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IEE Colloquium on Optimisation in Control: Methods and Applications (Ref. No. 1998/521)

作者： K. Suttiwaree J. Lucas Liverpool Univ. UK Computer Electronics & Robotics Department of Electrical Engineering and Electronics University of Liverpool Liverpool UK

Thruster propulsion is a significant component for making accurate motion control possible as well as achieving superior navigational performance of remotely operated vehicles (ROV), both for tethered and untethered classes. As a result, the contents of this paper mainly focus upon thruster functioning enhancement by forming an effective real-time closed-loop compensation. An electric-driven thruster, instrumented with drive and embedded electronics, is employed as a test-bed. Its electrical and mechanical properties are briefly described and the inherent existence of stiction (static friction) will be highlighted since such nonlinearity directly degrades the dynamic behaviour of the thruster. Therefore, a nonlinear optimisation technique, serving as a 1-step-ahead predictive controller, has been structured not only to eliminate this unwanted stiction effect, but also to have the following additional attributes: 1) to maintain commanded rotational direction, 2) to regulate angular velocity with respect to set-point, and 3) to produce a robust system with better noise immunity. The intelligent predictive algorithm is based upon a multilayer perceptron (MLP) neural network configured as a state-estimator, whereas a model-reference gives the desired response characteristic. The outcome of such combined modules will clearly outperform the classical methodologies as indicated by the comparison with: i) an ordinary predictive strategy, and ii) an industrial three-term PID regulation.

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Reinforcement distribution for fuzzy classifiers: a methodology to extend crisp algorithms

Reinforcement distribution for fuzzy classifiers: a methodol...

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IEEE International Conference on Evolutionary Computation

作者： A. Bonarini PM-AI & Robotics Project Department of Electronics and Computer Engineering Politecnico di Milano Milan Italy

Fuzzy classifier systems (FCS) implement a mapping from real numbers to real numbers, through fuzzy interpretation of input and output. Reinforcement learning (RL) algorithms can be successfully applied to develop learning FCS analogously to what can be done with learning classifier systems (LCS). The author motivates this approach and presents a methodology to extend straightforwardly reinforcement distribution algorithms originally designed for crisp input and output to fully exploit the features of FCS.

关键词： Fuzzy sets Fuzzy systems Learning Robots Distributed computing Electronic mail Algorithm design and analysis Control systems Ground penetrating radar Geophysical measurement techniques

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1D models for class of 2D linear systems

1D models for class of 2D linear systems

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IEE Colloquium on Multidimensional Systems: Problems and Solutions (Ref. No. 1998/225)

作者： K. Galkowski E. Rogers D.H. Owens Department of Robotics and Software Engineering Technical University of Zielona Gora Poland Department of Electronics and Computer Science University of Southampton UK School of Engineering University of Exeter UK

The basic unique control problem for repetitive processes arises from the explicit interaction between successive pass profiles. In particular, the output sequence of pass profiles can contain oscillations that increase in amplitude in the pass to pass direction. Such behaviour is easily generated in simulation studies and in experiments on scaled models of industrial examples such as long-wall coal cutting. In long-wall coal cutting this problem appears as severe undulations in the newly cut floor profile which means that cutting operations (i.e. productive work) must be suspended to enable their manual removal. This problem is one of the key factors behind the stop/start cutting pattern of a typical working cycle in a coal mine. In general, this problem cannot be removed by standard, i.e. 1D, control action. The basic reason for this is that such an approach essentially ignores their inherent 2D systems structure. Motivated by this key fact, Rogers and Owens (1992) have developed a stability theory for repetitive processes with linear dynamics and a constant pass length. This theory is based on an abstract model in a Banach space setting which includes all such processes as special cases. The results of applying this theory to a range of special cases are also known including discrete linear repetitive processes which are the subject of this paper.

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1D representations and systems theory for a class of 2D linear systems 4

1D representations and systems theory for a class of 2D line...

