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Estimating moisture content in a fixed-bed grain dryer

IFAC Proceedings Volumes 1999年第2期32卷 5558-5563页

作者： I. Farkas P. Reményi A. Biró Department of Physics and Process Control University of Agricultural Sciences H-2103 Güdüilö Hungary Tel: +36 28 410894 Fax: +36 28 410804 Department of Computer Science University of Agricultural Sciences H-2103 Güdüilü Hungary Tel: +36 28 410995 Fax: +36 28 410804

This paper deals with a neural network application concerning to the determination of moisture distribution in an agricultural fixed-bed dryers. The aim of this study is to determine the influence on the different type of training and validation data used for neural network (NN) model. The validation of three kinds of data as constant, slow and fast were applied. The input data were generated an identified from a physically based model. It has been concluded that for satisfactory validation of an NN model different number of training data series should be linked together. Average deviation and maximum difference were used to estimate the influence of different training and validation input data.

关键词： drying moisture distribution neural network model physically based model training validation

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Technical note Hybrid fuzzy P+ID control of manipulators under uncertainty

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Mechatronics 1999年第3期9卷 301-315页

作者： W. Li X.G. Chang F.M. Wahl S.K. Tso Department of Computer Science and Technology Tsinghua University Beijing 100084 Peoples Republic of China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 D-38114 Braunschweig Germany Center for Intelligent Design Manufacturing and Automation Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong KongPeoples Republic ofChina

Currently, most commercial robot manipulators are equipped with conventional PID controllers due to their simplicity in structure and ease of design. Using such a controller, however, it is difficult to achieve a desired control performance since the dynamic equations of a mechanical manipulator are tightly coupled. In addition, they are highly nonlinear and uncertain. This paper uses a new hybrid control scheme to control a direct drive two-link manipulator under inertial parameters changes. The proposed hybrid control scheme consists of a fuzzy logic proportional controller and a conventional integral and derivative controller (FUZZY P+ID). In comparison with a conventional PID controller, only one additional parameter has to be adjusted to tune the FUZZY P+ID controller. The outlined experimental results demonstrate the effectiveness and the robustness of the new FUZZY P+ID controller.

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Stability issues of finite precision controller structures using the delta operator for sampled data systems

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IFAC Proceedings Volumes 1999年第2期32卷 8681-8686页

作者： Jun Wu Robert Habib Istepanian Jian Chu James F. Whidborne Sheng Chen Jianbo Hu National Key Laboratory of Industrial Control Technology Institute of Industrial Process Control Zhejiang University Hangzhou 310027 P.R. China Fax: 86-571-7951206 Department of Electrical and Computer Engineering Ryerson Polytechnic University Toronto Ontario M5B 2K3 Canada Department of Mechanical Engineering King's College London London WC2R 2LS UK Department of Electrical and Electronic Engineering University of Portsmouth Portsmouth PO1 3DJ UK

This paper present a new effective algorithm for the optimal realization of sampled-data SISO two order controller structures using the delta operator subject to Finite-Word-Length (FWL) constraints. The problem is formulated as a non-linear programming problem with a maximum of four independent variables to provide an easy and efficient optimization tool to solve such complex problems. Simulation results of the optimum FWL realizations of digital SISO two order controller structure applied to an electrohydraulic actuator system are presented to illustrate the effectiveness of the proposed strategy.

关键词： control applications of computers stability robustness sampled data systems optimization problems linear systems

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control system for motion control of a piezoelectric micromanipulation robot

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Advanced Robotics 1998年第6期13卷 577-589页

作者： Santa, Karoly Fatikow, Sergej Department for Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe 76128 Kaiserstrasse 12 Germany

Abstraet-Micromanipulation by microrobots has become an issue of primary importance in industry and biomedicine, since human manual capabilities are restricted to certain tolerances. The manipulation of biological cells or the assembly of a microsystem composed of several microcomponentsare good examples. An automated microrobot-based micromanipulation desktop station has been developed at the University of Karlsruhe. The process of assembly takes place in the field of view of a light optical microscope. This paper focuses on motion control problems of the piezo-driven microrobotsemployed by the station. The ability to adapt itself to the process requirements is of great importance for micromanipulation robots. They must be able to operate in a partially defined environment and to ensure reasonable behavior in unpredicted situations. A neural control concept basedon a reference model is proposed as a solution. It is shown that the neural controller is able to learn the desired behavior. It considerably outperforms an analytically designed linear controller in the real environment. © 1998 Taylor & Francis Group, LLC.

关键词： control system Micromanipulation Microrobots MRAC-method Neural network

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Propagation of Action Knowledge in Multi-Agent Systems

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IFAC Proceedings Volumes 1998年第15期31卷 601-606页

作者： H. Friedrich O. Rogalla R. Dillmann Institute for Process-Control and Robotics Department for Computer Science University of Karlsruhe

Currently, an inportant topic in robotic reasearch systems is the design and development of learning Multi-Agent Systems ( MAS ). One major advantage of these systems is the fact that several agent work towards a common goal, having different specializations for specific subtasks. Especially learning MAS in cooperation with a human teacher seem to be a very promising approach for complex manipulation and production tasks. Since agents can join and leave the system at any time, it is important that knowledge acquired by single agents can be transferred or propagated between agents, to ensure that knowledge is not lost, if agents leave the system. Therefore, techniques will be presented to represent extentable action knowledge for task solutions in an agent's knowledge base and additionally, algorithms for propagating this knowledge between agents efficiently and with minimum communication effort.

