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IEEE Conference on Control Technology and Applications (CCTA)

作者： P. Krishnamurthy F. Khorrami J. de Leeuw M. E. Porter K. Livingston J. H. Long IntelliTech MicroSystems Inc. Bowie MD USA Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic Institute of New york University Brooklyn NY USA Vassar College Poughkeepsie NY USA

We propose a six degree-of-freedom multi-body approach for modeling and simulation of biologically-inspired (or Biomimetic) autonomous underwater vehicles (BAUVs), i.e., artificial fish. The proposed approach is based on considering the BAUV as comprised of multiple rigid bodies interlinked through joints; the external force and torque on each rigid body in the BAUV is expressed using quasi-steady aerodynamic theory and the joint constraints are imposed through an impulse-based technique. A BAUV simulation platform has been implemented based on the proposed modeling framework and has been applied to analyze a specific BAUV inspired by the electric ray. The hardware implementation of the electric ray inspired BAUV is also presented. Finally, sample simulation results and validation against experimental data collected from the electric ray inspired BAUV are also presented.

关键词： Biomimetics Underwater vehicles Aerodynamics Marine animals Biological system modeling Analytical models Computational fluid dynamics Hydrodynamics Biological control systems Robots

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Semi-parametric adaptive control of discrete-time nonlinear systems

Semi-parametric adaptive control of discrete-time nonlinear ...

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IEEE International Conference on Automation and Logistics

作者： Chenguang Yang Tianyou Chai Lianfei Zhai Shuzhi Sam Ge Tong Heng Lee Social Robotics Lab Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore Key Laboratory of Process Industry Automation Ministry of Education Research Center of Automation Northeastern University Shenyang China

In this paper, we investigate a novel adaptive design approach for nonlinear systems as an exploration of the new challenging topic on dealing with both parametric and nonparametric internal uncertainties in adaptive control of discrete-time nonlinear systems. The existence of both two kinds of uncertainties makes it very difficult or even impossible to apply the traditional recursive identification algorithms which are designed for parametric systems. To best utilize the existing adaptive control technique, a novel deadzone with threshold converging to zero has been proposed to modify the traditional gradient update law for parameters estimation, while an auxiliary output including both uncertainties is introduced to facilitate the nonparametric uncertainties compensation. It is rigorously proved that the designed adaptive control guarantees the boundedness of all the closed-loop signals and achieves asymptotic tracking performance.

关键词： Adaptive control Nonlinear systems Sampling methods Path planning Testing Automation Road accidents Genetic algorithms Unmanned aerial vehicles Ant colony optimization

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Reports of the AAAI 2009 spring symposia

Reports of the AAAI 2009 spring symposia

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作者： Bao, Jie Bojars, Uldis Choudhury, Tanzeem Ding, Li Greaves, Mark Kapoor, Ashish Louchart, Sandy Mehta, Manish Nebel, Bernhard Nirenburg, Sergei Oates, Tim Roberts, David L. Sanfilippo, Antonio Stojanovic, Nenad Stubbs, Kristen Thomaz, Andrea L. Tsui, Katherine Woelfl, Stefan Tetherless World Constellation Rensselaer Polytechnic Institute United States Social Software Unit of DERI Galway Ireland Computer Science Department Dartmouth College United States Knowledge Systems at Vulcan Inc United States Adaptive Systems and Interaction Group Microsoft Research Redmond United States School for Mathematics and Computer Sciences Heriot-Watt University United Kingdom School ot Interactive Computing Georgia Institute of Technology United States Department of Computer Science University of Freiburg Germany Computer Science and Electrical Engineering Department University of Maryland Baltimore County United States Pacific Northwest National Laboratory Richland WA United States University of Karlsruhe Germany IRobot Corporation United States University of Massachusetts Lowell United States

The Association for the Advancement of Artificial Intelligence, in cooperation with Stanford University's department of computer Science, was pleased to present the 2009 Spring Symposium Series, held Monday through Wednesday, March 23-25, 2009, at Stanford University. The titles of the nine symposia were Agents That Learn from Human Teachers, Benchmarking of Qualitative Spatial and Temporal Reasoning Systems, Experimental Design for Real- World Systems, Human Behavior Modeling, Intelligent Event Processing, Intelligent Narrative Technologies II, Learning by Reading and Learning to Read, Social Semantic Web: Where Web 2.0 Meets Web 3.0, and Technosocial Predictive Analytics. The goal of the Agents That Learn from Human Teachers symposium was to investigate how we can enable software and robotics agents to leam from real-time interaction with an everyday human partner. The aim of the Benchmarking of Qualitative Spatial and Temporal Reasoning Systems symposium was to initiate the development of a problem repository in the field of qualitative spatial and temporal reasoning and identify a graded set of challenges for future midterm and long-term research. The Experimental Design symposium discussed the challenges of evaluating AI systems. The Human Behavior Modeling symposium explored reasoning methods for understanding various aspects of human behavior, especially in the context of designing intelligent systems that interact with humans. The Intelligent Event Processing symposium discussed the need for more Al-based approaches in event pro-cessing and defined a kind of research agenda for the field, coined as intelligent complex event processing (iCEP). The Intelligent Narrative Technologies IIAAAI symposium discussed innovations, progress, and novel techniques in the research domain. The Learning by Reading and Learning to Read symposium explored two aspects of making natural language texts semantically accessible to, and processable by, machines. The Social Semantic

