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Artificial immune network-based cooperative control in collective autonomous mobile robots

Artificial immune network-based cooperative control in colle...

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Dong-Wook Lee Kwee-Bo Sim Robotics and Intelligent Information System Laboratory Department of Control and Instrumentation Engineering Chung Ang University Seoul South Korea

In this paper, we propose a method of cooperative control based on immune system in distributed autonomous robotic system (DARS). Immune system is living body's self-protection and self-maintenance system. Thus these features can be applied to decision making of optimal swarm behavior in dynamically changing environment. For the purpose of applying the immune system to DARS, a robot is regarded as a B lymphocyte (B cell), each environmental condition as an antigen and a behavior strategy as an antibody respectively. The executing process of proposed method is as follows: when the environmental condition changes, a robot selects an appropriate behavior strategy, and its behavior strategy is stimulated and suppressed by other robot using communication. Finally, such stimulated strategy is adopted as a swarm behavior strategy. This control scheme is based on clonal selection and idiotopic network hypothesis, and it is used for decision making of an optimal swarm strategy.

关键词： Intelligent networks Mobile robots Immune system control systems Intelligent robots Mobile communication Decision making Humans Robot sensing systems Intelligent systems

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Behavior learning and evolution of collective autonomous mobile robots based on reinforcement learning and distributed genetic algorithms

Behavior learning and evolution of collective autonomous mob...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Hyo-Byung Jun Kwee-Bo Sim Robotics and Intelligent Information System Laboratory Department of Control and Instrumentation Engineering Chung Ang University Seoul South Korea

In this paper, we present the reinforcement learning and distributed genetic algorithm based behavior learning of the distributed autonomous mobile robots. The internal reinforcement signal for the reinforcement learning is generated by fuzzy inference, and dynamic recurrent neural networks are used as action generation module. We adopt the distributed genetic algorithms for the cooperative behavior emergence. We show the validity of the proposed learning and evolution algorithm by computer simulation.

关键词： Mobile robots Learning Genetic algorithms Inference algorithms Signal generators Intelligent robots Animals Mobile communication Education Intelligent systems

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Teleoperation with haptic feedback by means of electromagnetic brake and deadband control for rehabilitation

Teleoperation with haptic feedback by means of electromagnet...

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IEEE International Conference on Computer-Aided Design

作者： Minh Duc Duong Kazuhiko Terashima Takashi Imamura System and Control Engineering Laboratory Department of Production Systems Engineering Toyohashi University of Technology Japan Instrumentation Systems Laboratory Department of Production Systems Engineering Toyohashi University of Technology Japan

In this paper, teleoperation of a master-slave robot system with haptic feedback and network traffic reduction for rehabilitation are presented. At first, the stability of the teleoperation system with haptic feedback via time delay communication environment is mathematically shown for multi-joint robot arm system. Experiments show that the system is stable, despite of time delay. In order to reduce packet transfer rate for transmission of data, deadband control approach is used. A new data reconstruction algorithm is proposed to improve system's performance for telerehabilitation while keeping the stability of the system. The validity of the approach is shown in simulations

关键词： Haptic interfaces Feedback Communication system control Rehabilitation robotics Stability Delay effects Master-slave Communication system traffic control Reconstruction algorithms system performance

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Bidirectional best first based autonomous parallel parking system

Bidirectional best first based autonomous parallel parking s...

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International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： Amorn Vorashompoo Benjamas Panomruttanarug Kohji Higuchi Faculty of Engineering Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand Department of Electronic Engineering University of Electro-Communications Tokyo Japan

One of the major difficulties with an autonomous reverse parallel parking is how to find a trajectory of travel from start to goal without any collision. In this paper, a bidirectional search is suggested to find the shortest pathway from an initial vertex to a goal vertex in a directed graph, implying that the initial and goal states must be known in advance. In each step for searching, there are three possible nodes generated from the configuration space (or C-space), that the algorithm must decide to traverse to based on a best first search algorithm. Giving a start and goal points, the designed path is obtained by simulation in MATLAB. The experimental results show an ability to perform a parking maneuver using the simulated path.

关键词： Robots Mobile communication MATLAB Joints

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An emulation of autonomous parallel parking system using fuzzy logic control

An emulation of autonomous parallel parking system using fuz...

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SICE Annual Conference

作者： Benjamas Panomruttanarug Sarayut Tungporntawee Parnupong Thongsuk Kohji Higuchi Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand Department of Electronic Engineering University of Electro-Communications Tokyo Japan

This paper represents an emulation of fuzzy logic control schemes in autonomous parallel parking system in a backward maneuver. There are four infrared sensors sending distance data to microcontroller for generating an obstacle-free parking path. Two of them mounted on the front and rare wheels on the parking side are used as the inputs to the fuzzy rules to calculate a proper steering angle while backing. The other two attached to the front and rear ends serve for avoiding collision with other cars along the parking space. At the end of parking process, the vehicle will be in line with other parked cars and position in the middle of the free space. A construction of fuzzy rules is designed based upon a wall following process. The effectiveness of the controller design is demonstrated in the experimental results.

关键词： Emulation Fuzzy logic control systems Space vehicles Infrared sensors Wheels Path planning Microcontrollers Technological innovation Safety

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A comparative study of two high performance current control techniques for three-phase shunt active power filters

A comparative study of two high performance current control ...