关键词： Multi-Agent Systems Learning Knowledge-Representation

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Development of a neural controller for motion control of a piezoelectric three-legged micromanipulation robot

Development of a neural controller for motion control of a p...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： K. Santa S. Fatikow Department for Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

Micromanipulation by microrobots has become an issue of primary importance in industry and biomedicine, since human manual capabilities are restricted to certain tolerances. The manipulation of biological cells or the assembly of a microsystem composed of several microcomponents are good examples. An automated microrobot-based micromanipulation desktop station has been developed at the University of Karlsruhe. The process of assembly takes place in the field of view of a light optical microscope. This paper focuses on motion control problems of the piezo-driven microrobots employed by the station. The ability to adapt itself to the process requirements is of great importance for micromanipulation robots. They must be able to operate in a partially defined environment and to ensure reasonable behaviour in unpredicted situations. A neural control concept based on a reference model is proposed as a solution. It is shown, that the neural controller is able to learn the desired behaviour. It considerably outperforms an analytically designed linear controller in the real environment.

关键词： Motion control Automatic control Mobile robots Service robots process control Optical microscopy Glass Robot sensing systems Leg computer science

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Sensor system for controlling a multifingered gripper on a robot arm

Sensor system for controlling a multifingered gripper on a r...

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Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and applications (Cat. No.98CH36190)

作者： Th. Fischer Department of Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

In the last few years different multifingered grippers have been developed and a lot of research work has been done in the field of grasping and manipulating objects with such grippers. With the help of fingers it is possible to grasp different objects with different shapes without having to change the gripper. To use a multifingered gripper in industrial applications it has to be mounted on another robot to enhance the working space. In the paper the requirements of a multifingered gripper on a robot arm in a manipulation station are discussed, with particular attention given to one part of the sensor system: the object state sensor. This sensor provides the control system with information about the object to be grasped.

关键词： Sensor systems control systems Grippers Robot sensing systems Fingers Orbital robotics Service robots Shape Aerospace industry computer science

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Dynamically shared control in human-robot teams through physical interactions

Dynamically shared control in human-robot teams through phys...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： T. Hoeniger Department of Computer Science Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

An intelligent robot control scheme is presented which enables a cooperative work of humans and robots through direct contact interaction in a partially known environment. The control of the degrees of freedom of the manipulator is shared through a hybrid controller between the operator and the intelligent control system. The allocation of the control among human and robot occurs dynamically according to the state of the task execution and the capabilities of the human and the robot. Experiments were conducted to prove the effectiveness of our concept.

关键词： Intelligent robots Service robots Human robot interaction Medical robotics control systems Manipulators Intelligent control Robot sensing systems Cognitive robotics Uncertainty

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Online path planning with optimal C-space discretization

Online path planning with optimal C-space discretization

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Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and applications (Cat. No.98CH36190)

作者： D. Henrich C. Wurll H. Worn Institute for Process Control and Robotics (IPR) Computer Science Department University of Karlsruhe Karlsruhe Germany

The paper is based on a path planning approach for industrial robot arms with 6 degrees of freedom in an online given 3D environment. It has online capabilities by searching in an implicit and discrete configuration space and detecting collisions in the Cartesian workspace by distance computation based on the given CAD model. Here, we present different methods for specifying the C-space discretization. Besides the usual uniform and heuristic discretization, we investigate two versions of an optimal discretization for a user-predefined Cartesian resolution. The different methods are experimentally evaluated. Additionally, we provide a set of 3-dimensional benchmark problems for a fair comparison of the path planner. For each benchmark, the run-times of our planner are between only 3 and 100 seconds on a Pentium PC with 133 MHz.

关键词： Path planning Service robots Orbital robotics Robotic assembly process control Intellectual property computer science Defense industry Manipulators Runtime

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On-line path planning by heuristic hierarchical search

On-line path planning by heuristic hierarchical search

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Annual Conference of Industrial Electronics Society

作者： D. Henrich C. Wurll H. Worn Institute for Process Control and Robotics (IPR) Computer Science Department University of Karlsruhe Karlsruhe Germany

In this paper, the problem of path planning for robot manipulators with six degrees of freedom in an on-line provided three-dimensional environment is investigated. As a basic approach, the best-first algorithm is used to search in the implicit discrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on the given CAD model. The basic approach is extended by three simple mechanisms and results in a heuristic hierarchical search. This is done by adjusting the stepsize of the search to the distance between the robot and the obstacles. As a first step, we show encouraging experimental results with two degrees of freedom for five typical benchmark problems.

关键词： Path planning Service robots Orbital robotics Robotic assembly Computational geometry Motion planning process control Intellectual property computer science Manipulators

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