关键词： Benchmarking

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Design of augmented extended and unscented Kalman filters for differential-drive mobile robots

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Journal of Applied Sciences 2008年第16期8卷 2901-2906页

作者： Hassanzadeh, Iraj Fallah, Mehdi Abedinpour Research Laboratory of Robotics Department of Control Engineering Faculty of Electrical and Computer Engineering University of Tabriz Tabriz Iran

In this study, we present the local reconstruction of differential-drive mobile robots position and orientation with an accurate odometry calibration. Starting from the encoders readings and assuming an absolute measurement available, Augmented Extended and Unscented Kalman Filters (AEUKF) are proposed to localize the vehicle while estimating a proper set of odometric parameters. In order to compare their estimation performances explicitly, both observers are designed for the same mobile robot model and run with the equal covariance matrices under the identical initial conditions. In the simulation results, it is shown that Augmented Unscented Kalman Filter (AUKF) outperforms the Augmented Extended Kalman Filter (AEKF). © 2008 Asian Network for Scientific Information.

关键词： Mobile robots

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PSO-based controller design for rotary inverted pendulum system

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Journal of Applied Sciences 2008年第16期8卷 2907-2912页

作者： Hassanzadeh, Iraj Mobayen, Saleh Research Laboratory of Robotics Department of Control Engineering Faculty of Electrical and Computer Engineering University of Tabriz Tabriz Iran

This research presents an optimum approach for designing Rotary Inverted Penduhnn (RIP) controller using PSO algorithm. The primary design goal is to balance the pendulum in an inverted position and the control criterion is to minimize the integral absolute error of system angles. Simulation results demonstrate the robustness and effectiveness of proposed controller with regard to parameter variations, various reference trajectory and load disturbances. The proposed method can be considered as a promising way for control of various similar nonlinear systems. © 2008 Asian Network for Scientific Information.

关键词： Genetic algorithms

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Analysis, simulation and implementation of a human inspired pole climbing robot

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11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008

作者： Sadeghi, A. Moradi, H. Ahmadabadi, Majid Nili Robotics and Artificial Intelligence Laboratory Department of Electrical and Computer Engineering University of Tehran Iran

ISBN: (纸本)9812835768

In this paper we present the design, analysis, simulation and implementation of a novel design for a naturally stable climbing robot that has been inspired from human pole/tree climbers. The other features of this robot are its simple design, ease of control, light weight, simple mechanism and fast climbing speed. The robot consists of three wheels, two free and one active wheel which enable the robot to climb or descend poles. The free wheels are almost frictionless while the active wheel has enough friction to be able to apply force on the pole for stable climbing or descending. The wheels are designed such that the robot can compensate for misplacements eliminating possible detachment from poles. The static analysis of the robot is formulated and the robot is simulated and actually tested. The results show the unique characteristics of this robot that make it more stable if more weight is carried.

关键词： Poles

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Biomimetic evolutionary analysis: Robotically-simulated vertebrates in a predator-prey ecology

Biomimetic evolutionary analysis: Robotically-simulated vert...

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IEEE Symposium on Artificial Life, ALIFE

作者： Nicole Doorly Kira Irving Gianna McArthur Keon Combie Virginia Engel Hassan Sakhtah Elise Stickles Hannah Rosenblum Andres Gutierrez Robert Root Chun Wai Liew John H. Long Mechanical and Aerospace Engineering Department Case Western Reserve University Cleveland OH USA Interdisciplinary Robotics Research Laboratory and the Cognitive Science Program Vassar College Poughkeepsie NY USA Neuroscience Institute Stanford University School of Medicine Stanford CA USA Neuroscience and Behavior Program Vassar College Poughkeepsie NY USA Memorial Sloan Kettering Cancer Care Center New York NY USA Department of Biology Vassar College Poughkeepsie NY USA Biochemistry Program Vassar College Poughkeepsie NY USA College of Medicine Howard University College of Medicine Washington D.C. USA School of Oceanography University of Washington Seattle WA USA Vassar College Poughkeepsie NY USA Department of Mathematics Lafayette College Easton PA USA Computer Science Department Lafayette College Easton PA USA Interdisciplinary Robotics Research Laboratory the Department of Biology and the Cognitive Science Program Vassar College Poughkeepsie NY USA

