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IEEE International Conference on Systems, Man and Cybernetics

作者： M.M. Trivedi K.C. Ng N. Lassiter R. Capella Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of California San Diego La Jolla CA USA

This paper presents a summary of a comprehensive research project involving development of a completely autonomous multirobot system for railway track maintenance applications. The specifications of this "real-world" application required us to consider a multirobot system conceptualization, rather than a single robot system.

关键词： Multirobot systems Rail transportation Robot sensing systems robotics and automation Sensor arrays Fasteners computer vision Application software Sensor systems Intelligent robots

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Sonar resolution-based environment mapping 15

Sonar resolution-based environment mapping

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15th IEEE International Conference on robotics and Automation, ICRA 1998

作者： Cahut, Leyla Vlavanis, Kimon P. Delic, Hakan Robotics and Automation Laboratory Center for and Advanced Computer Studies University of Southwestern Louisiana LafayetteLA70504 United States Signal and Image Processing Laboratory Department of Electrical Engineering BogaziCi University Bebek 80815 Istanbul Turkey

ISBN: (纸本)078034300X

Ultrasonic range sensors are used to obtain the information required for collision-free navigation of a mobile robot in a semi-structured or unstructured environment. A set of range readings from a ring of sonars are correlated to acquire a 2D map of the robot's environment. The map is continuously enhanced via novel matching and update algorithms as new data are collected while the robot is in motion. The algorithm utilizes confidence measures that are directly obtained from the sonar's resolution or accuracy. There are no additional modeling assumptions and the approach is robust. The algorithms are experimentally tested on the Nomad 200 mobile robot and Nomad's Cognos Software Development Package. © 1998 IEEE.

关键词： Software testing

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Robotic assistants for aircraft inspectors

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IEEE Instrumentation and Measurement Magazine 1998年第1期1卷 16-30页

作者： Siegel, Mel Gunatilake, Priyan Podnar, Gregg Intelligent Sensor Msrmt. C. Robotics Institute Carnegie Mellon University University of Colorado JILA University of Virginia SUNY Buffalo NY United States Extranuclear Laboratories ABB-Extrel Aircraft Diagnostics Corporation University of Alaska Fairbanks AK United States Elec. and Comp. Eng. Department Carnegie Mellon University CMU Vis. Lab. of the Robotics Institute CMU Mobile Robot Laboratory Engineering Design Research Center CMU Computer Science Department JiangXi University Robotics Institute Measurement and Control Laboratory

Various alternative aircraft inspection methods are first discussed and advantages of using robots are analysed. ANDI (Automated NonDestructive Inspector) and CIMP (Crown Inspection Mobile Platform) are then described. Remote 3D stereoscopic visual inspection is outlined and algorithms developed for crack detection and surface and subsurface corrosion detection are described. Future development trends are also outlined.

关键词： Robots Aircraft Aerospace electronics Instruments

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Analysis of nonlinear neural network impedance force control for robot manipulators

Analysis of nonlinear neural network impedance force control...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Seul Jung T.C. Hsia Robotics and Computational Intelligence Laboratory Department of Mechatronics Engineering Chungnam National University Taejon South Korea Robotics Research Laboratory Department of Electrical and Computer Engineering University of California슠Davis Davis CA USA

A force tracking nonlinear impedance control scheme using a neural network is introduced. Due to the nonlinear characteristics of the proposed control law, stability has been analyzed. The numerical bound of environment position uncertainty for ensuring robot contact with the environment and to perform desired force tracking has been found. Intensive simulation studies with a three link rotary robot manipulator tracking the surface with a desired force are carried out to confirm the boundary solutions of the proposed scheme under no knowledge of environment surface position and environment stiffness.

关键词： Neural networks Impedance Force control Robots Manipulators Iron Orbital robotics Nonlinear equations Uncertainty Nonlinear control systems

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An Overview and Critical Issues for research and Education of Intelligent Manufacturing Systems

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IFAC Proceedings Volumes 1998年第15期31卷 679-687页

作者： Peter P. Groumpos Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Rion 26500 GREECE Tel. +3061 997295 Fax. +3061 997309

Intelligent Manufacturing Systems is the major challenge that must be met by scientific community in order to develop the next generation sophisticated manufacturing systems. This paper presents an overview of new promising domains, such as fuzzy logic, neural networks and hybrid intelligent control systems, that could be utilised to achieve human intention for more advanced manufacturing systems. The modelling of the supervisor of manufacturing systems using fuzzy cognitive map is proposed and system functionalization architecture is presented. Finally, conclusions of an international symposium on issues and challenges of Manufacturing and Control Education for the 21 st Century are presented.

关键词： Modelling Supervisory Control Fuzzy Neural Systems Intelligent Manufacturing Systems

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Movement control system design for an artificial eye implant

Movement control system design for an artificial eye implant

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IEEE International Conference on Systems, Man and Cybernetics

作者： J. Gu M. Meng M.G. Faulkner A. Cook Department of Electrical and Computer Engineering Advanced Robotics and Teleoperation Laboratory Edmonton AB Canada Department of Mechanical Engineering University of Alberta Edmonton AB Canada Faculty of Rehabilitation Medicine University of Alberta Edmonton AB Canada

The main objective of the research project reported in this paper is to design an assistive device that will help patients with eye-implant to have natural eye movement. The patients lose their eye for various reasons. The loss of an eye can be solved by the ocular implant. The artificial eye can be made like a real eye cosmetically. But the problem is that it is static and does not have the natural movement of an eye. We design an ocular assistive system to enable the artificial eye have the natural movement of a real eye. This paper starts with the literature review of the eye movement detection methods and followed by the description of the experimental system we designed and constructed. The paper is concluded with further considerations.

