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Vision-based behavior control of autonomous systems by fuzzy reasoning 3rd

引用

3rd International Workshop on Modelling and Integration of Sensor Based Intelligent Robot Systems, 1998

作者： Li, Wei Wahl, Friedrich M. Zhou, Jiangzhong Z. Wang, Hong He, Kezhong Z. Department of Computer Science and Technology Tsinghua University Beijing100084 China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 BraunschweigD-38114 Germany Institute for Computer Peripherals Chinese Academic of Sciences Wuhan430050 China

ISBN: (纸本)3540669337

Vision-based motion control of an autonomous vehicle operating in real world requires fast image processing and robustness with respect to noisy sensor readings and with respect to varying illumination conditions. In order to improve vehicle navigation performance in out-door environments, this paper presents methods for recognizing landmarks based on fuzzy reasoning. Firstly, a fuzzy thresholding algorithm is proposed to segment roads and to extract white line marks on streets from images. Secondly, some special domain knowledge about edges on roads represented by fuzzy sets is integrated into the rule base of a fuzzy edge detector. Based on this, the fuzzy thresholding algorithm is adopted to recognize road edges. In addition, a method for path planning in sensor space is presented and a path following behavior based on a fuzzy rule base is defined to control vehicle motion. The proposed methods are applied to navigate the THMR-III autonomous vehicle in out-door environments. Some experimental driving maneuvers have been performed to prove their effectiveness and their robustness.…. © Springer-Verlag Berlin Heidelberg 1999.

关键词： Fuzzy inference

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Adaptive PID controller for systems with time delay

Adaptive PID controller for systems with time delay

引用

1999 European control Conference, ECC 1999

作者： Machacek, J. Bobal, V. University of Pardubice Faculty of Chemical Technology Department of Process Control and Computer Techniques nám. Čs. legií 565 Pardubice532 10 Czech Republic Technical University Brno Faculty of Technology Zlín Department of Automatic Control nám. TGM 275 Zlín762 72 Czech Republic

ISBN: (纸本)9783952417355

A digital self-tuning controller algorithm for systems with time delay is presented in this paper. The controller parameter design is derived from the ultimate gain and ultimate period of the system. The main part of the paper consists in deriving the simple algebraic expressions for the ultimate values computation. It is performed for a first-order model with time delay on the basis of condition that poles of the closed loop with ultimate gain lie on the stability boundary. This procedure can be implemented on various types of controller design based on the knowledge of the ultimate values, such as the well-known Ziegler-Nichols method. © 1999 EUCA.

关键词： Time delay

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An efficient image processing algorithm for high-level skill acquisition

An efficient image processing algorithm for high-level skill...

引用

IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： J. Gonzalez-Linares N. Guil P. Perez M. Ehrenmann R. Dillmann Department of Computer Architecture University of Màlaga Malaga Spain Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

This paper describes the set-up of the image processing system installed at the IPR in Karlsruhe. It will serve for sensor device in the programming by demonstration field. As a first application example, it is used as source for images in the demonstration of a bag packaging task. A detection algorithm that finds positions of infusion bags is presented. It was developed at the department of computer Architecture of the University of Malaga, and uses a straight line Hough transform after the application of a Canny filter. Then, the position of the rubber caps of the bags are located by a binarization technique to predicate the orientation of the bag. However, since the computing power is quite limited, the algorithms must have as low complexity as possible.

关键词： Image processing Robot sensing systems Robot programming Robotic assembly Cameras Intelligent robots Fingers computer architecture Intellectual property Application software

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Model-based fault diagnosis of an actuator system driven by the brushless DC motor

Model-based fault diagnosis of an actuator system driven by ...

