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检索条件"机构=Department of Robotics Engineering and Computer Science"

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A Chattering-free Fractional PDα Sliding-mode Control Of A 3-DOF Robot System Driven By DC motors

A Chattering-free Fractional PDα Sliding-mode Control Of A ...

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第五届国际自动控制联合会分数阶导数及其应用会议

作者： Srecko A.Batalov Mihailo P.Lazarevi Ales Hace Karel Jezernik University of Belgrade Faculty of Mechanical EngineeringBelgrade Serbia University of Belgrade Faculty of Mechanical Engineering Department of MechanicsBelgrade Serbia Institute for Robotics Faculty of electrical engineering and computer scienceUniversity of Maribor Slovenia Institute for Robotics Faculty of electrical engineering and computer science University of Maribor Slovenia

This paper proposes a robust fractional-order sliding mode control of a3-DOF robot system driven by DC ***,a conventional sliding mode controller based on PDα sliding surface is *** simulations have been carried out ... 详细信息

关键词： DOF A Chattering-free Fractional PD Sliding-mode Control Of A 3-DOF Robot System Driven By DC motors

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Surface sensor networks for Underwater Vehicle positioning with bearings-only measurements

Surface sensor networks for Underwater Vehicle positioning w...

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2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： D. Moreno-Salinas A. M. Pascoal J. Aranda Department of Computer Science and Automatic Control UNED Madrid Spain Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Technical University of Lisbon Portugal

There is increasing interest in the use of Autonomous Underwater Vehicles (AUVs) to substantially improve the means available for ocean exploration and exploitation. A key element in the operation of certain classes of AUVs is the availability of good underwater positioning systems to localize one or more vehicles simultaneously based on information received on-board a support ship or a set of autonomous surface vehicles. In an interesting operational scenario, the set of autonomous surface vehicles carries a network of acoustic units that measure the elevation and azimuth angles between the target and each of the receivers. Motivated by these considerations, in this paper we address the problem of determining the optimal geometric configuration of an acoustic sensor network at the ocean surface that will maximize the angle-related information available for underwater target positioning. It is assumed that the angle measurements are corrupted by white Gaussian noise, the variance of which is distance-dependent. Using the Cramer-Rao lower bound inequality, the trace of the inverse of the Fisher Information matrix (also called the Cramer-Rao Bound matrix) for the problem at hand is used to determine the sensor configuration that yields the minimum possible covariance of any unbiased target estimator. It is shown that the optimal configuration lends itself to an interesting geometrical interpretation and that the spreading of the sensor configuration depends explicitly on the intensity of the measurement noise and the target depth. Simulation examples illustrate the key results derived.

关键词： Robot sensing systems Sea measurements Noise measurement Noise Vectors Sea surface Acoustic measurements

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Towards AER VITE: building spike gate signal

Towards AER VITE: building spike gate signal

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IEEE International Conference on Electronics, Circuits and Systems

作者： Fernando Perez-Pena Arturo Morgado-Estevez Carlos Rioja-Del-Rio Alejandro Linares-Barranco Angel Jimenez-Fernandez Juan Lopez-Coronado Jose Luis Munoz-Lozano Applied Robotics Lab High School of Engineering University of Cadiz Department of Computer Architecture and Technology ETSI Computer Science University of Seville Automatic and System Engineering Department University Polytechnics of Cartagena

ISBN: (纸本)9781467312615

Neuromorphic engineers aim to mimic the precise and efficient mechanisms of the nervous system to process information using spikes from sensors to actuators. There are many available works that sense and process information in a spike-based way. But there are still several gaps in the actuation and motor control field in a spike-based way. Spike-based Proportional-Integrative-Derivative controllers (PID) are present in the literature. On the other hand, neuro-inspired control models as VITE (Vector Integration To End point) and FLETE (Factorization of muscle Length and muscle Tension) are also present in the literature. This paper presents another step toward the spike implementation of those neuro-inspired models. We present a spike-based ramp multiplier. VITE algorithm generates the way to achieve a final position targeted by a mobile robotic arm. The block presented is used as a gate for the way involved and it also puts the incoming movement on speed with a variable slope profile. Only spikes for information representation were used and the process is in real time. The software simulation based on Simulink and Xilinx System Generator shows the accurate adjust to the traditional processing for short time periods and the hardware tests confirm and extend the previous simulated results for any time. We have implemented the spikes generator, the ramp multiplier and the low pass filter into the Virtex-5 FPGA and connected this with an USB-AER (Address Event Representation) board to monitor the spikes.

