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GA based input-output feedback linearization controller for rotary inverted pendulum system

GA based input-output feedback linearization controller for ...

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International Symposium on Mechatronics and Its Applications, ISMA

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

This paper presents an optimum approach to design input-output feedback linearization (IOFL) controller for a rotary inverted pendulum (RIP) using the Binary Genetic Algorithm. Genetic Algorithms (GAs) are stochastic global search methods that emulate the process of natural evolution and because of their simplicity and robustness, they are more popular and applicable. The primary design goal is to minimize the integral absolute error of system angles and velocities and balance the pendulum in the inverted position by minimizing overshoot, settling time and rise time of step response. An objective function using these indexes is established. Then by minimizing the objective function using Binary Genetic algorithm, the optimal controller parameters can be assigned. Simulation results verified capable and competent characteristics of proposed optimal feedback linearization controller. The proposed method can be considered as a promising way for control of various similar nonlinear systems.

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A preliminary study on the accuracy of wireless sensor fusion for biomotion capture

A preliminary study on the accuracy of wireless sensor fusio...

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5th International Workshop on Wearable and Implantable Body Sensor Networks, BSN 2008, in conjunction with the 5th International Summer School and Symposium on Medical Devices and Biosensors, ISSS-MDBS 2008

作者： Kwang, Yong Lim Dong, Wei Goh, Francis Young Koon Kim, Doang Nguyen Chen, I.-Ming Song, Huat Yeo Duh, Henry Been Lirn Robotics Research Centre School of Mechanical and Aerospace Engineering Nanyang Technological University 50 Nanyang Avenue Singapore 639798 Singapore Interactive and Digital Media Institute Department of Electrical and Computer Engineering National University of Singapore 4 Engineering Drive 3 Singapore 117576 Singapore

ISBN: (纸本)9781424422531

A 2.4GHz low-power wireless platform based on the Texas Instruments CC2431 System-On-Chip (SOC) transceiver is used to conduct a preliminary investigation of the accuracy of a 3-axis accelerometer fused with a linear encoder for capturing high-speed motion. Calibration of the fused sensors is accomplished by extracting the gravity related term from the accelerometer when it is under static conditions. When moving at acceleration greater than 1.1g, the wireless platform switches to the linear encoder for local joint angle data. To ascertain the concept of sensor calibration when the sensor is under static conditions, experiments that compare results from a high-speed motion analysis system (Silicon Coach) and the combination of the accelerometer and linear encoder is carried out. Experimental results for pronation and supination of the forearm that has acceleration less than 1.1g show that the accelerometer and linear encoder produces a low root mean square (RMS) error of 5.3 and 6.6 respectively. Correlation coefficient for the accelerometer and linear encoder for the above experiment are 98.7% and 98.9% respectively. A similar experiment where the maximum acceleration exceeds 1.1g produces a RMS error of 10.5 and 6.9 for the accelerometer and linear encoder respectively. Correlation coefficients for both sensors are approximately 98.2%. This study shows that linear encoder as a joint angle measurement device is preferred for both high and low acceleration motion while the errors associated with extracting gravity related tilt from the accelerometer increases with increasing acceleration. ©2008 IEEE.

关键词： Accelerometers

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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 Conference on Advanced Video and Signal Based Surveillance (AVSS)

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

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.

关键词： Resource management Surveillance Labeling Real time systems Intelligent robots USA Councils Videoconference Robot vision systems Smart cameras Robot kinematics

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Integrated planning and image-guided control for planar needle steering

Integrated planning and image-guided control for planar need...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Kyle B. Reed Vinutha Kallem Ron Alterovitz Ken Goldbergxz Allison M. Okamura Noah J. Cowan Department of Mechanical Engineering Laboratory for Computational Sensing and Robotics Johns Hopkins University Baltimore USA Department of Electrical Engineering and Computer Sciences UCSF Comprehensive Cancer Center Department of Industrial Engineering and Operations Research University of California Berkeley USA

