检索结果-内蒙古大学图书馆

International Workshop on Advanced Motion Control (AMC)

作者： S. Guo N. Kato T. Fukuda K. Oguro Department of Intelligent Mechanical Systems Kagawa University Takamatsu Japan Department of Mechanical Engineering Mie University Tsu Japan Department of Mechano-Informatics and System University of Nagoya Nagoya Japan Osaka National Research Institute AIST Ikeda Osaka Japan

It is our purpose to develop an underwater microrobot that has the characteristics of flexibility, driven by a low voltage, good response and safety in the body. We propose a prototype model of an underwater microrobot utilizing an ICPF (ionic conducting polymer film) actuator as the servo actuator. Biomimetic fish-like propulsion using an ICPF actuator as a propulsion tail fin for a microrobot swimming structure in water or aqueous medium is developed. The overall size of the underwater microrobot prototype shaped as a boat is 40 mm in length, 10 mm in width and 2 mm in thickness. There is a pair of fins. The characteristic of the underwater microrobot is measured by changing the frequency of input voltage from 0.1 Hz to 5 Hz. The experimental results indicate that the swimming speed of the proposed underwater microrobot can be controlled by changing the frequency of input voltage.

关键词： Marine animals Actuators Prototypes Propulsion Frequency Low voltage Safety Polymer films Servomechanisms Biomimetics

来源：评论

学校读者我要写书评

暂无评论

Learning, adaptation and evolution for intelligent system

Learning, adaptation and evolution for intelligent system

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： T. Fukuda Department of Micro System Engineering Department of Mechano-Informatics and Systems & Center of Cooperative Research in Advanced Science and Technology University of Nagoya Nagoya Japan

There are many growing demands for making systems intelligent, by which people can cope with the system complexities and software development. The intelligent system must have the capabilities, in principle, for learning, adaptation and evolution, so that the system can adapt to the change of environments, tasks, and systems themselves. This paper provides the foundation and methodologies for the learning, adaptation and evolution, by neural network, fuzzy system and genetic algorithm. Those methods can be applied for various optimization of design, and scheduling problems in automation systems.

关键词： Intelligent systems Artificial intelligence Intelligent sensors Intelligent robots Fuzzy systems Genetic algorithms Intelligent structures Knowledge representation Neural networks Biological neural networks

来源：评论

学校读者我要写书评

暂无评论

Adaptation, learning and evolution for intelligent robotic system

Adaptation, learning and evolution for intelligent robotic s...

引用

IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA)

作者： T. Fukuda N. Kubota Department of Mechano-Informatics and Systems Department of Micro System Engineering & Center for cooperative Research in Advanced Science and Technology University of Nagoya Japan Department of Mechanical Engineering Osaka Institute of Technology Japan

Living things have close linkage of perception-decision making-action. Based on sensory information from the external environment, living things make decisions and actions for surviving and adapting in dynamic environments. The driving force for adaptation is mainly learning and genetic inheritance (evolution). Intelligent robots also need the adapting ability. The intelligence of a robot emerges as the result of the synthesis of local modules by the simultaneous processing of perception, decision making and action. Consequently, the intelligence depends on the structure for processing information on the hardware and software. Therefore, we propose a robotic system with structured intelligence. A robot with structured intelligence adapts to environment and acquires skill and knowledge through the interaction with the dynamic environment by computational intelligence including neural network, fuzzy system and genetic algorithm.

关键词： Intelligent robots Intelligent systems Competitive intelligence Computational intelligence Intelligent structures Intelligent sensors Robot sensing systems Couplings Force sensors Genetics

来源：评论

学校读者我要写书评

暂无评论

Computational intelligence in robotics and mechatronics

Computational intelligence in robotics and mechatronics

引用

International Conference on Industrial Electronics, Control and Instrumentation

作者： T. Fukuda N. Kubota Center for Cooperative Research in Advanced Science and Technology Department of Mechano-Informatics and Systems &Department of Micro System Engineering University of Nagoya Japan Department of Mechanical Engineering Osaka Institute of Technology Omiya Japan

There are many growing demands to make systems more intelligent to meet more advanced requirements. This paper provides the outline of computational intelligence (CI), the intelligent system architectures and design methods of the system. Intelligent systems can be made by the method of CI, such as fuzzy logic, neural networks and evolutional computation. Furthermore, intelligent systems require the capabilities for evolution, adaptation and learning. This paper discusses the roles of evolution, adaptation and learning on the robotics and mechatronics. Next, we show two models of intelligent systems: hierarchical intelligent system and structured intelligent system.

关键词： Computational intelligence Intelligent robots Mechatronics Intelligent systems Competitive intelligence Intelligent structures Computer architecture Design methodology Intelligent networks Fuzzy logic

来源：评论

学校读者我要写书评

暂无评论

A new model reference robust control for the systems with disturbances

A new model reference robust control for the systems with di...

引用

IEEE Conference on Decision and Control

作者： Xinkai Chen Shinji Tsuruoka Muneaki Ishida Toshio Fukuda Department of Electrical and Electronics Engineering Mie University Tsu Japan Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan

ISBN: (纸本)0780341872

A new design technique of the model reference robust control is proposed for single input single output (SISO) minimum-phase (with respect to the relation between the input and the output) dynamical systems with unmatched disturbances. By using the transfer function method, based on the variable structure system theory, the special signals generated by the disturbances are approximately estimated for two possible cases of the systems. Then the estimated signals are applied to the corresponding model reference controllers to cancel the influence generated by the disturbances for each case. The output tracking error can be made arbitrarily small without the requirement that the control energy is available as much as it is needed. Design example and simulation results are presented to show the practicality and effectiveness of the proposed algorithm.