To test adaptation hypotheses about the evolution of animals, we need information about the behavior of phenotypically-variable individuals in a specific environment. To model behavior of ancient fish-like vertebrates, we previously combined evolutionary robotics and software simulations to create autonomous biomimetic swimmers in a simple aquatic environment competing and foraging for a single source of food. This system allowed us to test the hypothesis that selection for improved forage navigation drove the evolution of stiffer tails. In this paper, we extend our framework to evaluate more complex environments and hypotheses. Specifically, we test the hypothesis that predator-prey dynamics and the need for effective foraging strategies, operating simultaneously, were key selection pressures driving the evolution of morphological and sensory traits in early, fish-like vertebrates. Three evolvable traits were chosen because of their importance in propulsion and predator avoidance: (1) the number of vertebrae in the axial skeleton, (2) the trailing edge span of the caudal fin, and (3) the sensitivity of the sensory lateral line. To produce variable offspring, we used a genetic algorithm that rewarded parents with high fitness, allowing them to mate randomly and combine their mutated gametes. Offspring were then instantiated as autonomous embodied robots, the prey. These prey were chased by a non-evolving autonomous predator. Both kinds of robots were surface swimmers. The prey used a control architecture based on that of living fish: a two-layer subsumption architecture with predator escape over-riding steady swimming during foraging. The performance of six different prey robots in each generation was judged with a relative fitness function that rewarded a combination of high speed, rapid escape acceleration, escape responses, and the ability to stay away from the predator while at the same time staying close to the food source. This approach, which we call biomimet

关键词： Biomimetics Environmental factors Biological system modeling System testing Evolution (biology) Robot sensing systems Animals Navigation Tail Propulsion

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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Camera handoff with adaptive resource management for multi-camera multi-target surveillance

Camera handoff with adaptive resource management for multi-c...

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IEEE 5th International Conference on Advanced Video and Signal Based Surveillance, AVSS 2008

作者： Chen, Chung-Hao Yi, Yao Page, David Abidi, Besma Koschan, Andreas Abidi, Mongi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering and Computer Science University of Tennessee Knoxville TN 37996 United States GE Global Research Center Niskayuna NY 12309 United States

ISBN: (纸本)9780769533414

Camera handoff is a crucial step to generate a continuously tracked and consistently labeled trajectory of the object of interest in multi-camera surveillance systems. Most existing camera handoff algorithms concentrate on data association, namely consistent labeling, where images of the same object are matched across different cameras. However, most real-time object tracking systems see a decrease in the system's frame rate as the number of tracked objects increases. To address this issue, we propose to incorporate an adaptive resource management mechanism into camera handoff. In so doing, cameras' resources can be dynamically allocated to multiple objects according to their priorities and hence the required minimum frame rate can be maintained. Experimental results illustrate that the proposed camera handoff algorithm is capable of maintaining a constant frame rate and of achieving a substantially improved handoff success rate by approximately 20% in comparison with the algorithm presented by Khan and Shah. © 2008 IEEE.

关键词： Cameras

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Simulating a bilateral teleoperation system using Matlab and SIMULINK

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computers in Education Journal 2008年第2期18卷 82-91页

作者： Alise, Marc Roberts, Rodney G. Repperger, Daniel W. Department of Electrical and Computer Engineering Florida State University Tallahassee FL 32310-6046 United States Air Force Research Laboratory Wright-Patterson Air Force Base Dayton OH 45433-7022 United States

Teleoperation provides a human-machine interface that allows an operator to control machines at a large distance. It has recently been the subject of a significant amount of research in the robotics community. Teleoperation can also provide an instructor with an excellent motivating example for a control systems course where it can serve as a platform for introducing several key controls issues such as noise compensation and time delay. computer packages such as Matlab and SIMULINK are readily available in most engineering schools for simulating teleoperation systems. In this article, SIMULINK is used to present a case study of a simple teleoperation system. Initially, a PI controller is introduced to control a simple bilateral teleoperator model without noise or time delay. It is then shown that the inclusion of time delay can significantly affect the system performance and can even cause the system to become unstable. A relatively new technique called the wave variable method is then used to stabilize the system for any fixed time delay. Lastly, recommendations for further educational projects involving teleoperation are given. © 2011 National Association of Social Workers.

关键词： Remote control

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