Flexible, tip-steerable needles promise to enhance physicianspsila abilities to accurately reach targets and maneuver inside the human body while minimizing patient trauma. Here, we present a functional needle steering system that integrates two components: (1) a patient-specific 2D pre- and intraoperative planner that finds an achievable route to a target within a planar slice of tissue (Stochastic Motion Roadmap), and (2) a low-level image-guided feedback controller that keeps the needle tip within that slice. The planner generates a sequence of circular arcs that can be realized by interleaving pure insertions with 180deg rotations of the needle shaft. This pre-planned sequence is updated in realtime at regular intervals. Concurrently, the low-level image-based controller servos the needle to remain close to the desired plane between plan updates. Both planner and controller are predicated on a previously developed kinematic nonholonomic model of beveltip needle steering. We use slighly different needles here that have a small bend near the tip, so we extend the model to account for discontinuities of the tip position caused by 180deg rotations. Further, during large rotations of the needle base, we maintain the desired tip angle by compensating for torsional compliance in the needle shaft, neglected in previous needle steering work. By integrating planning, control, and torsion compensation, we demonstrate both accurate targeting and obstacle avoidance.

关键词： Needles Shafts USA Councils Automatic control Medical control systems Control systems Robot sensing systems Physics computing Biological tissues Biomechatronics

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Multi-modal Task Apportionment in dynamic multi-factor systems

Multi-modal Task Apportionment in dynamic multi-factor syste...

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Chinese Control and Decision Conference, CCDC

作者： Hooman A. Samani C. Fua T. Chai S. S. Ge C. C. Hang Social Robotics Laboratory Interactive Digital Media Institute Department of Electrical and Computer Engineering National University of Singapore Singapore Key Laboratory of Process Industry Automation Ministry of Education and Research Center of Automation Northeastern University China

The problem of task apportionment for dynamic multi-factor systems is categorized in three different scenarios in this paper: admin, crew and factor based. The system is discussed based on the realistic manufacturing environments as an application platform in order to consider the robust Task Apportionment system for such a case but the proposed system can be generalized to any similar system. Both centralized and decentralized systems are considered and task allocation, re-allocation, exchange and execution as layers of task apportionment methods are designed and described in each system. The system may switch between modes according the feedback information of communication capabilities or uses different modes for each part of the platform.

关键词： Switches Resource management Manufacturing systems Manufacturing Dynamic scheduling Servers Robustness

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Robust adaptive control of a twin-roaor Aircraft

Robust adaptive control of a twin-roaor Aircraft

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IEEE Conference on Decision and Control

作者： P. Krishnamurthy F. Khorrami Q. Lam IntelliTech MicroSystems Inc. Bowie MD USA Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY USA Orbital Sciences Corporation Dalles VA USA

We propose robust adaptive control designs for a twin-rotor aircraft with specific focus on attaining good disturbance attenuation properties to facilitate operation in a shipboard environment wherein the aircraft is subject to severe aerodynamic disturbances including ship airwake, deck vortices, and rotor downwash especially during ship roll and pitch motions. Furthermore, the controllers can operate on their own or can gracefully co-exist with a baseline controller in a control augmentation fashion thus minimizing flight software change impact. The performance of the proposed controllers was validated through extensive simulation studies.

关键词： Robust control Adaptive control Aircraft Aerospace control Aerodynamics Marine vehicles Three-term control Error correction Motion control Attenuation

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A wearable, self-calibrating, wireless sensor network for body motion processing

A wearable, self-calibrating, wireless sensor network for bo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Kwang Yong Lim Francis Young Koon Goh Wei Dong Kim Doang Nguyen I-Ming Chen Song Huat Yeo Henry Been Lirn Duh Chung Gon Kim Robotics Research Centre School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore Interactive and Digital Media Institute Department of Electrical and Computer Engineering National University of Singapore Singapore The Biomechanics Laboratory National Institute of Education Nanyang Technological University Singapore

A novel self-calibrating sensing technology using miniature linear encoders and inertial/magnetic measurement unit (IMU) provides the accuracy, fast response and robustness required by many body motion processing applications. Our sensor unit consists of an accelerometer, a 3-axis magnetic sensor, 2 gyroscopes and a miniature linear encoder. The fusion of data from the sensors is accomplished by extracting the gravity related term from the accelerometer and consistently calibrating the gyroscopes and linear encoder when the sensor unit is under static conditions. Using the fused sensors, we developed a complete motion processing system that consists of a gateway where the human kinematics modeling is embedded. A time divided multiple access wireless architecture is adopted to synchronize the sensor network at 100 Hz. Experimental results show that the combination of the IMU and linear encoder produces a low RMS error of 3.5deg and correlation coefficient of 99.01%. A video showing the capture a performer's upper body motion is also realized.