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International Conference on Power Electronics and Drive systems (PEDS)

作者： Wanchak Lenwari Milijana Odavic Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand Department of Electrical and Electronic Engineering University of Nottingham Nottingham UK

In recent years, the increase of non-linear loads in electrical power system has sparked the research in power quality issue. The shunt active power filter (SAPF) is a power electronic device which has been developed to improve power quality. The current control of shunt power filters is critical since poor control can reinforce existing harmonic problems. Various control strategies have been proposed by many researchers. In this paper, a comparative evaluation of the performance of two current control techniques, resonant and predictive controller, is presented with identical system specification. The design procedure and principle of both current control methods are also presented in detail. Simulation results show the comparison of transient response, steady state control and performance in the presence of variation of supply impedance between two control techniques.

关键词： Current control Active filters Electric current control Power system harmonics Power harmonic filters Power quality Power electronics Power filters Resonance control systems

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Single switch DC-DC converter operating in CC and DC modes

Single switch DC-DC converter operating in CC and DC modes

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SICE Annual Conference

作者： K. Tripipatpornchai Y. Rungruengphalanggul A. Chaisawadi Department of Electrical and Electronic Engineering Faculty of Engineering Rangsit University Pathum Thani Thailand Department of Control System and Instrumentation Engineering Faculty of Engineering King Mongkut''s University of Technology Thonburi Bangkok Thailand

ISBN: (纸本)0780383524

This paper proposes a direct current buck converter which provides two independent regulated direct current output voltages using only single control switch. The first converter operation is based upon the use of continuous conduction mode (CCM) to regulate output voltage by controlling the duty cycle of the switch, while the second converter operation is based upon the use of discontinuous conduction mode (DCM) to regulate output voltage by controlling the duty cycle and changing the switching frequency. The system's operation is verified by results from computer simulation and experimentation from the prototype in this experiment, the switching frequency range is from 4 kHz to 90 kHz and the duty cycle range is from 20% to 42%. The overall efficiency of this converter is approximately 83% at full load.

关键词： Switches DC-DC power converters Switching converters Buck converters Inductors Voltage control Equations Switching frequency Circuits control systems

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Fitting a Pineapple Model for Automatic Maturity Grading

Fitting a Pineapple Model for Automatic Maturity Grading

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IEEE International Conference on Image Processing

作者： Watcharin Kaewapichai Pakorn Kaewtrakulpong Asa Prateepasen Kittiya Khongkraphan Instrumentation and Control System Engineering Department Faculty of Engineering King Mongkut''s University of Technology Bangkok Thailand Production Engineering Department Faculty of Engineering King Mongkut''s University of Technology Bangkok Thailand

In this paper, we present a pineapple skin model and a method to fit the model. Our main application of the model is for automatic maturity grading of pineapples in canned pineapple industry. The model consists of two subparts: Phyllotaxis and pineapple scale models. The Phyllotaxis model represents the spiral arrangement of pineapple-scales, which is a growing pattern of the fruit. It includes a string of scale-model cells. The scale model includes boundary, internal area and petal part of scale. Modified snake algorithm is used to construct the structure model while Active Shape Model (ASM) is applied to each scale. The model can accurately fit to pineapple skins in our experiment and classification features of the fruit can be extracted.

关键词： Spirals Skin Active shape model Fitting Instruments control system synthesis Automatic control systems engineering and theory Production engineering Raw materials

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Stability analysis of a photovoltaic grid connected inverter model based on system identification

Stability analysis of a photovoltaic grid connected inverter...

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IEEE Region 10 International Conference TENCON

作者： Nopporn Patcharaprakiti Krissanapong Kirtikara Anawach Sanswang Sudchai Boonto Department of Electrical and Computer Rajamangala University of Technology Lanna Department of Electrical Engineering Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Bangkok Thailand

ISBN: (纸本)9781467348232

This paper presents a system stability analysis of a grid-connected inverter from a linear system viewpoint. A Photovoltaic (PV) inverter model is derived using a system identification method, specifically the Hammerstein-Wiener model. The PV inverter is supplied by a controllable DC power supply and the inverter output is connected to a 220 V utility grid. The input and output characteristics on the inverter terminals are collected and the nonlinear model of the inverter is obtained. The inverter model is decomposed into three parts follow as nonlinear input, linear middle part and nonlinear output. Both nonlinear parts are deemed static where the dynamical behavior is described by the middle part. The stability of the inverter is analyzed based on a linearized model of the nonlinear system. Frequency response analysis is performed for insight on the system dynamical behavior.

关键词： Power system stability Stability criteria Inverters Mathematical model system identification Thermal stability

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A Single-Phase Grid-Connected Inverter Using a Boost Two-Cell Switching Converter with Maximum Power Point Tracking Algorithm

A Single-Phase Grid-Connected Inverter Using a Boost Two-Cel...

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5th International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON 2008), vol.2

作者： Kamon Tabaiya Wanchak Lenwari Cherdchai Prapanavarat Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Bangkok Thailand Department of Electrical Engineering King Mongkut's University of Technology Bangkok Thailand

This paper proposes a single-phase grid-connected inverter for Photovoltaic (PV) systems using a Boost Two-Cell Switching (BTCS) converter based on a Maximum Power Point Tracking (MPPT) technique. Due to nonlinear I-V characteristic of PV cells, the system must include an algorithm to obtain the maximum power from PV cells at any atmospheric condition. The method used in this paper is the incremental conductance (INC) algorithm. The BTCS converter is selected as a power stage with the two-cell semiconductor switching devices controlled to obtain a maximum power from PV cells. The H-bridge inverter provides a sinusoidal current and synchronizes with the grid voltage. The control of the inverter is based on ramp comparison control with constant switching frequency and zero crossing voltage detectors. The experimental results in a test lab showed the effectiveness of the proposed PV system in both constant and rapidly changing in atmospheric conditions.

关键词： Boost two-cell switching converter Maximum power point tracking Grid-connected inverter

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