关键词： Robust control Variable structure systems Signal generators Control systems Transfer functions Electronic mail Control theory Uncertainty Error correction Algorithm design and analysis

来源：评论

学校读者我要写书评

暂无评论

Variable structure system theory based disturbance identification and its applications

Variable structure system theory based disturbance identific...

引用

American Control Conference (ACC)

作者： Xinkai Chen S. Tsuruoka T. Fukuda T. Hori Department of Electrical and Electronic Engineering Mie University Tsu Japan Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan

Based on VSS theory, the paper presents a method of estimating the disturbance for minimum-phase (with respect to the relation between the disturbance and output) continuous-time dynamical systems with arbitrary relative degrees. By estimating the higher order filter of the disturbance, the lower order filter of the disturbance is estimated. Eventually, the disturbance is estimated. Then, the estimated disturbance is used to construct a VSS type state observer. Further, the estimated disturbance and the state observer are applied to a controller to place a desired stable pole and to cancel the disturbance. Design example and simulation results are presented to show the practicality and effectiveness of the proposed algorithm.

关键词： Variable structure systems Filters State estimation Observers Control systems Algorithm design and analysis Control system synthesis Robust control Control theory Transfer functions

来源：评论

学校读者我要写书评

暂无评论

Preliminary studies of a second generation brachiation robot controller

Preliminary studies of a second generation brachiation robot...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： J. Nakanishi T. Fukuda D.E. Koditschek Department of Electrical Engineering and Computer Science University of Michigan USA Department of Mechano-Informatics and Systems University of Nagoya Nagoya Aichi Japan Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

We report on our preliminary studies of a new controller for a two-link brachiating robot. Motivated by the pendulum-like motion of an ape's brachiation, we encode this task as the output of a "target dynamical system". Numerical simulations indicate that the resulting controller solves a number of brachiating problems that we term the "ladder", "swing up" and "rope" problems. Preliminary analysis provides some explanation for this success. We discuss a number of formal questions whose answers will be required to gain a full understanding of the strengths and weaknesses of this approach.

关键词： Robot control Legged locomotion Control systems Computer science Numerical simulation Motion control Manipulators Actuators Elbow Joining processes

来源：评论

学校读者我要写书评

暂无评论

Hierarchical prediction model for intelligent communication in multiple robotic systems

引用

ROBOTICS AND AUTONOMOUS systems 1996年第1-2期17卷 87-98页

作者： Sekiyama, K Fukuda, T Department of Mechano-Informatics and Systems School of Engineering Nagoya University Furo-cho Chikusa-ku Nagoya 464-01 Japan

This paper describes a predictive decision making strategy for the multiple robotic systems. Although communication plays an important role in the robot system, it tends to be regarded as only information exchanges by data transmission. Although communication is one of the vital intelligent activities in the multiple robot systems, the increase of system agents bring overhead of communication load. For these problems, we propose a concept of Intelligent Communication which treats communication as an essential part of decision making considering interaction with the other agents, but relies on more implicit communication through prediction. This paper, in particular focuses on the prediction issues and proposes the concept of Hierarchical Prediction Model for its realization where we attempt to construct a prediction model, which actively incorporates partially known environmental knowledge and reflects reasoning results of the conditionally dependent behavior pattern. We will discuss the advantage of prediction and its difficulty for application to the robot through the simulation results.

关键词： Robotics

来源：评论

学校读者我要写书评

暂无评论

The meaning of functional reconfiguration under the dynamic environment and system behavior

The meaning of functional reconfiguration under the dynamic ...

引用

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and systems. IROS '96

作者： T. Fukuda T. Kaga K. Sekiyama Department of Mechano-Informatics and Systems School of Engineering University of Nagoya Nagoya Japan

Distributed autonomous robotic system (DARS) has advantage in flexibility, comparing with central control system. The former researches of DARS mainly deal with the system which is composed of homogenous robots. Cellular robotic system (CEBOT) is one of the distributed robotic system which consists of heterogenous robots and they can change their function by means of connection or disconnection of robotic units called "cell". Functional reconfiguration increases the adaptability against the change of environment further, but it has specific problem concerned with the cost for changing its function. This paper deals with the behavior and the property of system that is composed of functionary reconfigurable robots and we focus on the effectivity of dynamic reconfiguration and the property of system, especially the trade-off between the effectivity of reconfiguration and the cost of reconfiguration through computer simulation by using a model of load transport in the production system.

关键词： Robots Chaos Cost function System performance systems engineering and theory Centralized control Control systems Computer simulation Load modeling Production systems

来源：评论

学校读者我要写书评

暂无评论

Assembly of segments for shield tunnel excavation system using task-oriented force control of parallel link mechanism

Assembly of segments for shield tunnel excavation system usi...

引用

International Conference on Industrial Electronics, Control and Instrumentation

作者： K. Kosuge K. Takeo D. Taguchi T. Fukuda H. Murakami Department of Machine Intelligence and Systems Engineering University of Tohoku Japan Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan

In this paper, we are going to propose a task-oriented force control system for the assembly of segments of a shield tunnel excavation system. First, we design a generalized coordinate system referred to a task-oriented coordinate system, so that the position and orientation of a segment will be adjusted compliantly according to the external force from existing segments with which the segment is assembled together. A hybrid position/force control algorithm is then designed for a parallel link mechanism with hydraulic actuators. The system is experimentally applied to the assembly of segments of honey-comb shape. The experimental results illustrate the validity of the proposed system.

关键词： Assembly systems Force control Control systems Robot kinematics Hydraulic actuators Algorithm design and analysis Robotic assembly Torque control Hydraulic systems Machine intelligence

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：