关键词： Wireless sensor networks Magnetic sensors Sensor fusion Accelerometers Gyroscopes Magnetic variables measurement Robustness Wearable sensors Data mining Gravity

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Fractional-Order Signal Processing using a Polymer-Electrolyte Transistor

Fractional-Order Signal Processing using a Polymer-Electroly...

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51st Midwest Symposium on Circuits and Systems (MWSCAS 2008), vol.2

作者： Robert L. Ewing Hoda S. Abdel-Aty-Zohdy Michael C. Hollenbeck Kenneth S. Stevens Information Directorate US Air Force Research Laboratory OH USA Microelectronics System Design Laboratory Department of Electrical and Systems Engineering Oakland University Rochester MI USA Department of Electrical and Computer Engineering University of Utah Salt Lake UT USA

Fractional-order systems have applications in the areas of Flight Control, robotics, Missile Guidance, Control of Structural Vibrations of Space Platforms and Sensor Technology. Fractional-order transfer functions can characterize complex nonlinear dynamics with many fewer parameters than integer-order functions. This paper addresses the use of a polymer-electrolyte transistor (PET) for use in implementating fractional-order algorithms for signal processing. The PET's advantage over the conventional RC and RL circuits is that it can be both functionally scaled and varied for dynamic fractional-order parameter controllability.

关键词： Fractional-Order Signal Processing Polymer-electrolyte transistor Acid/base chemistry Diffusion Electrokinetic flow

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Tracking ground targets with measurements obtained from a single monocular camera mounted on an unmanned aerial vehicle

Tracking ground targets with measurements obtained from a si...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Dustin Deneault Dale Schinstock Chris Lewis Graduate Research Assistant for the Autonomous Vehicle Systems Laboratory Kansas State University USA Department of Mechanical and Nuclear Engineering Kansas State University USA Department of Electrical and Computer Engineering Kansas State University USA

In this paper, a novel method is presented for tracking ground targets from an unmanned aerial vehicle (UAV) outfitted with a single monocular camera. The loss of observability resulting from the use of a single monocular camera is dealt with by constraining the target vehicle to follow ground terrain. An unscented Kalman filter (UKF) provides a simultaneous localization and mapping solution for the estimation of aircraft states and feature locations, which define the target's local environment. Another filter, a loosely coupled Kalman filter for the target states, receives 3D measurements of target position with estimated covariance obtained by an unscented transformation (UT). The UT uses the mean and covariance from the camera measurements and from the UKF estimated aircraft states and feature locations to determine the estimated target mean and covariance. Simulation results confirm the concepts developed.

关键词： Target tracking Cameras Unmanned aerial vehicles State estimation Aircraft Observability Land vehicles Road vehicles Simultaneous localization and mapping Filters

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Multiple laser polar scan matching with application to SLAM

Multiple laser polar scan matching with application to SLAM

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2007 Australasian Conference on robotics and Automation, ACRA 2007

作者： Tungadi, Fredy Kleeman, Lindsay Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University VIC 3800 Australia

ISBN: (纸本)9780958758390

Polar Scan Matching is one of the methods of point to point scan matching for Simultaneous Localization and Mapping Application. It works in the original laser polar coordinate system and therefore eliminates the need for an expensive correspondence search as in other scan matching methods by using the matching bearing association rule. However, most of the low-cost laser range finders available on the market have limited field of view and therefore the use of more than one laser range finder is necessary to cover 360 degree field of view and hence to provide a better Scan-Matching SLAM performance. This paper presents extensions of Polar Scan Matching to allow for matching with multiple laser scans simultaneously. Also a method for updating reference scans while mapping the environment is introduced. This paper also illustrates the advantages of using multiple laser range finders for SLAM. The results are illustrated with results from SLAM with a mobile robot equipped with two laser rangefinders.

关键词： Mapping

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