关键词： spike spikes spikes Road gates Hardware Test Information representation Processing information ANION EXCHANGE RESIN Proportional Integral Derivative Control Activation Pelvic Inflammatory Disease RAMP Ramps Multiplying circuits

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An introduction to the special issue: Modeling and control of integrated bio-systems

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WSEAS Transactions on Systems 2012年第7期11卷 221-222页

作者： Vassileva, Svetla Neri, Filippo Department of Integrated Systems Institute of Systems Engineering and Robotics Bulgarian Academy of Sciences Sofia Bulgaria Department of Computer Science University of Naples federico II Naples Italy

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Distributed ADMM for Model Predictive Control and Congestion Control

Distributed ADMM for Model Predictive Control and Congestion...

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IEEE Annual Conference on Decision and Control

作者： Joao F. C. Mota Joao M. F. Xavier Pedro M. Q. Aguiar Markus Puschel Department of Electrical and Computer Engineering Carnegie Mellon University Institute of Systems and Robotics Instituto Superior Tecnico Technical University of Lisbon Department of Computer Science ETH Zurich

ISBN: (纸本)9781467320658

Many problems in control can be modeled as an optimization problem over a network of nodes. Solving them with distributed algorithms provides advantages over centralized solutions, such as privacy and the ability to process data locally. In this paper, we solve optimization problems in networks where each node requires only partial knowledge of the problem's solution. We explore this feature to design a decentralized algorithm that allows a significant reduction in the total number of communications. Our algorithm is based on the Alternating Direction of Multipliers (ADMM), and we apply it to distributed Model Predictive Control (MPC) and TCP/IP congestion control. Simulation results show that the proposed algorithm requires less communications than previous work for the same solution accuracy.

关键词： distributed model predictive control Communication Research PROBLEM SOLUTION Model predictive control Predictive control distributed algorithms Privacy nonlinear model predictive control Batch data processing control simulation Solutions Standing Orders Ganglia

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Saturated Output Feedback Control of a Quadrotor Aircraft

Saturated Output Feedback Control of a Quadrotor Aircraft

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American Control Conference

作者： D. Cabecinhas R. Cunha C. Silvestre Department of Electrical Engineering and Computer Science and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico Universidade Tecnica de Lisboa 1049-001 Lisboa Portugal

ISBN: (数字)9781457710964

ISBN: (纸本)9781457710957

This paper addresses the problem of steering a quadrotor vehicle along a prescribed trajectory. The problem is formulated so as to enforce bounds on the thrust actuation and present robustness against possible disturbances resulting from errors in the estimation of the aircraft state. The proposed solution consists of a nonlinear state feedback controller for thrust and torque actuation that i) guarantees asymptotic stability of the closed-loop system in the presence of exponentially decaying observer errors, ii) ensures global regulation of the trajectory tracking errors, and iii) defines the thrust actuation as a saturated function of the position and linear velocity errors. Simulation results are presented to assess the performance and robustness of the proposed controller.

关键词： Trajectory Vehicles Observers Lyapunov methods Convergence Vectors Robustness

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Validation of an odor source identification algorithm via an underwater vehicle

Validation of an odor source identification algorithm via an...

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2nd International Conference on Intelligent Systems Design and engineering Applications, ISDEA 2012

作者： Kang, Xiaodong Li, Wei Xu, Hongli Feng, Xisheng Li, Yiping State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Province 110016 China Graduate School of the Chinese Academy of Sciences Beijing 100049 China Department of Computer Engineering and Science California State University Bakersfield CA 93311 United States

ISBN: (纸本)9780769546087

This paper systemically discusses a procedure for evaluating and validating an odor source identification algorithm derived from moth-inspired plume tracing strategies. We evaluate and validate the proposed source identification algorithm as follows. First, we identify the source of a virtual chemical plume with significant filament intermittency and meander via a simulated underwater vehicle. Second, we validate the source identification algorithm using the virtual chemical plume and a real underwater vehicle in a swimming pool. Finally, we run in-water tests to trace a Rhoda mine dye plume developed in near-shore ocean environments characterized by turbulence, tides and waves, and to identify its source via the underwater vehicle at Da Lian Bay in China. © 2012 IEEE.

关键词： Vehicles

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Almost Global Stabilization of a Vertical Take-Off and Landing Aircraft in Hovered Flight

Almost Global Stabilization of a Vertical Take-Off and Landi...

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American Control Conference

作者： P. Casau D. Cabecinhas C. Silvestre Department of Electrical Engineering and Computer Science and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico Universidade Tecnica de Lisboa 1049-001 Lisboa Portugal

ISBN: (纸本)9781457710957

This paper proposes a controller which stabilizes a fixed-wing Unmanned Air Vehicle (UAV) in hovered flight. A six degree-of-freedom dynamic model is developed for an underactuated model-scale aircraft and a simpler three degree-of-freedom model is derived for controller design purposes. A novel nonlinear controller which renders the hovering position of the simplified system dynamics almost globally exponentially stable is proposed. Lateral stabilization is achieved by means of classic linear optimal control techniques. The nonlinear controller is designed so as to provide unidirectional thrust. Moreover, the closed-loop system is Input-to-State Stable (ISS) in the presence of unknown disturbances. Realistic simulation results demonstrate the controller's effectiveness and robustness when dealing with the problem at hand.

