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Seminar on Neural Network Applications in Electrical Engineering

作者： Georgi M. Dimirovski Yuanwei Jing Yanxin Zhang Miomir K. Vukobratovic Faculty of Electrical Engineering SS Cyril and Methodius University Skopje Macedonia Department of Computer Engineering Dogus University Kadikoy Istanbul Turkey School of Information Science and Engineering Northeastern University Shenyang China Laboratory of Robotics & Flexible Automation Mihajlo Pupin Institute Belgrade Serbia

A new robust adaptive control design synthesis, which employs both high-order neural networks and math-analytical results, for a class of complex nonlinear mechatronic systems possessing similarity property has been derived. This approach makes an adequate use of the structural feature of composite similarity systems and neural networks to resolve the representation issue of uncertainty interconnections and subsystem gains by on-line updating the weights. This synthesis does guarantee the real stability in closed-loop but requires skills to obtain larger attraction domains. Mechatronic example of an axis-tray drive system, possessing uncertainties, is used to illustrate the proposed technique

关键词： Robust control Adaptive control Emulation Network synthesis Neural networks Mechatronics Uncertainty Artificial neural networks Control system synthesis Stability

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Implementation of Industrial Robot Force Control Case Study: High Power Stub Grinding and Deburring

Implementation of Industrial Robot Force Control Case Study:...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Robertsson T. Olsson R. Johansson A. Blomdell K. Nilsson M. Haage B. Lauwers H. De Baerdemaeker T. Brogardh H. Brantmark Department of Automatic Control Lund University Hospital Lund Sweden Dept. of Automatic Control Lund University Sweden Dept. of Computer Science Lund University Sweden Department of Computer Science Lund University Hospital Lund Sweden Dept. of Mechanical Engineering Faculty of Engineering Heverlee Belgium Department of Mechanical Engineering Heverlee Belgium ABB Automation Technologies - Robotics Västerås Sweden

In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which can be used for high-bandwidth force control, are described. Results from two industrial applications using the system are presented, a stub grinding application using a new compliant grinding end-effector integrated with the robot control system, and a deburring application with a stiff tool requiring high-bandwidth force control in six degrees of freedom. Using the system an easily reconfigurable control structure was achieved, which was able to control contact forces with a sampling bandwidth of an order of magnitude higher than for conventional robot controllers

关键词： Industrial control Service robots Force control Deburring Electrical equipment industry Robot sensing systems Control systems Robot control Sensor systems Sampling methods

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Realization of a service robot for cleaning spherical surfaces

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International Journal of Advanced Robotic Systems 2005年第1期2卷 053-058页

作者： Zhang, Houxiang Zhang, Jianwei Liu, Rong Zong, Guanghua Dept. TAMS Faculty of Computer Science University of Hamburg Hamburg Germany Robotics Institute BeiHang University Beijing China

There are more and more buildings with complicated shape emerging all over the world. Their walls require constant cleaning which is difficult to realize. In this paper, based on analyzing the characteristics of the working target,a new kind of auto-climbing robot is proposed, which is used for cleaning the spherical surface of the National GrandTheatre in China. The robots' mechanism and unique aspects are presented in detail. A distributed controller based onCAN bus is designed to meet the requirements of controlling the robot. The control system is divided into 6 parts, fiveCAN bus control nodes and a remote controller, which are designed and established based mainly on the ***, the motion function is described in detail. The experimental results confirm the principle described above and the robot's ability to work on the spherical surface.

