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IEEE Conference on Decision and Control

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory(CRRL) Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

ISBN: (纸本)1424401704;9781424401703

We propose an adaptive output-feedback controller for a general class of nonlinear triangular (strict-feedback-like) systems. The design is based on our recent results on a dual high-gain observer and controller architecture with a dynamic scaling. The technique provides strong robustness properties and allows the system class to contain unknown functions dependent on all states and involving unknown parameters (with no magnitude bounds required). Unlike our earlier result on this problem where a time-varying design of the high-gain scaling parameter was utilized, the technique proposed here achieves an autonomous dynamic controller by introducing a novel design of the observer, the scaling parameter, and the adaptation parameter. This provides a time-invariant dynamic output-feedback controller for the benchmark open problem proposed in our earlier work with no magnitude bounds or sign information on the unknown parameter being necessary

关键词： Programmable control Adaptive control Nonlinear control systems Control systems Nonlinear systems Control design Nonlinear dynamical systems Uncertainty Backstepping USA Councils

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A Behavior-Based Architecture for Realistic Autonomous Ship Control

A Behavior-Based Architecture for Realistic Autonomous Ship ...

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IEEE Symposium on Computational Intelligence and Games, CIG

作者： Adam Olenderski Monica Nicolescu Sushil J. Louis Robotics Research Laboratory Department of Computer Science and Engineering University of Nevada Reno USA Evolutionary Computing Systems Laboratory Department of Computer Science and Engineering University of Nevada Reno USA

Game environments provide a good domain for serious simulations such as those used in training navy conning officers. Currently, a typical training scenario requires multiple personnel to play each of the boats and thus is expensive. We propose an approach to addressing this issue by developing intelligent, autonomous controllers for each boat. Significant challenges toward achieving these goals are the realism of behavior exhibited by the automated boats and their realtime response to change. In this paper we describe a control architecture that enables the real-time response of boats and the repertoire of realistic behaviors we developed for this application. We demonstrate the capabilities of our system with experimental results

关键词： Marine vehicles Boats Automatic control Personnel Robot kinematics Navigation computer architecture computer science Robustness Costs

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Singular perturbation control for vibration rejection in HDDs with a PZT active suspension

Singular perturbation control for vibration rejection in HDD...

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45th IEEE Conference on Decision and Control 2006, CDC

作者： Pang, Chee Khiang Lewis, Frank L. Ge, Sam Shuzhi Guo, Xiao Chen, Ben M. Lee, Tong Heng IEEE Central Research Laboratory Research and Development Group Hitachi Ltd. 2880 Kozu Odawara Kanagawa 256-8510 Japan A STAR Data Storage Institute Singapore Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore Advanced Controls and Sensors Group Automation and Robotics Research Institute University of Texas Arlington United States

ISBN: (纸本)1424401712

In this paper, the SPT (Singular Perturbation Theory) is applied to decompose the VCM's (Voice Coil Motor) and induced PZT active suspension's dynamics into fast and slow subsystems, respectively. The control system is decomposed into fast and slow time scale for controller designs, and control effectiveness is increased to tackle more DOFs (Degrees-Of-Freedom) via inner loop vibration suppression with measured high frequency VCM's and PZT active suspension's dynamics from the piezoelectric elements in the suspension. Experimental results on a commercial HDD with LDV (Laser Doppler Vibrometer) show effective suppression of the VCM and PZT active suspension's flexible resonant modes as well as an improvement of 39.9% in 3σ PES (Position Error Signal) during track following when compared to conventional notch-based servos. © 2006 IEEE.