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4th European Control Conference, ECC 1997

作者： Galkowski, K. Rogers, E. Owens, D.H. Department of Robotics and Software Engineering Technical University of Zielona Gora ul. Podgorna 50 Zielona Gora65-246 Poland ISIS Group Dept. Electronics and Computer Science University of Southampton SouthamptonSO17 1BJ United Kingdom School of Engineering University of Exeter North Park Road ExeterEX4 4QF United Kingdom

ISBN: (纸本)9783952426906

Repetitive, or multipass, processes are a class of systems characterised by a series of sweeps through a set of dynamics defined over a finite fixed duration. The class of so-called discrete linear repetitive processes have strong structural links with well studied classes of 2D linear systems and also with standard (1D) linear systems. One possible approach to the (control related) analysis of these processes is to embed their basic 2D structure in a 1D representation. This paper develops such a representation and uses it to characterise the key systems theoretic property of controllability for this class of linear repetitive processes.

关键词： Linear systems

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Multitime Scale Systems - The ND Approach

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IFAC Proceedings Volumes 1997年第21期30卷 519-524页

作者： Krzysztof Gałkowski Artur Gramacki Technical University of Zielona Góra Institute of Robotics and Software Engineering Podgórna Str. 50 65-246 Zielona Góra Poland Fax: 48 68 253944 Technical University of Zielona Góra Institute of Computer Engineering and Electronics Podgórna Str. 50 65-246 Zielona Góra Poland Fax: 48 68 253944

In this paper so-called multitime scale systems are described in terms of discrete repetitive processes which belong to the wide family of so-called 2D systems.

关键词： Multidimensional systems the Roesser model the Fornasini-Marchesini model discrete repetitive processes multitime scale systems

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Geometric collision detection and potential field based time delay planning for dual arm systems

Geometric collision detection and potential field based time...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Sukhan Lee H. Moradi G. Kardaras Sung-Kwon Kim Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA Department of Computer Science-EE Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Production Engineering Center Samsung Electronics Company Limited Suwan South Korea

In this paper a method for collision detection and collision avoidance for dual arm robots is proposed. The collision detection, a fast geometric approach based on link intersection, detects the collision and constructs the collision region for given trajectories. The time delay planning determines the minimum necessary time delay to avoid collisions using a potential field representation for collision regions. The planning is based on a flexible, massively parallel approach. It effectively avoids any local minima problems due to the potential field representation and can be used regardless of the complexity of the collision region (e.g., concave or complicated regions).

关键词： Delay effects Robotic assembly Manipulators Orbital robotics Intelligent robots Parallel robots Parallel processing Assembly systems robotics and automation Path planning

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Modular robotics: design and examples

Modular robotics: design and examples

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： A.C. Sanderson Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA Intellignet robotics Laboratory Institute for Information Science and Electronics University of Tsukuba Tsukuba Japan

An object-oriented modular approach to the engineering of complex robotic systems emphasizes reliability, reusability, ease of development, and user and network interfaces. This modular approach integrates many architectural principles and computational techniques which support adaptive and learning capability at the local, modular level. The TETROBOT is a modular and reconfigurable robotic system which was developed to demonstrate the reliable performance in a wide variety of task domains through reconfiguration of the same fundamental hardware and software components. Such a modular approach emphasizes the synthesis and integration of engineering modules and takes advantage of object-oriented engineering principles to design for a family of tasks. This paper provides an overview of the TETROBOT modular system and describes three modular systems in other applications domains.

关键词： Robots Hardware Robustness Humans Indium phosphide Utility programs

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On the uncertainty and ignorance of statistical decision and evidence combination

On the uncertainty and ignorance of statistical decision and...

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： Xiao-Gang Wang Wen-Han Qian E. Pagello Ren-Qing Pei College of Mechanical Engineering & Automation Shanghai University China Research Institute of Robotics Shanghai Jiaotong University China Department of Electronics & Computer Science University of Padova Padova Italy

The classical Bayesian decision theory and the hypothesis testing for processing distributed decision fusion problems have an important shortcoming-lack of flexibility. In other words, they can not discriminate uncertainty and ignorance. The Dempster-Shafer (DS) theory overcomes this shortcoming, but its mathematical basis, the axiomatic definition of evidence is not very rigorous. Therefore, a perfect, reliable, and general method of statistical decision and evidence combination is demanded. In this respect, Thomopoulos presented a generalized evidence processing (GEP) method, based on Bayesian theory and DS theory. This paper presents a new strategy for statistical decision and evidence combination-the double bound testing (DBT). Compared with GEP, DBT not only increases the flexibility of decision, but also presents a sound mathematical basis and an explicit concept.

