete event system (DES), described by a finite state automaton. Extensive simulations are performed using the supervisory controller for a rehabilitation task. The results demonstrate the feasibility of the proposed supervisory controller

关键词： Robot control Rehabilitation robotics Automatic control Robot kinematics control systems Force control Medical treatment Supervisory control Automata Medical control systems

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A Time-Invariant Dual High-Gain Based Adaptive Output-Feedback controller for Nonlinear systems

A Time-Invariant Dual High-Gain Based Adaptive Output-Feedba...

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IEEE Conference on Decision and control

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory(CRRL) Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

ISBN: (纸本)1424401704;9781424401703

We propose an adaptive output-feedback controller for a general class of nonlinear triangular (strict-feedback-like) systems. The design is based on our recent results on a dual high-gain observer and controller architecture with a dynamic scaling. The technique provides strong robustness properties and allows the system class to contain unknown functions dependent on all states and involving unknown parameters (with no magnitude bounds required). Unlike our earlier result on this problem where a time-varying design of the high-gain scaling parameter was utilized, the technique proposed here achieves an autonomous dynamic controller by introducing a novel design of the observer, the scaling parameter, and the adaptation parameter. This provides a time-invariant dynamic output-feedback controller for the benchmark open problem proposed in our earlier work with no magnitude bounds or sign information on the unknown parameter being necessary

关键词： Programmable control Adaptive control Nonlinear control systems control systems Nonlinear systems control design Nonlinear dynamical systems Uncertainty Backstepping USA Councils

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Who Moved?! An Investigation into Distribution of Actions and Behaviors in a Multi Agent System

Who Moved?! An Investigation into Distribution of Actions an...

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International Conference on Mechatronics (ICM)

作者： Roozbeh Daneshvar Caro Lucas Artificial Intelligence and Robotics Laboratory Faculty of Electrical and Computer Engineering University of Tehran Tehran Iran Center of Excellence for Control and Intelligent Processing Faculty of Electrical and Computer Engineering School of Intelligent Systems IPM University of Tehran Tehran Iran

In this paper we have considered systems in which agents communicate via their environment. In these systems the agents do not have direct and explicit communication with each other and instead they have implicit communication which is performed via the environment they are located in. Different kinds of environment elements are considered to be changed while on the other hand for all of these situations there is a change in the environment and this change means potential stimuli that fires behaviors of agents for future. It is considered that if we can find a track of changes in the environment and find the roots of a movement in an agent that is originally made by another agent of the group

关键词： Artificial intelligence Intelligent robots Fires Tracking Process control Communication system control control systems Intelligent control Optical computing Intelligent systems

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Robust Finite Time control of Nonlinear systems with Dynamic Uncertainty

Robust Finite Time Control of Nonlinear Systems with Dynamic...

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American control Conference

作者： Yiguang Hong Zhong-Ping Jiang Institute of Systems Science Key Laboratory of Systems and Control Chinese Academy and Sciences Beijing China Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY USA

In this paper, robust finite-time control problem of nonlinear systems with dynamic uncertainties is investigated. To solve this problem, a partial-state control design is proposed in a constructive way. With small-ga... 详细信息

ISBN: (纸本)1424402093

关键词： Lyapunov methods control system synthesis nonlinear control systems nonlinear dynamical systems robust control uncertain systems dynamic uncertainties finite time control finite-time stabilization input-to-state stability nonsmooth feedback partial-state

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Integrated information processing and communications: Complexity analysis

Integrated information processing and communications: Comple...

