This paper deals with the implementation of emotions to generate intelligent behavior among the cooperative and job distributed mobile robots performing a specified task and to develop an easier form of communication....
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This paper deals with the implementation of emotions to generate intelligent behavior among the cooperative and job distributed mobile robots performing a specified task and to develop an easier form of communication. A human emotion model is adapted to multirobot system to achieve their well organized tasks. With the emotional capability, each robot can distinguish the changed environment and can understand colleague robotpsilas state: i.e., it can adapt to and react with changed world. The behavior of a robot is derived from the dominating emotion and emotional interaction in an intelligent manner. Emotional interaction is happened among the robots and a robot is biased by the emotional state of the colleague robot in performing task. Here general emotional interaction rules are used for better understanding to read the colleaguepsilas state, for faster communication and better performance eliminating dead time. The characteristics of behavior obtained through simulation are analyzed. A stochastic model based on Markov theory is developed to model the emotional state of each robot.
This paper presents an actuated artificial elbow prosthesis (robotic elbow prosthesis) for human forearm motion assist that integrates a human and a robot into one system and performs as a joint assistive device for t...
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This paper presents an actuated artificial elbow prosthesis (robotic elbow prosthesis) for human forearm motion assist that integrates a human and a robot into one system and performs as a joint assistive device for the elderly or physically disabled persons. An example of implantable joint actuator with angular position sensor as an actuated artificial joint is proposed here. The proposed elbow prosthesis is supposed to be implanted inside of the human arm by elbow arthroplasty and acts as an inner skeleton power assist robot. We have designed and developed a prototype of implantable 2 DOT inner skeleton robot (i.e., robotic elbow prosthesis) to assist the elbow flexion-extension motion and forearm supination-pronation motion. The robotic prosthesis is controlled based on the activation patterns of the muscles electromyogram (EMG) signals by applying a fuzzy-neuro control method. The EMG controlled elbow prosthesis can be expected to be an artificial joint for the next generation. The effectiveness of the proposed system has been evaluated by experiment.
This paper presents a system of central pattern generators (CPGs) made of a network of mutually coupled Matsuoka nonlinear neural oscillators. The CPG based controller is used to generate human like rhythmic motion fo...
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ISBN:
(纸本)4907764278
This paper presents a system of central pattern generators (CPGs) made of a network of mutually coupled Matsuoka nonlinear neural oscillators. The CPG based controller is used to generate human like rhythmic motion for biped robots. The new design has been investigated through interaction between the dynamics of the coupled CPGs and the dynamics of a five-link musculoskeletal robot model with six DOFs. The scaled outputs of the mutually inhibited oscillators are utilized as torques to actuate the relevant joints of the robot during walking. The effectiveness of the proposed approach is examined through simulations and the results are compared to those of Taga's CPG model, where better and efficient generation of stable rhythmic walking trajectories is shown under external perturbation to disturbances.
We recently developed a fuzzy energy region method for the switching control of underactuated manipulators. The similar switching method is here applied for a three-link underactuated manipulator, and we investigate o...
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We recently developed a fuzzy energy region method for the switching control of underactuated manipulators. The similar switching method is here applied for a three-link underactuated manipulator, and we investigate on the combination in 2D plane of energies defined for each link, i.e., the projection configuration of energies. The effectiveness of the present method is illustrated with some simulations.
This paper deals with an emotion-based approach to the task allocation of multi-robots, in which one robot requests the assistance of another robot in order to complete a task. A stochastic model of emotion is adapted...
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This paper deals with an emotion-based approach to the task allocation of multi-robots, in which one robot requests the assistance of another robot in order to complete a task. A stochastic model of emotion is adapted to achieve a method for well organization of team work. With the emotional capability, each robot can distinguish the changed environment and can react with it with adaptability and also can understand colleague robot's state. The proposed computational architecture to model emotion is based on Markov modeling theory. In our approach, emotional state plays a role in the task allocation among the robots of a team in a productive and efficient manner.
Finding optimal working sequences for flexible manufacturing systems (FMS) is a challenging task, especially if uncontrollable events, such as machine breakdowns, can occur in these systems. In this paper, we continue...