引用

American control Conference (ACC)

作者： O. Moseler D. Juricic A. Rakar N. Muller Institute of Automatic Control Laboratory of Control Engineering and Process Automation Darmstadt University of Technology Darmstadt Germany Department of Computer Automation and Control Jozef Stefan Institute Ljubljana Slovenia

A fault detection and isolation scheme for a brushless DC motor driving a mechanical actuation system is presented. First, a detailed mathematical model of the drive is derived. The residual generator is based on parity relations while the fault isolation part is implemented by means of the transferable belief model. The problem of distinguishing between faults with the same fault signatures is addressed. It is shown that additional improvements in terms of resolution can be achieved by employing parameter estimation. The proposed FDI scheme is tested on the actual drive under various faults. The achieved performance features the highest resolution, diagnostic stability and accuracy.

关键词： Fault diagnosis Actuators Brushless DC motors DC motors Coils Rotors Stators Fault detection Pulse width modulation Mathematical model

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Sensor-based obstacle modeling in configuration space for manipulator motion planning

Sensor-based obstacle modeling in configuration space for ma...

引用

International Workshop on Robot Motion and control (RoMoCo)

作者： Wei Li Zusbun Chen F.M. Wahl K.R. Kozlowski Department of Computer Science and Technology Tsinghua University Beijing China Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany Chair of Control Robotics and Computer Science Poznań University of Technology Poznan Poland

Presents an approach to sensor-based obstacle modeling in a configuration space for manipulator motion planning in unknown environments. In order to achieve this objective, an efficient algorithm is used to fast map obstacles based on defined fundamental obstacles in the workspace and their images in the configuration space. A robotic manipulator is assumed to be equipped with distance sensors to detect obstacles in the local region. By computation of the critical points of an obstacle based on information acquired by the distance sensors, an obstacle model in the configuration space is constructed. By using this sensor-based configuration space modeling, robot motion planning in unknown environments can be performed in realistic time frames.

关键词： Manipulators Orbital robotics Motion planning Robot sensing systems Space technology Computational geometry process planning Technology planning computer science Solid modeling

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Planning of regrasp operations

Planning of regrasp operations

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： S.A. Stoeter S. Voss N.P. Papanikolopoulos H. Mosemann Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA Institute for Robotics and Process Control Technical University of Braunschweig Germany

Robotic manipulators in contemporary work-cells are often incapable of solving even simple pick-and-place operations. More specifically, most systems require each object to be supplied in the same and pre-defined way. Introducing regrasping to the production cycle relaxes the constraints imposed on supply mechanisms. Regrasping describes the operation that must be performed whenever an object's pick-up grasp is incompatible with its put-down grasp. The paper presents a novel approach to solve the regrasp problem for robots equipped with parallel-jaw end-effecters. The proposed method first evaluates the object's possible grasps and placements. These are subsequently combined to form grasp-placement-grasp triples. A regrasp sequence leading from the pick-up to the put-down grasp is generated by searching through the resulting space of compatible grasp-placement-grasp triples. The algorithm takes kinematic and geometric constraints of both the manipulator and the objects into account. Computational concerns are addressed by subdividing the calculation into an off-line and a fast online phase.

关键词： Intelligent robots Robot vision systems Belts Path planning Artificial intelligence Laboratories computer science process control Manipulators Production

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Joint controller for the object-pose controlling on multifinger grippers

Joint controller for the object-pose controlling on multifin...

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

作者： T. Fischer D. Rapela H. Woern Department of Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany Karlsruher Institut fur Technologie - Campus Nord Eggenstein-Leopoldshafen Baden-WÃ¼rttemberg DE

A human hand as a very complex grasping tool can handle objects of different sizes and shapes. Many research works have been done to develop artificial robot hands with similar capabilities to a human hand, such a robot hand is also called a multifinger gripper. Most parts of this research are dedicated to control of multifinger grippers with emphasis on the finger tips or finger joints. By controlling a multifinger gripper, we enable the gripper to handle an object; in another words, controlling a multifinger gripper can be viewed in terms of controlling an object's pose and the forces between the object and its environment. Hence, an object-pose controller with feedback from an object pose sensor suits multifinger gripper control. Also due to the non-linear dynamic system behavior in the joints of most multifinger grippers, an effective, easily-adaptable joint controller is employed. The paper discusses the object pose controller with great detail in a new joint controller. Since the joint controller is based on fuzzy and neural-network algorithms, we do not use an exact analytical model for this case.

