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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： K. Kiguchi T. Fukuda Department of Advanced Systems Control Eng Graduate School of Science and Engineering Saga University Saga Japan Center of Cooperative Research in Advanced Science and Technology University of Nagoya Nagoya Japan

Position/force control is one of the most important and fundamental tasks of robot manipulators. Since the desired position and force required to perform certain tasks are usually designated in the operational space, the control force vector should be given to the end-effector in the operational space. However, friction of each joint of a robot manipulator impedes control accuracy. Therefore, friction should be effectively compensated for in order to realize precise control of robot manipulators. The fuzzy-neuro approach, a combination of fuzzy reasoning and neural networks, has been playing an important role in the control of robots. Applying the fuzzy-neuro approach, learning/adaptation ability and human knowledge can be incorporated into a robot controller. We propose an effective robot manipulator fuzzy-neuro position/force control method in which joint friction is effectively compensated for using adaptive friction models. The effectiveness of the proposed control method was evaluated by experiments.

关键词： Force control Orbital robotics Manipulators Friction Robot control Impedance Fuzzy reasoning Neural networks Humans Programmable control

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Robot manipulator control with soft computing - application of adaptive friction models

Robot manipulator control with soft computing - application ...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： K. Kiguchi T. Fukuda Department of Advanced Systems Control Eng School of Science Engineering Saga University Honjomachi Saga Japan Center for Cooperative Research in Advanced Science and Technology University of Nagoya Nagoya Japan

The resolved acceleration control method is one of the most effective and fundamental control methods for robot manipulators. However, friction of each joint of a manipulator impedes control accuracy. Therefore, friction has to be effectively compensated for in order to realize precise control of robot manipulators. Recently, soft computing, such as fuzzy reasoning, neural networks, and genetic algorithms, have been playing an important role in the control of robots. Applying soft computing, learning/adaptation ability and human knowledge can be incorporated into a robot controller. In this paper, we propose an effective robot manipulator fuzzy-neuro control method based on the resolved acceleration control method in which joint friction is effectively compensated for using adaptive friction models.

关键词： Manipulators Robot control Computer applications Friction Acceleration Impedance Computer networks Fuzzy reasoning Neural networks Genetic algorithms

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Automatic Realization of Human Experience for controlling Variable-Pressure Boilers

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IFAC Proceedings Volumes 1999年第2期32卷 6501-6506页

作者： Satoru Goto Masatoshi Nakamura Shiro Matsumura Department of Advanced Systems Control Engineering Saga University Honjomachi Saga 840-8502 Japan SimTech Co. Inc. 20-1 Kitasekiyama Odakacho Midoriku Nagoya 459-8522 Japan

control of thermal power plants is very difficult because of their nonlinearity and interferences. control methodology, controllers and tuning of parameters in the controller are astringent for a long time accumulation of experiences. The present controllers can be achieved sufficient control performances. However, the tuning of the parameters in the controllers is complicated and their determination is based on the skilled humans' experiences and intuitions. In this paper, automatic realization of the determination of the parameters is proposed based on the nonlinear separation control. By using the proposed automatic determination, the complicated tuning of the parameters is not necessary and the improvement of the control performances is achieved. The effectiveness of the proposed method is evaluated by a simulation study.

关键词： Automatic realization human experience BIR nonlinear separate control method main steam pressure and temperature of boiler variable-pressure once-through boiler

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Impedance control Using Anisotropic Fuzzy Environment Models

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Journal of Robotics and Mechatronics 1999年第1期11卷 60-66页

作者： Nagata, Fusaomi Watanabe, Keigo Sato, Kazuya Izumi, Kiyotaka Interior Design Research Institute Fukuoka Industrial Technology Center Agemaki-405-3 Fukuoka831-0031 Japan Department of Advanced Systems Control Engineering Saga University Saga840-8502 Japan Department of Mechanical Engineering Saga University Saga840 Japan

We describe impedance control for force control in unknown environments, proposing anisotropic fuzzy environment models that estimate environmental stiffness using fuzzy reasoning and generate time-varying damping for stable force control. Each model is automatically taught with genetic algorithms (GAs), in vyhich evaluation is made for force control in several known environments. Taught models are integrated for generalization. We apply models to tasks in which an industrial robot sands or polishes wood is differently stiff in different direction. Numerical simulations demonstrate the effectiveness of our method. © Fuji Technology Press Ltd.

