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Neural network based expectation learning in perception control: learning and control with unreliable sensory system

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Artificial Life and Robotics 2004年第2期8卷 147-152页

作者： Sherwin A. Guirnaldo Keigo Watanabe Kiyotaka Izumi Kazuo Kiguchi Department of Production Control Technology Division of Engineering Systems and Technology Graduate School of Science and Engineering Saga University Saga Japan Department of Advanced Systems Control Engineerig Graduate School of Science and Engineering Saga University Saga Japan

In this article, we investigate the viability of our proposed neural network-based extension of the “perception” control concept introduced by Randløv and Alstrøm. In their work, each of the expectation elements is linearly acquired such that the expectation gives only the dominant information of the recent past. This handicap could become a serious problem when the perception process is applied to real physical systems. Such an approach has no capability to sense the trend or the dynamics in the information. Here, we introduce an extension of the perception control process by using a radial basis function feedforward neural network to learn the trend and the dynamics in the information queue. Through our simulations, we show that our neural network-based method is better than the conventional method.

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Biomimetic machines: motivations to the research

Biomimetic machines: motivations to the research

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SICE Annual Conference

作者： K. Watanabe K. Izumi Department of Advanced Systems Control Engineering Saga University Saga Japan

In this survey paper, we describe the research of biomimetic machines that has been founded at the advanced integration division of SICE. This research committee aims at studying on biomimetic machines, which is not the conventional bionics that fuses the bioengineering and the electronics, rather directs to the realization of a machine and a robot using several biomimetic technologies. We mainly discuss about biomimetic control, biomimetic perception, biomimetic robots and their applications.

关键词： Biomimetics control systems Fuzzy reasoning Neural networks Humans Biomedical engineering Computer networks Fuzzy systems Service robots Genetic programming

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Concept of virtual master-slave systems and its application to the design of a neuro-interface

Concept of virtual master-slave systems and its application ...

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SICE Annual Conference

作者： R. Syam K. Watanabe L. Izumi Department of Advanced Systems Control Engineering Saga University Saga Japan

A design method for neural network (NN) based feedforward controller in the framework of neurointerface is proposed for nonholonomic robots by applying a concept of virtual master-slave system, in which a master robot is assumed to have a stable inverse dynamical model that includes unknown physical parameters. A PD-based feedback compensator is simply added to the neurointerface to suppress an output deviation caused by the mapping error of NN. The effectiveness of the present approach is shown by a simulation for a tracking control problem of a nonholonomic mobile robot with two-independent driving wheels.

关键词： Master-slave Neural networks Design methodology Feedforward neural networks Inverse problems Output feedback Neurofeedback Error correction Mobile robots Wheels

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Cooperative fuzzy hint acquisition for avoiding joint limits of redundant manipulators

Cooperative fuzzy hint acquisition for avoiding joint limits...

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Annual Conference of Industrial Electronics Society

作者： S.P.M. Assal K. Watanabe K. Izumi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Japan

In this paper, a back propagation neural network (NN) is presented for the inverse kinematics of redundant manipulator with joint limits. Since the inverse kinematics has infinite number of joint angle vectors, a fuzzy neural network (FNN) is designed to provide an approximate value for that vector. This vector is fed into the NN as a hint input vector to guide the output of the NN within the self-motion. This FNN is designed based on cooperatively controlled each joint angle in the sense that it stops the motion on the critical axis at its limit in the expense of more compensation from the most relaxed joint to accomplish the task. The joint velocity limits as well as the joint limits are incorporated in this method. Simulations are implemented based on four-link redundant manipulator to show the effectiveness of the proposed control system.

关键词： Neural networks Manipulators Kinematics Fuzzy neural networks Fuzzy control Robots H infinity control control engineering Design engineering Motion control

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Exploring motion acquisition of manipulators with multiple degrees-of-redundancy using soft computing techniques

Exploring motion acquisition of manipulators with multiple d...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： S.F.M. Assal K. Watanabe K. Izumi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Japan

A backpropagation neural network (NN) is presented for the inverse kinematic problem to obtain a position control system for manipulators with multiple degrees-of-redundancy, where information provided from a laser transducer at the end-effector is used for planning the trajectory. A fuzzy reasoning system is designed to generate an approximate joint angle vector, because the inverse kinematics in this problem has infinite number of solution vectors. This vector is fed into the NN as a hint input vector rather than as a training vector to limit and guide the searching space. Simulations are implemented on a four-link redundant planar manipulator to show that the present control system is capable of tracking the planned trajectory while avoiding the collision.

