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A fuzzy logic intelligent control system paradigm for an in-line-of-sight leader-following HMMWV

Journal of Field robotics 1998年第6期14卷

作者： Ka C. Cheok Gert-Edzko Smid Kazuyuki Kobayashi James L. Overholt Paul Lescoe Department of Electrical and Systems Engineering School of Engineering and Computer Science Oakland University Rochester MI 48309-4401 Vehicle Simulation Group U.S. Army Tank–Automotive Armament Command Warren MI Robotics Office U.S. Army Tank–Automotive Armament Command Warren MI

A hierarchical intelligent control system paradigm for a vision-based autonomous driving scheme is presented for a leader-following HMMWV. This article shows how fuzzy logic is employed to represent knowledge at the organization level, how to resolve conflicting perceived information at the coordination level, and how to carry out the best action for the vehicle at the execution level. After introducing the methodology, simulation and experimental aspects for realizing and testing the scheme are discussed. © 1997 by John Wiley & Sons, Inc.

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A circuit for high-speed time switching

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IEEE TRANSACTIONS ON COMMUNICATIONS 1997年第3期45卷 287-288页

作者： Bucholc, K Faculty of Electrical Engineering Department of Control Robotics and Computer Science Poznan University of Technology Poznan Poland

A method of time switching for time-division communication systems is introduced, A compact shift register-based circuit is used for this purpose in order to achieve high-speed switching.

关键词： time-division communication time switching

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Intelligent multi-modal systems

British Telecom technology journal

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British Telecom technology journal 1998年第3期16卷 134-144页

作者： Tsui, K.C. Azvine, B. Djian, D. Voudouris, C. Xu, L.Q. Hong Kong Polytechnic University Hong Kong University of Essex King's College London United Kingdom BT Laboratories United Kingdom ATM Traffic Management United Kingdom Manchester University United Kingdom Dynamics and Control Research Group Engineering Department Manchester University United Kingdom Contr. and Instrum. Research Group Staffordshire University United Kingdom Intelligent Systems Research Unit BT Laboratories United Kingdom Dept. of Engineering Mathematics Bristol University United Kingdom Europ. Netwk. Excellence U. Institut d'Informatique d'Entreprise France Oxford University Robotics Research Group United Kingdom University of Nice France Ecole des Mines de Paris France Natl. Technical University of Athens Greece University of Essex United Kingdom Department of Computer Science University of Essex United Kingdom Intelligent Systems Research Group BT Laboratories United Kingdom Southeast University Nanjing China Institute of Acoustics Chinese Academy of Sciences Beijing China University of East Anglia United Kingdom University of Sussex King's College London United Kingdom University of Abertay Dundee United Kingdom

Research in human/computer interaction has mainly focused on natural language, text, speech and vision primarily in isolation. Recently there have been a number of research projects that have concentrated on the integration of such modalities using intelligent reasoners. The rationale is that many inherent ambiguities in single modes of communication can be resolved if extra information is available. This paper describes an intelligent multi-modal system called the Smart Work Manager. The main characteristics of the Smart Work Manager are that it can process speech, text, face images, gaze information and simulated gestures rising the mouse as input modalities, and its output is in the form of speech, text or graphics. The main components of the system are the reasoner, a speech system, a vision system, an integration platform and the application interface. The overall architecture of the system will be described together with the integration platform and the components of the system which include a non-intrusive neural network based gaze-tracking system. The paper concludes with a discussion on the applicability of such systems to intelligent human/computer interaction and lessons learnt in terms of reliability and efficiency.

关键词： Learning systems

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Compensation of teleoperator modeling uncertainties with a sliding mode controller

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robotics AND computer-INTEGRATED MANUFACTURING 1997年第1期13卷 9-20页

作者： Tzafestas, SG Prokopiou, PA Intelligent Robotics and Automation Laboratory Computer Science Division Department of Electrical and Computer Engineering National Technical University of Athens Zografou Campus 15773 Athens Greece

The response of a previously proposed teleoperator system, which was not based on the traditional notion of telepresence but on an original form of kinesthetic feedback, is tested under modeling errors of up to 50%. The original system is enhanced by replacing the previous controller of each robot with a sliding mode robust one. A two-stage approach is employed: a desired trajectory is first generated and then tracked by the controller. The difficulties incurred for the man/machine cooperation are discussed. This extension of the original teleoperator architecture is tested through simulations and compared with a twin system based on neural controllers, presented elsewhere. (C) 1997 Elsevier science Ltd.

关键词： Man machine systems

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Visually guided navigation

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robotics AND AUTONOMOUS SYSTEMS 1997年第1期21卷 37-50页

作者： Kosecka, J Robotics laboratory Department of Electrical Engineering and Computer Science 333 Cory Hall 98 UC Berkeley Berkeley CA 94720-1772 USA

Rich sensory information, robust control strategies and proper representation of the environment are crucial for successful navigation of the mobile robot. We propose a model of the environment which is suitable for global navigation using visual sensing. At the lowest level of interaction of the robot with the environment we employ visual servoing techniques which facilitate robust local navigation by means of relative positioning. Further we demonstrate how to use these local control strategies in a global setting. The environment is represented in terms of place graph, where the nodes correspond to places and arcs have associated servoing strategies for moving from one place to another. The global navigation is expressed as a sequence of relative positioning tasks obtainable from the search of a place graph. The proposed model facilitates generation of motion plans which can be executed in a robust manner thanks to the presence of the sensory information in the feedback loop.

关键词： visual servicing motion planning navigation

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An Extended Kalman Filter for frequent local and infrequent global sensor data fusion

An Extended Kalman Filter for frequent local and infrequent ...