关键词： Force control

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An Adaptive PI control System for an Omnidirectional Mobile Robot

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Journal of Robotics and Mechatronics 1999年第5期11卷 349-355页

作者： Sato, Kazuya Watanabe, Keigo Izumi, Kiyotaka Watanabe, Makoto Department of Advanced Systems and Control Engineering Graduate School of Science and Engineering Saga University 1 Honjo Saga840-8502 Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University 1 Honjo Saga840-8502 Japan Telecommunication System Engineering Information Technology Division Nitsuko Corporation 2-6-1 Kitamigata Takatsu-ku Kawasaki210 Japan

Resolved acceleration and PID control provide high-performance control in an omnidirectional mobile robot, but most research does not consider plant parameter perturbations requiring that control gains be reacĳusted. We present an adaptive PI control strategy for mobile robots that automatically adjusts PI controller parameters based on error signals. Experiments verify the effectiveness of our method. © 1999, Fuji Technology Press. All rights reserved.

关键词： Mobile robots

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Using front and back information for tight vehicle following maneuvers

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IEEE Transactions on Vehicular Technology 1999年第1期48卷 319-328页

作者： Y. Zhang B. Kosmatopoulos P.A. Ioannou C.C. Chien Center for Advanced Transportation Technologies Department of Electrical Engineering Systems University of Southern California Los Angeles CA USA Department of Electronics Control Division of Information Storage Opto-Electrons System Laboratory Industrial Research Institute Hsinchu Taiwan

During manual driving, most human drivers often use information about the speed and position of the preceding and following vehicles in order to adjust the position and speed of their vehicles. The purpose of this paper is to design an autonomous intelligent cruise control (AICC) which mimics this human driving behavior. The proposed AICC law uses relative speed and spacing information from the preceding and following vehicles in order to choose the proper control action for smooth vehicle following and for maintaining a desired intervehicle spacing specified by the driver. The vehicle stability and platoon stability (in the case of multiple vehicles) in both directions (backward and forward) are guaranteed by the proposed AICC law. Furthermore, platoon stability is guaranteed for a speed-dependent desired spacing (time headway approach) as well as for a constant desired spacing at all speeds.

关键词： Intelligent control Intelligent vehicles Remotely operated vehicles Mobile robots Vehicle driving Stability Vehicle safety Automatic control Humans control systems

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Physical interaction between human and a bipedal humanoid robot-realization of human-follow walking

Physical interaction between human and a bipedal humanoid ro...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： S.A. Setiawan J. Yamaguchi Sang Ho Hyon A. Takanishi Dept. of Mech. Eng. Waseda Univ. Tokyo Japan Humanoid Research Laboratory Advanced Research Institute for Science and Engineering Waseda University Tokyo Japan Department of Control and Systems Engineering Tokyo Institute of Technology Tokyo Japan

This research is aimed at the development of bipedal humanoid robots working in a human living space, with a focus on its physical construction and motion control method. At the first stage, we developed the bipedal humanoid robot WABIAN (Waseda bipedal humanoid), and proposed a control method for dynamic cooperative biped walking. In this paper, we present a follow-walking control method with a switching patterns technique for a bipedal humanoid robot to follow human motion by hand contact. By a combination of both algorithms, the robot is able to perform dynamic stepping and walking forward and backward in a continuous time while someone is pushing or pulling its hand. In this paper, the authors describe the control methods for the realization of physical interaction between a human and a bipedal humanoid robot.

