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American Control Conference (ACC)

作者： W.E. Dixon D.M. Dawson B.T. Costic M.S. de Queiroz Robotics and Process Systems Division Oak Ridge National Laboratory USA Department of Electrical and Computer Engineering Clemson University Clemson SC USA Department of Mechanical Engineering Lousiana State University Baton Rouge LA USA

The paper seeks to begin a discussion with regard to developing standardized computer aided control system design (CACSD) tools that are typically utilized in an undergraduate controls laboratory. The advocated CACSD design tools are based on the popular, commercially available MATLAB environment, the Simulink toolbox, and the Real-Time Workshop toolbox. The primary advantages of the proposed approach are as follows: 1) the required computer hardware is low cost, 2) commercially available plants from different manufacturers can be supported under the same CACSD environment with no hardware modifications, 3) both the Windows and Linux operating systems can be supported via the MATLAB based Real-Time Windows Target and the Quality Real Time Systems (QRTS) based Real-Time Linux Target, and 4) the Simulink block diagram approach can be utilized to prototype control strategies; thereby, eliminating the need for low level programming skills. It is believed that the above advantages related to standardization of the CACSD design tools will facilitate: 1) the sharing of laboratory resources within each university (i.e., between departments) and 2) the development of Internet laboratory experiences for students (i.e., between universities).

关键词： Standardization computer languages Control systems Laboratories Real time systems MATLAB computer aided manufacturing Hardware Linux Costs

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Hierarchical systems control using threshold fuzzy systems

Hierarchical systems control using threshold fuzzy systems

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IEEE International Conference on Systems, Man and Cybernetics

作者： J.L. Overholt K.C. Cheok Behavioral Robotics Laboratory U.S. Army Tank-Automotive and Armaments Command Warren MI USA Department of Electrical and Systems Engineering School of Engineering and Computer Science Oakland University Rochester MI USA

This paper describes a behavior-based method of controlling an autonomous skid-steer robot operating in an unknown environment. We introduce a new modular, neural-fuzzy system called a threshold fuzzy system (TFS). Supervised training, using error backpropagation, is used to find optimal parameters of the TFS. In this paper, a TFS controller is developed for a skid-steer autonomous vehicle system (AVS). Several hundred simulations are conducted and results for the AVS are compared (favorably) with a traditional neural network approach.

关键词： Hierarchical systems Control systems Fuzzy systems Mobile robots Neural networks Fuzzy neural networks Engines Systems engineering and theory computer science computer errors

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Internet-based remote sensing and manipulation in micro environment

Internet-based remote sensing and manipulation in micro envi...

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

作者： C.K.M. Fung W.J. Li I. Elhajj Ning Xi Center for Micro and Nano Systems Chinese University of Hong Kong New Territories Hong Kong China Robotics and Automation Laboratory Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA

ISBN: (纸本)0780367367

Recent developments in the Internet have significantly increased the human capability to reach and obtain information from remote locations. In parallel, the advent of micro sensors and actuators makes it possible for humans to sense and act in a microenvironment. Combined, the Internet and MEMS will produce a new technology for humans to sense and act in remote microenvironments, allowing the potential development of micro teleoperation and micro automation technologies. These new technologies have potential impact on several fields, including remote micro automation and biomedical engineering. In this paper, we will present our ongoing development of polyvinylidene fluoride (PVDF) sensors that can be used for force-reflective control of micromechanical devices over the Internet. Internet based teleoperation between Hong Kong and Michigan State was demonstrated using an event-based control scheme, which ensured stability and synchronization. Control was enhanced by multimedia feedback, which included, in addition to the traditional video, force feedback. The force fed back augmented the limited information supplied by visual feedback. We believe this project will eventually make a great impact to the globalization of MEMS foundries because it will allow global users to micro-assemble and micro-manipulate surface micromachined devices from their laboratories, and hence, reduce the time from design to production significantly.