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Conference on Sensor Fusion and Decentralized Control in Autonomous Robotic Systems

作者： Roumeliotis, SI Bekey, GA Department of Electrical Engineering Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA 90089-0781 United States

ISBN: (纸本)0819426415

In this paper we compare the performance of a dead-reckoning system for robot navigation to a system using an Extended Kalman Filter (EKF). Dead-reckoning systems are able to approximate position and orientation by feeding data (provided usually by local sensors) to the kinematic model of the vehicle. These systems are subject to many different sources of error. EKFs have the ability to combine the same information and compensate for most of these errors to yield a better estimate. Our simulation results using a simplified kinematic model of Rocky 7 (an experimental rover used in the Mars exploration program at Jet Propulsion Laboratory (JPL)) show that an improvement in performance up to 40% (position error) can be achieved. The local sensors used are: wheel encoders, steering angle potentiometer and gyroscope. Involvement of global sensor measurements can drastically increase the accuracy of the estimate. The lack of GPS or magnetic field on Mars narrows our choices for global localization. Landmarks, such as the sun can be used as natural beacons (reference point for absolute measurements). A sun sensor (SS) that measures the absolute orientation of the rover has been built by Lockheed Martin and now is part of the sensor suite of Rocky 7. The SS measurement is crucial for the estimation filter and we show that the accuracy of the estimation decreases exponentially as the frequency of the SS data fed to the EKF decreases.

关键词： robot localization sun sensor Extended Kalman Filter

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A max-algebra approach to the robust distributed control of repetitive AGV systems

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INTERNATIONAL JOURNAL OF PRODUCTION RESEARCH 1997年第10期35卷 2667-2687页

作者： Zaremba, MB Obuchowicz, A Banaszak, ZA Jedrzejek, KJ Département d''informatique Université du Québec à Hull Hull Québec Canada J8X 3X7 Department of Robotics and Software Engineering Technical University of Zielona Gora Podgorna 50 65-246 Zielona Gora Poland Department of Mathematics and Computer Science Kuwait University PO Box 5969 Safat Kuwait

This paper presents a new approach for distributed control of automatic guided vehicle systems (AGVS) that uses max-algebra formalism to model system operation. The proposed method differs from previous works on performance analysis and control of such systems in that it constructs a feasible schedule by exploiting the repetitive character of the flow of automated guided vehicles. The AGVS is treated as a distributed system composed of autonomous and repetitive processes of AGV flows. Its periodic behaviour follows from the type of operation characterizing the job shops considered. The proposed approach employs a concept of asynchronous traffic semaphores that provide the local mechanism for vehicle flow synchronization. Setting the timing of particular semaphores results in distributed control of vehicle flows possessing self-synchronization capabilities.

关键词： AUTOMATIC control PROCESS control DISTRIBUTED computing OPERATIONS research AUTOMATED guided vehicle systems

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Vector fields for task-level distributed manipulation: experiments with organic micro actuator arrays

Vector fields for task-level distributed manipulation: exper...

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IEEE International Conference on robotics and Automation (ICRA)

作者： K.-F. Bohringer J.W. Suh B.R. Donald G.T.A. Kovacs Robotics & Vision Lab Department of Computer Science Cornell University Ithaca NY USA Transducers Lab Department of Electrical Engineering University of Stanford Stanford CA USA Robotics Lab Department of Computer Science University of Stanford Stanford CA USA

Distributed manipulation experiments were performed using a massively-parallel, microfabricated actuator array. An organic ciliary array of thin-film polyimide bimorph microactuators exploiting combined thermal and electrostatic control was employed to implement task-level, sensorless manipulation strategies for macroscopic objects. The tasks of parts-translation, -rotation, -orientation, and -centering were demonstrated using small integrated circuit (IC) dice. Strategies were programmed in a fine-grained SIMD (single instruction, multiple data) fashion by specifying planar force vector fields. When a part is placed on the array, the programmed vector field induces a force and moment upon it. The part's equilibrium states may be predicted and cascaded (using a sequence of fields) to bring the part to a desired final state. Vector fields with and without potential were tested in experiments, and the behavior of parts in the fields was compared with the theory of programmable vector fields. These fields were implemented by actuating the organic cilia in a cyclic, gait-like fashion. Motion in non-principal (e.g. diagonal) directions was effected by a pairwise coupling of the cilia to implement virtual cilia. These experiments suggest that MEMS actuator arrays are useful for parts-orientation, -posing, -transfer, -singulation, and -sorting.

关键词： Actuators Sensor arrays Thin film circuits Thin film sensors Polyimides Microactuators Electrostatics Sensorless control Force sensors Testing

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SmartATMS : A Simulator For Air Traffic Management Systems

SmartATMS : A Simulator For Air Traffic Management Systems

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Simulation Winter Conference

作者： Tak-Kuen John Koo Yi Ma G.J. Pappas C. Tomlin Robotics and Intelligent Machines Laboratory Department of Electrical Engineering and Computer Science University of California Berkeley Berkeley CA USA

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Introducing the theory of fuzzy cognitive maps in distributed systems

Introducing the theory of fuzzy cognitive maps in distribute...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： C.D. Stylios V.C. Georgopoulos P.P. Groumpos Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Rio Greece School of Electrical Engineering and Computer Science Ohio University Athens OH USA

This paper investigates a novel hybrid fuzzy neural system, fuzzy cognitive map (FCM), and its implementation in distributed systems and control problems. The description and the methodology of this system will be examined and then it will be shown the application of FCM in a process control problem, which will reveal the characteristics and qualities of FCM. There is an oncoming need for more autonomous and intelligent systems, which could be satisfied with the application of FCM in the field of systems and control.

关键词： Fuzzy cognitive maps Fuzzy systems Fuzzy logic Intelligent systems robotics and automation Fuzzy control Control systems Control system synthesis Neural networks Humans

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