关键词： Humans Humanoid robots Legged locomotion Motion control Space technology Workability Trajectory Motion planning Equations Mechanical engineering

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Design of a wide envelope controller for a STOVL gas turbine engine

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IFAC Proceedings Volumes 1999年第2期32卷 1489-1494页

作者： A.J. Chipperfield C.M. Fonseca H.C. Betteridge P.J. Fleming Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD England UK Unidade de Cieneias Exactos e Humanas Universidade do Algarve Campus de Gambelas 8000 Faro Portugal Advanced Controls Rolls-Royce plc PO Box3 Filton Bristol BS12 7QE England UK

This paper describes a novel approach to the design of a control system for a short take-off, vertical landing (STOVL) aircraft gas turbine engine. A multi-level multiobjective genetic algorithm (MOGA) is employed to design controllers at both individual operating points, using system linearisations and small signal response characteristics, and over the full-flight envelope, using a nonlinear model and large signalresponses. The proposed approach should allow the selection of smoother controller parameters over the flight envelope and ensure that more consistent control demands are made at off-design operating points.

关键词： CACSD Gain-scheduling Evolutionary algorithms Aerospace Optimization

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Realization of artificial intelligence for integrative electroencephalogram interpretation

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Artificial Life and Robotics 1998年第2期2卷 91-95页

作者： Nakamura, M. Sugi, T. Ikeda, A. Shibasaki, H. Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Honjomachi Saga840-8502 Japan Department of Brain Pathophysiology Graduate School of Medicine Kyoto University Sakyo-ku Kyoto606-8507 Japan

A fully automatic interpretation of an awake electroencephalogram (EEG) has been developed. Automatic integrative EEG interpretation consists of four main parts: quantitative EEG interpretation, EEG report making, preprocessing of EEG data, and adaptable EEG interpretation. Automatic integrative EEG interpretation reveals essentially the same findings as those of an electroencephalographer (EEGer), and is therefore applicable in clinical situations as an additional tool for the EEGer. The method has been developed through collaboration between the engineering field (Saga University) and the medical field (Kyoto University). This work can be understood as a realization of artificial intelligence. The procedure for this realization of artificial intelligence will also be applicable in other fields of systems control. © 1998, ISAROB.

关键词： Electroencephalography

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Intelligent mode selection and blending for engine control 34th

Intelligent mode selection and blending for engine control

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34th AIAA/ASME/SAE/ASEE Joint Propulsion Conference and Exhibit, 1998

作者： Wiseman, Matthew Becus, Georges Adibhatla, Shrider Department of Aerospace Engineering and Engineering Mechanics University of Cincinnati CincinnatiOH United States Advanced Control Systems Group General Electric Aircraft Engines EvendaleOH United States

This paper deals with the multimode approach to nonlinear engine control, more precisely with the selection and blending of the various modes, i.e. controllers, each of which provides good control at predefined operating conditions. We present an innovative scheme for mode selection and blending based on computational intelligence ideas. In this work, the multimode nonlinear engine controller consists of three modes which are gain scheduled linear optimal controllers and a mode selector which performs the tasks of (i) blending the controllers’ outputs and (ii) fine tuning the blended outputs for improved performance. The mode selector is rulebased with blending and tuning rules which have essentially the same fundamental form. Each rule is specified by two sets of parameters. The first set is used to distinguish between blending and tuning rules. The second set, specific to each rule, determines the unique functional relationship (variables and shape) of that rule. The parameters comprising this second set are chosen for improved engine performance by an offline adaptation scheme which minimizes a quadratic cost function with timevarying weights. We present first the static mode selector designed to perform well at a single operating (flight) condition. Next, preliminary results for a dynamic mode selector designed to perform well over the entire are presented. Simulation testing using a variable cycle engine model indicates substantial improvements in performance index for the static mode selector and of 15-25% on a typical mission for the dynamic mode selector. © 1998 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Blending

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