关键词： Grippers Force control Humans Robots Fingers Grasping Shape Nonlinear dynamical systems Nonlinear control systems control systems

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The optimal controller realization using the δ operator for sampled data systems with finite word length consideration

The optimal controller realization using the δ operator for...

引用

1999 European control Conference, ECC 1999

作者： Wu, J. Istepanian, R.H. Chu, J. Whidborne, J.F. Chen, S. Luk, B.L. National Key Laboratory of Industrial Control Technology Institute of Industrial Process Control Zhejiang University Hangzhou310027 China Department of Electrical and Computer Engineering Ryerson Polytechnic University TorontoONM5B 2K3 Canada Department of Mechanical Engineering King's College LondonWC2R 2LS United Kingdom Department of Electrical and Electronic Engineering University of Portsmouth PortsmouthPO1 3DJ United Kingdom

ISBN: (纸本)9783952417355

This paper present a new effective algorithm for the optimal realization of digital controller structures using the delta operator for sampled data systems subject to Finite-Word-Length (FWL) constraints. The problem is formulated as a non-linear programming to provide an easy and efficient optimization tool to solve such complex problem. Simulation results of the optimum realizations of digital controller structures are presented to illustrate the effectiveness of the proposed strategy. © 1999 EUCA.

关键词： Nonlinear programming

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Optimizing stability bounds of finite-precision PID controllers using adaptive simulated annealing

Optimizing stability bounds of finite-precision PID controll...

引用

American control Conference (ACC)

作者： S. Chen R.H. Istepanian J. Wu Department of Electrical and Electronic Engineering University of Portsmouth Portsmouth UK Department of Electrical and Computer Engineering Ryerson Polytechnic University Toronto ONT Canada Institute of Industrial Process Control University of Zhejiang Hangzhou China

Based on a lower bound stability measure for sampled-data controller structures subject to finite-word-length (FWL) constraints, the optimal realization of the digital PID controller with FWL considerations is formulated as a nonlinear optimization problem. An efficient strategy based on adaptive simulated annealing is adopted to solve this complex optimization problem. A numerical example of optimizing the finite-precision PID controller for a steel rolling mill system is used to demonstrate the effectiveness of the proposed method.

关键词： Stability Three-term control Optimal control Digital control Constraint optimization Simulated annealing Optimization methods control systems Steel Milling machines

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Mixed abstraction level hardware synthesis from SDL for rapid prototyping

Mixed abstraction level hardware synthesis from SDL for rapi...

引用

International Workshop on Rapid System Prototyping (RSP)

作者： O. Bringmann A. Muth F. Slomka W. Rosenstiel G. Farber R. Hofmann Wilhelm-Schickard-Institut für Informatik Department of Computer Engineering Universität Tubingen Germany Laboratory for Process Control and Real-Time Systems Technische Universitä MTünchen Germany Department of Computer Architecture and Performance Evaluation Universität Erlangen Nürnberg Germany

SDL is currently gaining interest as a system level specification language for HW/SW codesign. Automated synthesis of SDL in hardware so far had problems with its efficiency. The investigations on the resource usage of SDL-to-VHDL designs presented in this paper identify two key challenges: minimizing the overhead introduced by SDL process infrastructure, and choosing the appropriate synthesis method. This paper presents a framework for SDL hardware synthesis where VHDL code generation, high-level synthesis and RT-level synthesis are combined. A configurable run-time environment implements services like data handling and message passing in efficient, hand-coded library components, which take into account properties of the target architecture. For these components RT-level synthesis was found to be suitable. The behavior of each SDL process on the other hand is freely specified by the system designer. Depending on the type of application, i.e. complex data-oriented or control-oriented either high-level synthesis, RT-level synthesis, or a combination of both can prove to be optimal.

关键词： Hardware Prototypes control system synthesis Timing High level synthesis computer architecture Resource management Arithmetic High performance computing Design engineering

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