关键词： Mobile robots

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HIGH-RISE BUILDINGS UNDER EARTHQUAKE EXCITATION: STABILIZATION USING SMC

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IFAC Proceedings Volumes 2006年第16期39卷 776-781页

作者： Georgi M. Dimirovski Jun Zhao Miomir K. Vukobratovic Dogus University Faculty of Engineering Dept. of Computer Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Rep. of Turkey Fax: ++90-216-327-9631 Tel: ++90-216-327-1104 SS Cyril and Methodius University Faculty of Electrical Engineering Rugjer Boskovic b.b. Karpos II MK-1000 Skopje Rep. of Macedonia Northestern University School of Information Science and Engineering Institute of Control Science Shenyang Liaoning CN-110004 P. R. of China Fax: ++86-24-8367-2273 Tel: ++86-24-2389-3000 Mihailo Pupin Institute Laboratory of Robotics & Automation Volgina 15 Karaburma 11000 F. R. Serbia and Montenegro Fax: ++381-11-2775-870 Tel: ++381-11-2774-236

The goal to control the dynamics of high-rise buildings either to ameliorate the damage or prevent their destruction when subject to an earthquake excitation has been subject of extensive research. All known control designs have advantages and disadvantages as well as operating limits. The application of sliding-mode control to controlling earthquake induced vibrations of a multi-story structural system as an active seismic compensation plus base isolation has been investigated. The performance has been compared to the one of traditional industrial controls, and relevant conclusions drawn. Simulation results, carried out using El Centro earthquake acceleration, have shown that the sliding mode control can decrease significantly displacements of the floors.

关键词： Earthquake sliding mode control structural systems vibration control

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Voice operated intelligent wheelchair - VOIC

Voice operated intelligent wheelchair - VOIC

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： G. Pacnik K. Benkic B. Brecko Faculty of Electrical Engineering and Computer Science Institute of Robotics Maribor Slovenia

A development of the intelligent wheelchair lab prototype is shown in the paper. VOIC is designed for physically disabled person, who can not control their movements and control the wheelchair with the joystick. The article describes basic components of voice recognition and wheelchair control system. Voice recognition begins with input signal sampling, word isolation, LPC cepstral analysis, coefficient dimension reduction and trajectory recognition using fixed point approach with neural networks. Wheelchair control system is divided into system for sensors data acquisition and system for wheelchair steering. The complexity of the voice recognition is reduced using LPC cepstral analysis and coefficient dimension reduction with minimum loss of vital information. A proper decision for the speech recognition using neural networks is supported with experimental results.

关键词： Wheelchairs Speech recognition Control systems Linear predictive coding Cepstral analysis Neural networks Prototypes Signal sampling Sensor systems Data acquisition

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Humanoid robot platform suitable for studying embodied interaction

Humanoid robot platform suitable for studying embodied inter...

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2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： M. Hackel S. Schwope J. Fritsch B. Wrede G. Sagerer Robotics Research Department MABOTIC-Robotics and Automation Hurth Germany Applied Computer Science Faculty of Technology Bielefeld University Germany

This paper presents the humanoid robot BARTHOC who has been developed to study human-robot interaction (HRI). The main focus of BARTHOC's design was to realize the expression and behavior of the robot to be as human-like as possible. This allows to apply the platform to manifold research and demonstration areas. With his human-like look and mimic possibilities, he differs from other platforms like ASIMO or QRIO, and enables experiments even close to Mori's 'uncanny valley'. The paper describes details of the mechanical and electrical design of BARTHOC together with its PC control interface. Through its humanoid appearance, it can imitate human behavior with its soft- and hardware. Currently, several components for HRI on a mobile robot platform are being ported to BARTHOC. Starting with these components, the robot's human-like appearance enables us to study embodied interaction and to explore theories of human intelligence.