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IASTED International Conference on COMMUNICATION systems AND APPLICATIONS Part of the Sixth IASTED International Multi-Conference on WIRELESS AND OPTICAL COMMUNICATIONS

作者： Huyu, Qu Le, Yi Wang Yaprak, Ece Hong, Wang Yanlong, Zhao Department of Electrical and Computer Engineering Wayne State University Detroit MI 48202 United States Division of Engineering Technology Wayne State University Detroit MI 48202 United States Department of Anesthesiology Wayne State University Detroit MI 48202 United States Key Laboratory of System and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences China

Accuracy of information transmission when a signal must be transmitted through a communication channel is of essential importance in design of communication systems. When system resources are limited, such as transmission bandwidths assigned to a wireless communication channel, appropriate utility of available resources becomes imperative. This paper investigates fundamental relationships between accuracy of information exchange and communication resources, on a platform of wireless communication channels that involve typical system blocks of data compression, quantization, and stochastic wireless channels. The main complexity relationships developed in this paper provide rigorous trade-off between resource consumptions and information processing errors of each block. When these relationships are integrated, an optimization procedure emerges that allows optimal allocation of resources to each system block, such as compression ratio, quantization levels, and transmission speed, to maximize overall information accuracy. Consequently, the overall errors of the transmitted signal will be minimized at the receiver end.

关键词： Data processing

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Single differential modulation and detection for MPSK in the presence of unknown frequency offset

Single differential modulation and detection for MPSK in the...

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40th Asilomar Conference on Signals, systems, and computers, ACSSC '06

作者： Liu, Jianhua Stoica, Petre Simon, Marvin Li, Jian Department of Electrical and Systems Engineering Embry-Riddle Aeronautical University Daytona Beach FL 32114 United States Department of Systems and Control Uppsala University P.O. Box 337 SE-75105 Uppsala Sweden Jet Propulsion Laboratory MS 238-343 4800 Oak Grove Drive Pasadena CA 91109 United States Department of Electrical and Computer Engineering University of Florida P.O. Box 116130 Gainesville FL 32611-6130 United States

ISBN: (纸本)1424407850

We consider improving the performance of communications over unknown channels with unknown frequency offsets. In lieu of the commonly suggested double differential (DD) modulation/detection, we consider single differential (SD) modulation/detection. We propose an approach that first estimates and compensates for the frequency offset and then detects using an existing multiple symbol detector for SD modulation. We introduce a simple data-symbol- independent frequency offset estimation method, which is reasonably accurate when using a data block larger than the one used for detection. Simulation results show that the SD modulation/detection approach proposed herein can significantly outperform the DD modulation/detection schemes.

关键词： Signal detection

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Finite-Time Stabilization and Identification of A Class of Uncertain systems

Finite-Time Stabilization and Identification of A Class of U...

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Chinese control Conference (CCC)

作者： Yiguang Hong Zhong-ping Jiang Key Laboratory of Systems anc Control Chinese Academy and Sciences Beijing China Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY USA

This paper addresses finite-time stabilization and identification problems for a class of uncertain systems with unknown parameters. New finite-time control laws are constructed with a design idea based on Lyapunov fu... 详细信息

关键词： Uncertain systems control systems Adaptive control Lyapunov method State feedback Programmable control Nonlinear control systems Nonlinear systems Uncertainty Parameter estimation

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Computationally tractable inventory control for large-scale reverse supply chains

Computationally tractable inventory control for large-scale ...

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American control Conference (ACC)

作者： P. Krishnamurthy F. Khorrami D. Schoenwald Control/Robotics Research Laboratory(CRRL) Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA Sandia National Laboratories Albuquerque NM USA

We propose a new inventory control technique for large-scale bidirectional (or closed-loop) supply chains including repairs. It is well-known that available optimization techniques are computationally intractable for bidirectional stochastic supply chains and also necessitate several simplifying assumptions. In contrast, the proposed approach is an adaptive scheme which scales well to practically interesting large-scale multi-item supply chains. Furthermore, practical issues such as stochastic transport delays, manufacturing times, and repair times and probabilistic characterization of part repair success are handled in a unified framework. The control scheme is based on a hierarchical two-level architecture comprised of an adaptive set-point generator and a lower-level order-up-to policy. An application to aircraft supply chains involving multiple OEMs, depots, bases, squadrons, and planes is also investigated

关键词： Inventory control Large-scale systems Supply chains Laboratories Manufacturing Stochastic processes Aircraft manufacture Programmable control Adaptive control Transportation

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