关键词： Uncertainty Bayesian methods Military aircraft Aerospace electronics Intelligent sensors Sensor fusion robotics and automation Decision theory Electronic equipment testing Radar detection

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Adaptive control of seam tracking through progressive HAZ and weld pool penetration using thickness measurement

Adaptive control of seam tracking through progressive HAZ an...

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IEEE International Conference on Systems, Man and Cybernetics

作者： I. Baharin B.H. Mir Sadehgi CIM Robotics Automation Research Group Department of Electronics Computer Engineering Universiti Pertanian Malaysia Serdang Selangor Darul Ehsan Malaysia

A mathematical model for predictive/adaptive control of weld bead penetration and seam tracking in tungsten inert gas welding as an approach to process control of robotic GTAW has been developed. Weld process parameters such as : base current and time, pulse current and time, electrode tip to workpiece distance, filler traveling speed, torch traveling speed and workpiece thickness have been used for finding the equations which describing interrelationship between the aforementioned variables and penetration depth as well as bead width. The calculation of these equations developed from the statistical regression analysis of 80 welds deposited using various combinations of welding parameters. For monitoring of workpiece thickness variations,an ultrasonic device has been used. In order to accurately control weld bead width and also seam tracking, a CCD camera was used. The results show that the misalignment or asymmetry of progressive HAZ adjacent to the weld puddle is detectable and can be used for control of trajectory. Scanning of a certain area of a captured image in front ofthe weld puddle decreases the data processing time drastically.

关键词： Adaptive control Equations Mathematical model Tungsten Process control Robots Plasma welding Space vector pulse width modulation Electrodes Regression analysis

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Steady‐state security evaluation of electrical power systems by means of artificial neural network

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European Transactions on Electrical Power 1995年第2期5卷 91-97页

作者： Chiodo, E. Menniti, D. Testa, A. Picardi, C. Elio Chiodo (1959) received the degree in Electronics Engineering in 1985 and the Ph.D. degree in Computational Statistics both from the University of Naplefltaly. He is a Researcher at the Department of Electrical Engineering of the University of Naples and a member of the Italian Statistical Society. His areas of interest include probabilistic methods applied to electric power systems analysis. (University of Naples Fedrrico 11. Electrical Engineering Dept.via Claudio 21 1-80125 Naplefltaly T +3981/7683226 Fax+3981/2396897) Daniele Menniti (1958) received the degree in Electrical Engineering from the University of Calabria. Cosenzataly and the Ph.D. degree in Electrical Engineering from the University of NapleslItaly in 1984 and 1989 respectively. He is a researcher at the Electronic. Computer and Systems Science Department of the University of Calabria. Italy. Hiscurrent research interests concern electric power system analysis real-time control and automation. (University of Calabria Electronic Computer and Systems Science Dep. Arcavacataji Rende (CS). 1-87036 CosenzdItaly T +39984/494707. Fax +39984/4947 13) Alfredo Testa (1950) received the degree in Electrical Engineering from the University of Naples/Italy in 1975. He is an Associate Professor in Electrical Power Systems at the Department of Electrical Engineering of the University of Naples. He is engaged in researches on electrical power systems reliability and harmonic analysis. (University of Naples Federico 11. Electrical Engineering Dep. via Claudio '2 1 1-80 I25 NapleslItaly T + 39 8 I/7 68 3'2 11. Fax+3981/2396897) Ciro Picardi (1949) received the degree in Electronics Engineering from the University of Naples/Italy in 1975. He is currently Associate Professor in Process Control at the Department of Electronic Computer and System Science of the University of Calabria. Italy. His current research interests are in the area of electrical drives robotics neural networks and fuzzy control. (University of Calabria Electronic. Compu

An artificial‐neural‐network (ANN) application for steady‐state security evaluation of electrical power systems is presented. Such application is based upon a combined use of a multilayer back‐propagation neural network and of an opportune electrical system model, previously proposed by some of the authors. In the paper, the definition of steady‐state security and the problems arising from its on‐line evaluation are briefly recalled. Then, the ANN utilized is described with particular reference to the solutions adopted by the authors. Afterwards, some remarks on the system model utilized are reported. Finally, numerical applications on the AEP‐14 bus system are presented and the results obtained with different ANN configurations are analyzed. Copyright © 1995 John Wiley & Sons, Ltd.

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