关键词： Hard disk storage

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A High-Level Controller for Robot-Assisted Rehabilitation

A High-Level Controller for Robot-Assisted Rehabilitation

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Duygun Erol Nilanjan Sarkar Bibhrajit Halder Department of Electrical Engineering and Computer Science Vanderbilt University USA Department of Mechanical Engineering Robotics and Autonomous Systems Laboratory Vanderbilt University USA

The goal of our research is to develop a high-level controller to provide reference trajectories automatically to the low-level controller of a rehabilitation robotic device. The high-level controller, which is the supervisory controller, is an event driven, asynchronous discrete event system (DES), described by a finite state automaton. Extensive simulations are performed using the supervisory controller for a rehabilitation task. The results demonstrate the feasibility of the proposed supervisory controller

关键词： Robot control Rehabilitation robotics Automatic control Robot kinematics Control systems Force control Medical treatment Supervisory control Automata Medical control systems

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Design and Control of a Four Steered Wheeled Mobile Robot

Design and Control of a Four Steered Wheeled Mobile Robot

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Annual Conference of Industrial Electronics Society

作者： Michel Lauria Isabelle Nadeau Pierre Lepage Yan Morin Patrick Giguere Frederic Gagnon Dominic Letourneau Francois Michaud Department ofElectrical Engineering and Computer Engineering LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Universite de Sherbrooke Sherbrooke QUE Canada

This paper presents the kinematical analysis of AZIMUT-2, a four steered wheeled mobile robot. The utilization of a new wheel concept called the AZIMUT wheel allowed us to create an innovative omnidirectional non-holonomic robot. Novelty of this wheel concept resides in the non-conventional positioning of the steering axis and the wheel axis. We propose a kinematical model based on the geometrical constraints of these wheels. The degree of mobility, steerability and maneuverability are studied. Additionally, we describe a special design implementation of the wheel mechanism to overcome a hyper-motorization issue inherent to the wheel's geometrical properties. Finally, we describe AZIMUT-2's two operational and seven locomotion modes, along with a control algorithm based on the kinematical model of the robot

关键词： Mobile robots Wheels Leg Robot kinematics Prototypes Intelligent robots Design engineering Rubber Strips Control systems

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Kinematical Analysis of a Four Steered Wheeled Mobile Robot

Kinematical Analysis of a Four Steered Wheeled Mobile Robot

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Michel Lauria Isabelle Nadeau Pierre Lepage Yan Morin Patrick Giguere Frederic Gagnon Dominic Letourneau Francois Michaud LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Department ofElectrical Engineering and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada

This paper presents the kinematical analysis of AZIMUT-2. The utilization of a new wheel concept called the AZIMUT wheel allowed us to create an innovative omnidirectional non-holonomic robot. Novelty of this wheel concept resides in the non-conventional positioning of the steering axis and the wheel axis. We propose a kinematical model based on the geometrical constraints of these wheels. The degree of mobility, steerability and maneuverability are studied. Additionally, we describe a special design implementation of the wheel mechanism to overcome an hyper-motorization issue inherent to this wheel geometrical properties. Finally, we describe AZIMUT-2's two operational modes and its seven locomotion modes, along with a control algorithm based on the kinematical model of the robot

关键词： Mobile robots Wheels Leg Intelligent robots Prototypes Mobile computing Laboratories Intelligent systems Systems engineering and theory Solid modeling

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Computationally tractable inventory control for large-scale reverse supply chains

Computationally tractable inventory control for large-scale ...

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American Control Conference (ACC)

作者： P. Krishnamurthy F. Khorrami D. Schoenwald Control/Robotics Research Laboratory(CRRL) Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA Sandia National Laboratories Albuquerque NM USA

We propose a new inventory control technique for large-scale bidirectional (or closed-loop) supply chains including repairs. It is well-known that available optimization techniques are computationally intractable for bidirectional stochastic supply chains and also necessitate several simplifying assumptions. In contrast, the proposed approach is an adaptive scheme which scales well to practically interesting large-scale multi-item supply chains. Furthermore, practical issues such as stochastic transport delays, manufacturing times, and repair times and probabilistic characterization of part repair success are handled in a unified framework. The control scheme is based on a hierarchical two-level architecture comprised of an adaptive set-point generator and a lower-level order-up-to policy. An application to aircraft supply chains involving multiple OEMs, depots, bases, squadrons, and planes is also investigated

关键词： Inventory control Large-scale systems Supply chains Laboratories Manufacturing Stochastic processes Aircraft manufacture Programmable control Adaptive control Transportation

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Introducing Grammatical Evolution in Fetal Heart Rate Analysis and Classification

Introducing Grammatical Evolution in Fetal Heart Rate Analys...