关键词： Humanoid robots Human robot interaction robotics and automation Intelligent robots Hardware Machine intelligence Robot sensing systems Speech Anatomy computer science

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Aramies: A four-legged climbing and walking robot

European Space Agency, (Special Publication) ESA SP

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European Space Agency, (Special Publication) ESA SP 2005年第603期 355-362页

作者： Spenneberg, Dirk Strack, Andreas Hilljegerdes, Jens Zschenker, Heiko Albrecht, Martin Backhaus, Till Kirchner, Frank University of Bremen Robotics Lab Faculty of Mathematics and Computer Science Bibliothekstr. 1 D-28359 Bremen Germany

This article describes the four-legged walking integration study ARAMIES and the developed control software approach. Furthermore, we analyze a first walking experiment carried out. We explain how CPG-like rhythmic motion patterns can be produced on the basis of Bezier-splines, resulting in a very simple and flexible way to produce complex walking trajectories which can be modulated in phase, frequency and amplitude. In addition, we describe briefly our new RT-micro-kernel concept for programming behavior-based robots which is used in the ARAMIES project. This microkernel combines properties of real-time operating systems with concept of behavior-based programming.

关键词： Mobile robots

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Communication and data sharing in human-robot heterogenous teams

Communication and data sharing in human-robot heterogenous t...

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作者： Pavlicek, Jiri Preucil, Libor Baier, Herbert Driewer, Frauke Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Technicka 2 166 27 Prague 6 Czech Republic Department of Computer Science VII: Robotics and Telematics Julius-Maxmilians University Wurzburg Am Hubland D-9074 Wurzburg Germany

ISBN: (纸本)008045108X

Nowadays, there exists a great interest in development of mobile and teleoperated or even autonomous robots, which could replace humans in dangerous tasks. Information management and system architecture in these can stand for a difficult issue even with a single teleoperated robot. Considering a system of multiple human and robot entities working together in teams at different locations, complexity of information management rapidly grows. This paper sketches an information exchange and handling design in heterogenous human-robot teams, employing teleoperation of semi-autonomous robots and humans in rescue test-cases. The paper addresses analysis of the system design as well as particular tasks specifics connected with this issue. Copyright © 2005 IFAC.

关键词： Information management

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Hey, I'm over here - How can a robot attract people's attention?

Hey, I'm over here - How can a robot attract people's attent...

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14th IEEE Workshop on Robot and Human Interactive Communication, RO-MAN 2005

作者： Finke, Markus Koay, Kheng Lee Dautenhahn, Kerstin Nehaniv, Chrystopher L. Walters, Michael L. Saunders, Joe Neuroinformatics and Cognitive Robotics Group Faculty of Informatics and Automatization Technical University Ilmenau P.O.Box 100565 98684 Ilmenau Germany Adaptive Systems Research Group School of Computer Science University of Hertfordshire College Lane Hatfield Herts AL10 9AB United Kingdom

ISBN: (纸本)0780392752

This paper describes how sonar sensors can be used to recognize human movements. The robot distinguishes objects from humans by assuming that only people move by themselves. Two methods using either rules or Hidden Markov Models are described. The robot classifies different movements to provide a basis for judging if a person is interested in an interaction. A comparison of two experiment results is presented. The use of orienting cues by the robot in response to detected human movement for eliciting interaction is also studied. © 2005 IEEE.

关键词： Robots

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Hey, I'm over here - How can a robot attract people's attention?

Hey, I'm over here - How can a robot attract people's attent...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： M. Finke Kheng Lee Koay K. Dautenhahn C.L. Nehaniv M.L. Walters J. Saunders Neuroinformatics and Cognitive Robotics Group Faculty of Informatics and Automatization Technical University Ilmenau Ilmenau Germany Adaptive Systems Research Group School of Computer Science University of Herfordshire Hatfield Hertfordshire UK

This paper describes how sonar sensors can be used to recognize human movements. The robot distinguishes objects from humans by assuming that only people move by themselves. Two methods using either rules or hidden Markov models are described. The robot classifies different movements to provide a basis for judging if a person is interested in an interaction. A comparison of two experiment results is presented. The use of orienting cues by the robot in response to detected human movement for eliciting interaction is also studied.

关键词： Robot sensing systems Sonar detection Infrared sensors Cognitive robotics Adaptive systems Sensor phenomena and characterization Sensor systems Human robot interaction Service robots Sensor arrays

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