关键词： Aircraft Aerodynamics Atmospheric modeling Aerospace control Vehicle dynamics Standards Vehicles

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Wind Turbines Fault Detection and Identification Using Set-Valued Observers

Wind Turbines Fault Detection and Identification Using Set-V...

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American Control Conference

作者： P. Casau P. Rosa C. Silvestre Department of Electrical Engineering and Computer Science and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico Universidade Tecnica de Lisboa 1049-001 Lisboa Portugal

ISBN: (纸本)9781457710957

Research on wind turbine Operations & Maintenance (O&M) procedures is critical to the expansion of Wind Energy Conversion systems (WEC). In order to reduce O&M costs and increase the lifespan of the turbine, we study the application of Set-Valued Observers (SVO) to the problem of Fault Detection and Isolation (FDI) of wind turbines, by taking advantage of the recent advances in SVO theory for model invalidation. A simple wind turbine model is presented along with possible faulty scenarios. The SVO algorithm is built upon these dynamics, taking into account process disturbances, model uncertainty, and measurement noise. The FDI algorithm is assessed within a publicly available benchmark model, using Monte-Carlo simulation runs.

关键词： Wind Energy Conversion Systems Defect detection Monte Carlo technique Noise measurement Observers turbines Life span operational approach

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Reports of the AAAI 2011 conference workshops

Reports of the AAAI 2011 conference workshops

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作者： Agmon, Noa Agrawal, Vikas Aha, David W. Aloimonos, Yiannis Buckley, Donagh Doshi, Prashant Geib, Christopher Grasso, Floriana Green, Nancy Johnston, Benjamin Kaliski, Burt Kiekintveld, Christopher Law, Edith Lieberman, Henry Mengshoel, Ole J. Metzler, Ted Modayil, Joseph Oard, Douglas W. Onder, Nilufer O'Sullivan, Barry Pastra, Katerina Precup, Doina Ramachandran, Sowmya Reed, Chris Sariel-Talay, Sanem Selker, Ted Shastri, Lokendra Singh, Satinder Smith, Stephen F. Srivastava, Siddharth Sukthankar, Gita Uthus, David C. Williams, Mary-Anne Department of Computer Science University of Texas at Austin United States Center for Knowledge Driven Information Systems Infosys Labs India Adaptive Systems Section Naval Research Laboratory Washington DC United States Department of Computer Science University of Maryland College Park United States EMC's Center of Excellence in Ireland Research Europe at EMC Ireland Department of Computer Science University of Georgia United States School of Informatics University of Edinburgh United Kingdom Department of Computer Science University of Liverpool United Kingdom Department of Computer Science University of North Carolina Greensboro United States Faculty of Engineering and Information Technology University of Technology Sydney Australia VeriSign Inc. United States Department of Computer Science University of Texas at El Paso United States Machine Learning Department Carnegie Mellon University United States Massachusetts Institute of Technology Media Laboratory United States Carnegie Mellon University's Silicon Valley Campus United States Darrell W. Hughes Program for Religion and Science Dialogue Oklahoma City University United States Department of Computing Science University of Alberta Canada College of Information Studies Institute for Advanced Computer Studies University of Maryland College Park United States Department of Computer Science Michigan Technological University United States Department of Computer Science University College Cork Ireland Cognitive Systems Research Insitute Athens Greece School of Computer Science McGill University Canada Stottler Henke Inc. United States School of Computing University of Dundee United Kingdom Department of Computer Engineering Istanbul Technical University Turkey Convergence Lab Infosys Technologies Ltd. United States Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor United States Robotics Institute Carnegie Mellon University United States University of Wisconsin

The AAAI-11 workshop program was held Sunday and Monday, August 7-18, 2011, at the Hyatt Regency San Francisco in San Francisco, California USA. The AAAI-11 workshop program included 15 workshops covering a wide range of topics in artificial intelligence. The titles of the workshops were Activity Context Representation: Techniques and Languages;Analyzing Microtext;Applied Adversarial Reasoning and Risk Modeling;Artificial Intelligence and Smarter Living: The Conquest of Complexity;Artifiicial Intelligence for Data Center Management and Cloud Computing;Automated Action Planning for Autonomous Mobile Robots;Computational Models of Natural Argument;Generalized Planning;Human Computation;Human-Robot Interaction in Elder Care;Interactive Decision Theory and Game Theory, 2010;Language-Action Tools for Cognitive Artificial Agents: Integrating Vision, Action, and Language;Lifelong Learning from Sensorimotor Experience;Plan, Activity, and Intent Recognition;and Scalable Integration of Analytics and Visualization. This article presents short summaries of those events. Copyright © 2012, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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