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作者:
M.H. MoradiM.R. KatebiM.A. JohnsonDepartment of Electronic and Electrical Engineering
University of Strath-clyde Glasgow GI 1QE UK. Dr. Moradi is a Lecturer in the Department of Electronic and Electrical Engineering
University of Bu-Ali Sina in Iran. He obtained the BSc and MSc in 1991 and 1993 from the Sharif University of Technology and Tarbiat Modarres University respectively. Dr. Moradi joined the Bu-Ali Sina University in 1993. In 2002 he obtained his PhD degree from the University of Strath-clyde Glasgow Scotland. His theoretical research interests include predictive PID control advanced classical control generalised predictive control system identification and fault monitoring robust control design computer networks and more recently control through networks. His industrial interests are in the areas of large-scale systems especially power systems and power plant modelling and control supervisory control and process control. Dr. Moradi has published a number of Journal and Conference papers. Dr. Katebi is a senior lecturer in the Department of Electronic and Electrical Engineering
University of Strathclyde. His theoretical research interests are currently focused on Non-linear Control and Filtering for Complex Systems Autonomous Control Design System integration and Fault monitoring and Reconfiguration Plant Monitoring through the Internet Discrete Event Simulation Process Optimisation and Robust Control Design. The industrial research interests are in the area of Hot and Rolling for Steel and Aluminium Power Plant Modelling and Control Marine Control Systems Process Control and Wastewater Treatment Control. Dr Katebi is the author/co-author of four books and more than 150 papers and industrial reports. Professor Johnson's academic education began at Coventry University (1969) and continued under the supervision of Professor Greyham Bryant in the field of Control Systems at Imperial College
London. He obtained the DIC MSc and PhD from Imperial College leaving for industry in 1978. Subsequent experience was in the
This paper is concerned with the design of Multi-Inputs and Multi-Outputs (MIMO) predictive PID controllers, which have similar performance to that obtainable from model-based predictive controllers. A new PID control...
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This paper is concerned with the design of Multi-Inputs and Multi-Outputs (MIMO) predictive PID controllers, which have similar performance to that obtainable from model-based predictive controllers. A new PID control structure is defined which incorporates the prediction of future outputs and uses future set point. A method is proposed to calculate the optimal values of the PID gains from generalised predictive control results. A decentralized version of the predictive PID controllers is presented and the stability of the closed loop system is studied. Simulation studies demonstrate the superior performance of the proposed controller compared with a conventional PID controller. The results are also compared with generalised predictive control solutions.
Development partners of South Asian and African countries have identified off-grid hydro power project development as an important area of project financing. Standard practice of project execution cannot be adopted fo...
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Development partners of South Asian and African countries have identified off-grid hydro power project development as an important area of project financing. Standard practice of project execution cannot be adopted for community based projects due to their inherent nature of ensuring sustainability. This paper gives an insight into implementation modalities depending on the nature of the country and social structure of the community, which will help to formulate the best strategy for project implementation and financing, while ensuring the successful completion of the project and sustainable economy after commissioning of the project. Based on the success and failed stories in project implementation in Sri Lanka and Rwanda, authors have identified nine important variables as inputs to the model, and those variables will be given a numeric value after having done a thorough social survey of the village communities and the country as a whole. Depending on the significance of those variables, the derived values are multiplied by a scale factor and finally a cost function is obtained. Further the values are plotted in a spider network constructed from nine variables. The decision to adopt the best implementation model and financing mechanism can be decided by the final output of the cost function and template of the spider network formed by nine variables. Since such an exercise has never been attempted before, this paper will be a good start for further research, as success or failure of a big amount of fund disbursement for hundreds of community based projects in a country or a region highly depend on the modalities for project execution, measures for sustainability and financing mechanism.
This paper presents a methodology for maintenance-interval scheduling of equipment considering maintenance effect. By means of an operable ordering list of maintenance effects, all elements in a system can be ranked. ...
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This paper presents an alternative solution to simultaneous localization and mapping (SLAM) problem by applying a fuzzy Kalman filter using a pseudolinear measurement model of nonholonomic mobile robots. Takagi-Sugeno...
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ISBN:
(纸本)9781424418992;9781424419005
This paper presents an alternative solution to simultaneous localization and mapping (SLAM) problem by applying a fuzzy Kalman filter using a pseudolinear measurement model of nonholonomic mobile robots. Takagi-Sugeno fuzzy model based on observation for nonlinear system is adopted to represent the process and measurement models of the vehicle-landmarks system. The complete system of the vehicle-landmarks model is decomposed into several linear models. Using the Kalman filter theory, each local model is filtered to find the local estimates. The linear combination of these local estimates gives the global estimate for the complete system. The simulation results prove that the new approach results in more anticipated performances, though nonlinearity is directly involved in the Kalman filter equations, compared to the conventional approach.
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