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Using front and back information for tight vehicle following maneuvers

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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Simple Adaptive control of systems with Bounded Nonlinear Disturbances

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Journal of Robotics and Mechatronics 1998年第2期10卷 158-165页

作者： Sato, Kazuya Watanabe, Keigo Oya, Masahiro Kobayashi, Toshihiro Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Department of Control Engineering Faculty of Engineering 1 Honjomachi Saga840-8502 Japan Kyushu Institute of Technology Tobata Kitakyushu804-8550 Japan

This paper describes simple adaptive control for plants with bounded nonlinear disturbances. The proposed controller is applicable to all plants whose relative degree is less than four, in which the upper bound of the high-frequency gain and the function type of disturbances must be known. Results of experiments demonstrate the controller’s effectiveness. © 1998, Fuji Technology Press. All rights reserved.

关键词： controllers

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Stable-Optimum Gain Tuning for Designing Mobile Robot controllers Using Incest Prevented Evolution

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Journal of advanced Computational Intelligence and Intelligent Informatics 1998年第5期2卷 164-175页

作者： Hashem, M.M.A. Watanabe, Keigo Izumi, Kiyotaka Faculty of Engineering Systems and Technology Graduate School of Science and Engineering Saga University 1-Honjomachi Saga840-8502 Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University 1-Honjomachi Saga840-8502 Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University 1-Honjomachi Saga840-8502 Japan

We present an evolution strategy (ES) algorithm - incest prevented evolution strategy (IPES) enhancing our novel evolution strategy (NES) algorithm. Validity of NES and IPES algorithms is compared with other evolutionary algorithms (EAs) and relative performances and also compared with test function results. The IPES algorithm shows the highest balance between exploration and exploitation over the NES algorithm on these test functions by achieving high-precision global results. Both algorithms are applied to solve stabilizing optimum gain tuning problems in mobile robot controllers. Two optimal servocontrollers are considered for a mobile robot with two independent drive wheels. A bidirectional fitness (cost) function is constructed for these controllers so that stable but optimum gains are tuned automatically evolutionarily instead of using a traditional algebraic Riccati equation solution. Two trajectory tracking control examples (straight line and circular) are considered for controllers. The superiority of the IPES algorithm over the NES algorithm is repeated in the application domain and the effectiveness of evolutionary gain tuning demonstrated by simulation results. © Fuji Technology Press Ltd.

关键词： Evolutionary algorithms

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Position-based impedance control using fuzzy environment models

Position-based impedance control using fuzzy environment mod...

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SICE Annual Conference

作者： F. Nagata K. Watanabe K. Sato K. Izumi Interior Design Research Institute Fukuoka Industrial Technology Center Fukuoka Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University Saga Japan

Impedance control is one of the most effective force control methods for a robot manipulator in contact with an object. It should be noted, however, that a practical study on such a method has not been successfully applied to an industrial robot with 6 degree-of-freedom. A hybrid compliance/force control (HCC) in this field was suggested to deal with the practical problem, in which a desired damping coefficient is determined by repeating many simulations. To determine a suitable compliance without trial and error, we have already presented a tuning method which produces the desired time-varying compliance, giving the critical damping in contact with an object, by using the information on the inertia and Jacobian matrices. But the tuning method needs to measure the physical information of the environment. In this paper, to overcome the problem we propose a fuzzy environment model that can estimate each directional stiffness of the environments. The fuzzy environment model is composed of several fuzzy rules which are learned with genetic algorithms. Simulation results show that the proposed method is very effective for deciding the desired compliance without any complicated tuning and is very robust to the change of environment.

关键词： Impedance Fuzzy control Force control Service robots Tuning Damping Industrial control Design engineering Manipulators Jacobian matrices

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Physical interaction between a human and humanoid through hand contact

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advanced Robotics 1998年第3期13卷 303-305页

作者： Takanishi, Atsuo Hyon, Sang Ho Agus Setiawan, Samuel Yamaguchi, Jin'ICHI Department of Mechanical Engineering Waseda University Waseda Japan Humanoid Research Laboratory Advanced Research Institute for Science and Engineering Waseda University Waseda Japan Department of Control and Systems Engineering Tokyo Institute of Technology Tokyo Japan Graduate School of Science and Engineering Waseda University Waseda Japan

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Development of an omnidirectional mobile robot with active dual-wheel casters

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advanced Robotics 1998年第3期13卷 239-240页

作者： Watanabe, Keigo Izumi, Kiyotaka Han, Fuhua Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga 840-8502 1-Honjomachi Japan Department of Mechanical Engineering Saga University Saga 840-8502 1-Honjomachi Japan Graduate School of Science and Engineering Saga 840-8502 1-Honjomachi Japan

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