关键词： Control systems Implants Servomotors Space vector pulse width modulation Eyelids Amorphous magnetic materials Magnetic separation Infrared sensors Medical control systems Medical robotics

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Fuzzy logic controlled genetic algorithms versus tuned genetic algorithms: an agile manufacturing application

Fuzzy logic controlled genetic algorithms versus tuned genet...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： R. Subbu A.C. Sanderson P.P. Bonissone Electronics Agile Manufacturing Research Institute and Electrical Computerand Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA Information Technology Laboratory General Electric Corporate Research and Development Center Schenectady NY USA

This paper presents a comparison of the performance of a fuzzy logic controlled genetic algorithm (FLC-GA) and a parameter tuned genetic algorithm (TGA) for an agile manufacturing application. In the FLC-GA, fuzzy logic controllers dynamically schedule parameters of the object-level GA. A fuzzy knowledge-base is automatically identified and tuned using a high-level GA. In the TGA, a high-level GA is used to determine an optimal static parameter set for the object-level GA. The object-level GA supports a global evolutionary optimization of design, manufacturing, and supplier planning decisions for manufacturing of printed circuit assemblies in an agile environment. We demonstrate that high-level system identification or tuning performed with small object-level search spaces, can be extended to more elaborate object-level search spaces. The TGA performs superior searches, but incurs large search times. The FLC-GA performs faster searches than a TGA, and is slower than the GA that utilizes a canonical static parameter set. However, search quality of the FLC-GA is comparable to that of the GA which utilizes a canonical static parameter set.

关键词： Fuzzy logic Genetic algorithms Automatic control Agile manufacturing Manufacturing automation Optimal control Job shop scheduling Dynamic scheduling Fuzzy control Fuzzy sets

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Bounded tracking for non-minimum phase nonlinear systems with fast zero dynamics

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INTERNATIONAL JOURNAL OF CONTROL 1997年第4期68卷 819-847页

作者： Tomlin, CJ Sastry, SS Department of Electrical Engineering and Computer Sciences Intelligent Machines and Robotics Laboratory University of California Berkeley CA 94720-1770 United States

In this paper, we derive tracking control laws for non-minimum phase nonlinear systems with both fast and slow, possibly unstable, zero dynamics. The fast zero dynamics arise from a perturbation of a nominal system. These fast zeros can be problematic in that they may be in the right half plane and may cause large magnitude tracking control inputs. In this paper, we combine the ideas from some recent work of Hunt, Meyer and Su with that of Devasia, Chen and Paden on an asymptotic tracking procedure for non-minimum phase nonlinear systems. We give (somewhat subtle) conditions under which the tracking control input is bounded as the magnitude of the perturbation of the nominal system becomes zero. Explicit bounds on the control inputs are calculated for both SISO and MIMO systems using some interesting non-standard singular perturbation techniques. The method is applied to a suite of examples, including the simplified planar dynamics of VTOL and CTOL aircraft.

关键词： STABILIZATION AIRCRAFT perturbation Vertical take off Fasting tracking control Zero dynamics control input Aircraft Bounded multiple input multiple output systems

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Visually guided navigation

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robotics AND AUTONOMOUS SYSTEMS 1997年第1期21卷 37-50页

作者： Kosecka, J Robotics laboratory Department of Electrical Engineering and Computer Science 333 Cory Hall 98 UC Berkeley Berkeley CA 94720-1772 USA

Rich sensory information, robust control strategies and proper representation of the environment are crucial for successful navigation of the mobile robot. We propose a model of the environment which is suitable for global navigation using visual sensing. At the lowest level of interaction of the robot with the environment we employ visual servoing techniques which facilitate robust local navigation by means of relative positioning. Further we demonstrate how to use these local control strategies in a global setting. The environment is represented in terms of place graph, where the nodes correspond to places and arcs have associated servoing strategies for moving from one place to another. The global navigation is expressed as a sequence of relative positioning tasks obtainable from the search of a place graph. The proposed model facilitates generation of motion plans which can be executed in a robust manner thanks to the presence of the sensory information in the feedback loop.

关键词： visual servicing motion planning navigation

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On an effective design approach of Cartesian space neural network control for robot manipulators

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ROBOTICA 1997年第pt 3期15卷 305-312页

作者： Jung, S Hsia, TC Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA 95616 USA. E-mail: hsia@ece.ucdavis.edu and jung@ece.ucdavis.edu

It is well known that computed torque robot control is subjected to performance degradation due to uncertainties in robot model, and application of neural network (NN) compensation techniques are promising. In this paper we examine the effectiveness of neural network (NN) as a compensator for the complex problem of Cartesian space control. In particular we examine the differences in system performance of accurate position control when the same NN compensator is applied at different locations in the controller structure. It is found that using NN to modify the reference trajectory to compensate for model uncertainties is much more effective than the traditional approach of modifying control input or joint torque/force. To facilitate the analysis, new NN training signal is introduced and used for all cases. The study is also extended to non-model based Cartesian control problems. Simulation results with three-link rotary robot are presented and performances of different compensating locations are compared.

关键词： neural network robot control Cartesian space design

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