关键词： Neural networks Kinematics Collision avoidance Trajectory Computer networks control systems Transducers Path planning control engineering Optical propagation

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Telerobotic mini-golf: system design for enhanced teleoperator performance

Telerobotic mini-golf: system design for enhanced teleoperat...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： S.R. Munasinghe Ju-Jang Lee T. Usui M. Nakamura N. Egashira Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea Department of Advanced Systems Control Engineering Saga University Saga Japan Department of Control and Information Systems Engineering Kurume National College of Technology Fukuoka Japan

This paper discusses the safety assurance, capability features, and user-friendliness of Internet-based telerobotics, in the sense that how these features could be incorporated in order to enhance teleoperator performance. A comprehensive set of safety features are incorporated to the interface to screen and accept only the safe commands from the remote operator while discarding risky commands. A laser pointer is used to help remote operator in perceiving self-location and navigation, whereas orientation control has been completely automated and synchronized to the position commands of the teleoperator. The effectiveness of these features has been demonstrated by playing telerobotic mini-golf.

关键词： Telerobotics Teleoperators Internet Paper technology control systems Safety Supervisory control Power system modeling System testing Computer science

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TCP retransmission timer adjustment mechanism using system identification

TCP retransmission timer adjustment mechanism using system i...

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American control Conference (ACC)

作者： M. Haeri A.H.M. Rad Electrical Engineering Department Advanced Control System Laboratory Sharif University of Technology Tehran Iran Electrical Engineering Advanced Control Systems Laboratory Sharif University of Technology Iran

In this paper, the TCP retransmission timer adjustment mechanism is approached from the system's theoretic point of view. TCP uses a simple recursive system identification algorithm to capture both time variant and time invariant Internet behavior and provides a dynamic round-trip time (RTT) predictor. Based on real Internet data collection, it is observed that when the retransmission timer is adjusted by using the proposed predictor instead of the traditional RTT estimator, its performance increases significantly.

关键词： System identification Internet TCPIP Throughput Laboratories control systems Electronic mail Jacobian matrices Low pass filters Testing

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A coil-based multifunctional three-dimensional tactile sensor

A coil-based multifunctional three-dimensional tactile senso...

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IEEE Instrumentation and Measurement Technology Conference

作者： K. Shida Zhiyu Chi Department of Advanced Systems Control Enginrmng. FacultyolScience and Engineering Saga University Saga Japan

A cylindrical tactile sensor that can simultaneously measure a three-dimensional force based on multifunctional sensing technique is proposed. The central components of this sensor are two coils and a medium. A step-by-step method is used to realize multifunctional sensing, and in each step, a different physical quantity is sensed. On the basis of the unique structure of the sensor and ingenious measuring methods, the authors realize testing more than one physical quantity, that is, the magnitude and two direction angles of the contact force, with a single sensor. The paper discusses the design guideline for and the structure of the sensor, with deep inquiries into the step-by-step measuring method and experimental results.

关键词： Tactile sensors Force sensors Force measurement Sensor arrays Magnetic sensors Testing Piezoresistive devices Sensor phenomena and characterization Coils Micromachining

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Forearm motion assist with an exoskeleton: adaptation to muscle activation patterns

Forearm motion assist with an exoskeleton: adaptation to mus...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： K. Kiguchi R. Esaki T. Fukuda Department of Advanced Systems Control Engineering Saga University Saga Japan Department of Micro System Engineering University of Nagoya Nagoya Japan

This paper presents an exoskeleton for the assist of forearm motion (elbow flexion-extension and forearm pronationsupination motion) in daily activity and rehabilitation. The exoskeleton is controlled based on the activation patterns of the electromyogram (EMG) signals of the patient's muscles, which directly reflects the motion intention of the patient, in order to realize natural motion assist The sophisticated real-time neurofuzzy control method, in which the effect of a muscle common to both motions is taken into account, is proposed. The proposed control method enables the cooperative motion of elbow and forearm of the patient by learning the muscle activation patterns of each patient. The effectiveness of the proposed method was evaluated by experiment.

关键词： Exoskeletons Muscles Electromyography Motion control Elbow Wrist Medical control systems Shoulder control systems Robots

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Free-gait of quadruped robots using neural networks for determining the order of swing leg

Free-gait of quadruped robots using neural networks for dete...

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2004 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS) (IEEE Cat. No.04CH37566)

作者： K. Izumi T. Yamaguchi K. Watanabe Department of Advanced Systems Control Engineering Saga University Saga Japan Department of Electrical Electronics and Information Engineering Kanagawa University Yokohama Kanagawa Japan

In walking of quadruped robots, a better performance is obtained by changing the order of swing leg at a gait. In this paper, we study a walking with obstacles avoidance of a quadruped robot using neural network (NN) for determining the moving distance of the robot and for determining the order of a swing leg. The training data is considered with initial positions of each leg. The effectiveness of the present method is demonstrated with some experiments using TITAN-Vin.

关键词： Legged locomotion Neural networks Leg Mobile robots Robot sensing systems Crawlers Stability control engineering Training data US department of Energy

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