关键词： Internet Remote sensing Force feedback Humans Micromechanical devices Automation Automatic control Force control Actuators Biomedical engineering

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Repetitive learning control: a Lyapunov-based approach

Repetitive learning control: a Lyapunov-based approach

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IEEE Conference on Control Technology and Applications (CCTA)

作者： W.E. Dixon E. Zergeroglu D.M. Dawson B.T. Costic Robotics and Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA Lucent Technologies Bell Laboratory Innovations Optical Fiber Solutions Sturbridge MA USA Department of Electrical & Computer Engineering Clemson University Clemson SC USA

In this paper, a learning-based feedforward term is developed to solve a general control problem in the presence of unknown nonlinear dynamics with a known period. Since the learning-based feedforward term is generated from a straightforward Lyapunov-like stability analysis, the control designer can utilize other Lyapunov-based design techniques to develop hybrid control schemes that utilize learning-based feedforward terms to compensate for periodic dynamics and other Lyapunov-based approaches (e.g., adaptive-based feedforward terms) to compensate for non-periodic dynamics. To illustrate this point, a hybrid adaptive/learning control scheme is utilized to achieve global asymptotic link position tracking for a robot manipulator.

关键词： Service robots Laboratories Industrial control Robotic assembly Robust control Technological innovation Optical fibers Optical computing Optical control Hybrid power systems

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Nonlinear coupling control laws for an overhead crane system

Nonlinear coupling control laws for an overhead crane system

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Y. Fang E. Zergeroglu W.E. Dixon D.M. Dawson Department of Electrical & Computer Engineering Clemson University Clemson SC USA Bell Laboratory Innovations Optical Fiber Solutions Lucent Technologies Inc. Sturbridge MA USA Robotics and Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA

We consider the regulation control problem for a two-degree-of-freedom (2-DOF), underactuated overhead crane system. Inspired by recently designed passivity-based controllers for underactuated systems, we design several controllers that asymptotically regulate the gantry position and payload position. Specifically, utilizing LaSalle's invariance set theorem, we first illustrate how a simple proportional-derivative (PD) controller can be utilized to asymptotically regulate the overhead crane system. Motivated by the desire to achieve improved transient performance, we then design a two nonlinear controllers that increase the coupling between the gantry position and payload position.

关键词： Couplings Nonlinear control systems Control systems Cranes Payloads Nonlinear dynamical systems Adaptive control Laboratories Costs Control design

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A hybrid pneumatic/electrostatic milli-actuator

A hybrid pneumatic/electrostatic milli-actuator

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ASME 2000 International Mechanical engineering Congress and Exposition, IMECE 2000

作者： Chiang, Kenneth H. Fearing, Ronald S. Robotics and Intelligent Machines Laboratory Department of Electrical Engineering and Computer Sciences University of California 265M Cory Hall BerkeleyCA94720-1770 United States

ISBN: (纸本)9780791819005

In typical MEMS applications, actuation is accomplished directly by converting electrical input power to useful mechanical power. However, indirect schemes employing electrically driven primary and alternately driven secondary actuators can trade simplicity and bandwidth for lower forces and strokes in the primary actuator, hence reducing power consumption. Because it is generally easier to build actuators with high force and low stroke. we propose a hybrid actuator with a pneumatic oscillator as the secondary and an electrostatic clamp as the primary. By clamping the oscillator at its extremes of travel, the hybrid actuator can be turned on and off. In this paper, we report on progress towards fabricating such a hybrid actuator. We have demonstrated operation of a 40x40x30 mm3 oscillator at 6 Hz with a stroke of 2.5 mm and a peak force of 1.1 N, although fabrication of the electrostatic clamp has not been accomplished. Copyright © 2000 by ASME

关键词： Pneumatics

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Design and implementation of a logic controller using petri nets and ladder logic diagrams

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IFAC Proceedings Volumes 2000年第20期33卷 333-338页