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International IEEE Conference on Intelligent Systems, IS

作者： Ioannis Tsoulos George Georgoulas Dimitris Gavrilis Chrysostomos Stylios Joao Bemardes Peter Groumpos Computer Science Department University of Ioannina Ioannina Greece Laboratory for Automation and Robotics University of Patras Patras Greece Department of Electrical and Computer Engineering University of Patras Patras Greece Laboratory for Automation and Robotics Informatics and Management Artas Greece Department of Gynecology and Obstetrics Porto Portugal Department of Gynecology and Obstetrics Porto Faculty of Medicine Porto Portugal Laboratory for Automation & Robotics University of Patras Patras Greece

Electronic fetal monitoring is an essential tool for fetal surveillance during labor. It is mainly based on the monitoring and evaluation of the fetal heart rate (FHR) signal, which has to be interpreted online. Evaluation and interpretation of FHR gives an indication of the fetal condition. A lot of research efforts have been done towards the development of automatic and reliable methods for processing and evaluating FHR. This research work introduces an integrated methodology for processing and classifying FHR based on the novel approach of grammatical evolution for feature construction and selection. The proposed methodology is presented, and it is applied to a data set. Experimental results are promising paving the way for further research in that direction

关键词： Fetal heart rate robotics and automation Signal processing Heart rate measurement computerized monitoring Neural networks Cardiology Laboratories Telephony Medical robotics

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Virtual modelling of solid objects with constraint-based manipulations

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International Journal of Modelling and Simulation 2006年第3期26卷 212-218页

作者： Zhong, Y. Yuan, X. Ma, W. Shirinzadeh, B. Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Clayton Vic. 3800 Australia School of Computer Science University of Windsor Canada Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong Hong Kong

This paper presents an intuitive approach to precise solid modelling in virtual reality environments. A hierarchically structured model is established to handle the tasks of object definition, object creation, and object rendering with an integrated data structure. Constraints are organized at different levels on different objects and are embedded in the data structure. A constraint reasoning engine is developed to automatically determine allowable motions for precise manipulation of virtual objects with online assistance from constraints. Examples are presented to demonstrate the advantage of precise solid modelling through constraint-based manipulations in virtual environments.

关键词： Virtual reality

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Singular Perturbation Control for Vibration Rejection in HDDs with a PZT Active Suspension

Singular Perturbation Control for Vibration Rejection in HDD...

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IEEE Conference on Decision and Control

作者： Chee Khiang Pang Frank L. Lewis Sam Shuzhi Ge Guoxiao Guo Ben M. Chen Tong Heng Lee Research Laboratory Research & Development Group Hitachi and Limited Odawara Kanagawa Japan Department of Electrical and Computer Engineering National University of Singapore Singapore Data Storage Institute Singapore Advanced Controls and Sensors Group Automation and Robotics Research Institute University of Texas Arlington USA

ISBN: (纸本)1424401704

In this paper, the SPT (singular perturbation theory) is applied to decompose the VCM's (voice coil motor) and induced PZT active suspension's dynamics into fast and slow subsystems, respectively. The control system is decomposed into fast and slow time scale for controller designs, and control effectiveness is increased to tackle more DOFs (degrees-of-freedom) via inner loop vibration suppression with measured high frequency VCM's and PZT active suspension's dynamics from the piezoelectric elements in the suspension. Experimental results on a commercial HDD with LDV (laser Doppler vibrometer) show effective suppression of the VCM and PZT active suspension's flexible resonant modes as well as an improvement of 39.9% in 3sigma PES (position error signal) during track following when compared to conventional notch-based servos

关键词： Vibration control Control systems Vibration measurement Coils Frequency measurement Time measurement Laser modes Vibrometers Resonance Servomechanisms

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