作者： S.G. Tzafestas M.G. Pantelelis D.L. Kostis Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Zografou 15773 Athens Greece

This paper presents a new method for using Petri net models in order to design and implement a sequence controller for a small scale robotic cell which consists of a robotic manipulator, a variety of sensors and electro-pneumatic actuators. The proposed method leads directly to the generation of the associated Ladder Logic Diagrams (LLDs) and it has proved to be effective through the application to sequence control of a small-scale industrial system. In addition, it has reduced the period for developing, debugging and reengineering of the LLD, compared to die traditional method that directly prepares an LLD. Experimental results are included to show the effectiveness of the PN/LDD controller.

关键词： Discrete industrial systems Petri nets LLD PLC

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A constrain-move based distributed cooperation strategy for four object lifting robots

A constrain-move based distributed cooperation strategy for ...

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Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)

作者： M.N. Ahmadabadi S.M. Rushan ZhiDong Wang E. Nakano Robotics Laboratory Department of Electrical and Computer Engineering Faculty of Eng University of Tehran Tehran Iran Robotics Laboratory Department of Electrical and Computer Engineering Faculty of Engineering University of Tehran Tehran Iran Advanced Robotics Laboratory The Graduate School of Info. Sciences University of Tohoku Sendai Japan

This paper extends the constrain-move strategy for four robots lifting an object in a distributed manner. Ahmadabadi et al. (1996, 1998) have successfully applied constrain-move to three robots, but due to existence of redundancy in vertical forces in a team of four robots, this protocol is not applicable to such systems in its original form. In the presented cooperation strategy, the robots support the load on its bottom face and there is no lateral artificial constraint on the object. The distributed coordination protocol is designed in such a way that with minimum volume of communication and implementing their own local sensors, the robots can lift the object while its Euler angles and robot-object contact are controlled. Stability condition for the system is attained mathematically. Simulation results are given to support the applicability of the presented system.

关键词： Robot kinematics Protocols Robot sensing systems Multiagent systems Intelligent robots Redundancy Robot control Communication system control Stability Intelligent agent

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Activity monitoring and summarization for an intelligent meeting room

Activity monitoring and summarization for an intelligent mee...

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Workshop on Human Motion

作者： I. Mikic K. Huang M. Trivedi Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of California San Diego USA

Intelligent meeting rooms should support efficient and effective interactions among their occupants. In this paper, we present our efforts toward building intelligent environments using a multimodal sensor network of static cameras, active (pan/tilt/zoom) cameras and microphone arrays. Active cameras are used to capture details associated with interesting events. The goal is not only to make a system that supports multi-person interactions in the environment in real time, but also to have the system remember the past, enabling reviews of past events in an intuitive and efficient manner. In this paper, we present the system specifications and major components, integration framework, active network control procedures and experimental studies involving multi-person interactions in an intelligent meeting room environment.

关键词： Monitoring Intelligent sensors Intelligent networks Smart cameras Microphone arrays Sensor arrays Intelligent structures Multimodal sensors Real time systems Control systems

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Fuzzy cognitive maps: a soft computing technique for intelligent control

Fuzzy cognitive maps: a soft computing technique for intelli...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： C. Stylios P.P. Groumpos Laboratory for Automation & Robotics Department of Electrical & Computer Engineering University of Patras Rio-Patras Greece

This paper describes a soft computing technique for modelling and controlling systems: fuzzy cognitive maps (FCM). The description, representation and models of FCM are examined in detail. A FCM model is proposed, its characteristics and advantages are presented, and a development algorithm is described. Fuzzy cognitive maps and similar soft computing techniques may contribute to the development of more sophisticated systems.

关键词： Fuzzy cognitive maps Intelligent control Fuzzy systems computer networks Fuzzy logic Neural networks Fuzzy neural networks robotics and automation Signal processing algorithms Genetic algorithms

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