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IEEE International Conference on mechatronics

作者： Koc, Osman Naskali, Ahmet Teoman Kunt, Emrah Deniz Sabanovic, Asif Mechatronics Engineering Faculty of Engineering and Natural Sciences Sabanci University Istanbul Turkey

ISBN: (纸本)9781612849836

关键词： Motion control

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Housekeeping with multiple autonomous robots: Representation, reasoning and execution 10

Housekeeping with multiple autonomous robots: Representation...

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2011 AAAI Spring Symposium

作者： Aker, Erdi Erdogan, Ahmetcan Erdem, Esra Patoglu, Volkan Computer Science and Engineering Faculty of Engineering and Natural Sciences Sabanci University Istanbul Turkey Mechatronics Engineering Faculty of Engineering and Natural Sciences Sabanci University Istanbul Turkey

ISBN: (纸本)9781577354987

We formalize actions and change in a housekeeping domain with multiple cleaning robots, and common-sense knowledge about this domain, in the action language C+. Geometric reasoning is lifted to high-level representation by embedding motion planning in the domain description using external predicates. With such a formalization of the domain, a plan can be computed using the causal reasoner CCALC for each robot to tidy some part of the house. We introduce a planning and monitoring algorithm for safe execution of these plans, so that it can recover from plan failures due to collision with movable objects whose presence and location are not known in advance or due to heavy objects that cannot be lifted alone. We illustrate the applicability of this algorithm with a simulation of a housekeeping domain. Copyright © 2011, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Motion planning

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Impact of generalized benefit functions on the evolution of cooperation in spatial public goods games with continuous strategies

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Physical Review E 2012年第6期85卷 066133-066133页

作者： Xiaojie Chen Attila Szolnoki Matjaž Perc Long Wang Evolution and Ecology Program International Institute for Applied Systems Analysis (IIASA) Schlossplatz 1 A-2361 Laxenburg Austria Institute of Technical Physics and Materials Science Research Centre for Natural Sciences Hungarian Academy of Sciences P. O. Box 49 H-1525 Budapest Hungary Faculty of Natural Sciences and Mathematics University of Maribor Koroška cesta 160 SI-2000 Maribor Slovenia State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing China

Cooperation and defection may be considered to be two extreme responses to a social dilemma. Yet the reality is much less clear-cut. Between the two extremes lies an interval of ambivalent choices, which may be captured theoretically by means of continuous strategies defining the extent of the contributions of each individual player to the common pool. If strategies are chosen from the unit interval, where 0 corresponds to pure defection and 1 corresponds to the maximal contribution, the question is what is the characteristic level of individual investments to the common pool that emerges if the evolution is guided by different benefit functions. Here we consider the steepness and the threshold as two parameters defining an array of generalized benefit functions, and we show that in a structured population there exist intermediate values of both at which the collective contributions are maximal. However, as the cost-to-benefit ratio of cooperation increases, the characteristic threshold decreases while the corresponding steepness increases. Our observations remain valid if more complex sigmoid functions are used, thus reenforcing the importance of carefully adjusted benefits for high levels of public cooperation.

关键词： GENERALIZATION PUBLIC goods GAME theory CONTINUOUS functions DILEMMA PARAMETER estimation SOCIAL reality STRATEGIC planning

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A field programmable gate array based modular motion control platform

A field programmable gate array based modular motion control...

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International Conference on mechatronics (ICM)

作者： Osman Koç Ahmet Teoman Naskali Emrah Deniz Kunt Asif Şabanoviç Mechatronics Engineering Faculty of Engineering and Natural Sciences Sabanci University Istanbul Turkey

The expectations from motion control systems have been rising day by day. As the systems become more complex, conventional motion control systems can not achieve to meet all the specifications with optimized results. This creates the necessity of fundamental changes in the infrastructure of the system. Field programmable gate array (FPGA) technology enables the reconfiguration of the digital hardware, thus dissolving the necessity of infrastructural changes for minor manipulations in the hardware even if the system is deployed. An FPGA based hardware system shrinks the size of the hardware hence the cost. FPGAs also provide better power ratings for the systems as well as a more reliable system with improved performance. As a trade off, the development is rather more difficult than software based systems, which also affects the research and development time of the overall system. In this paper a level of abstraction is introduced in order to diminish the requirement of advanced hardware description language (HDL) knowledge for implementing motion control systems thoroughly on an FPGA. The intellectual property library consists of synthesizable hardware modules specifically implemented for motion control purposes. Other parts of a motion control system, like user interface and trajectory generation, are implemented as software functions in order to protect the modularity of the system. There are also several external hardware designs for interfacing and driving various types of actuators.

关键词： Libraries Manipulators Field programmable gate arrays Software Synchronization Trajectory Table lookup

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Control and measurement delay compensation in bilateral position control

Control and measurement delay compensation in bilateral posi...

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IEEE International Conference on mechatronics

作者： Kuzu, Ahmet Bogosyan, Seta Gokasan, Metin Sabonovic, Asif TUBITAK-BILGEM-BTE 41470 Gebze Kocaeli Turkey University of Alaska Fairbanks ECE Dept 99775 Fairbanks AK United States Istanbul Technical University Electrical and Electronics Eng. Faculty Istanbul 34469 Turkey Sabanci University Faculty of Engineering and Natural Sciences Mechatronics Tuzla Istanbul Turkey

ISBN: (纸本)9781612849836

The main aim of this study is the improvement of the previously presented disturbance observer based bilateral control approaches of the authors with a delay regulator and a model tracking control (MTC) that runs on the slave side. These improvements eliminate the problems related to variable time delay inherent to such systems and model mismatch, respectively, and, hence, addressing the control and measurement delay problems in bilateral control applications. The performance is evaluated experimentally on a single-link arm controlled over the internet. The results demonstrate a significant improvement over the previously presented results obtained under load uncertainties and randomly varying network delays both in the control and feedback loop. © 2011 IEEE.

关键词： Position control

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Control and measurement delay compensation in bilateral position control

Control and measurement delay compensation in bilateral posi...

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International Conference on mechatronics (ICM)

作者： Ahmet Kuzu Seta Bogosyan Metin Gokasan Asif Sabonovic BILGEM-BTE TUBITAK Gebze Kocaeli Turkey ECE Department University of Alaska Fairbanks Fairbanks AK USA Electrical and Electronics Engineering Faculty Istanbul Technical University Istanbul Turkey Faculty of Engineering and Natural Sciences Mechatronics Sabanci University Istanbul Turkey

关键词： Regulators Delay IP networks

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Observation of exclusively He-induced H emission in cooled laser plasma

Observation of exclusively He-induced H emission in cooled l...

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作者： Lie, Z.S. Niki, H. Kagawa, K. Tjia, May On Hedwig, R. Pardede, M. Jobiliong, E. Suliyanti, M.M. Abdulmadjid, S.N. Kurniawan, K.H. Program of Nuclear Power and Energy Safety Engineering Graduate School of Engineering Fukui University Fukui 910-8507 Japan Department of Physics Faculty of Education and Regional Studies Fukui University 9-1 bunkyo 3-chome Fukui 910-8507 Japan Physics of Magnetism and Photonics Research Group Faculty of Mathematics and Natural Sciences Bandung Institute of Technology 10 Ganesha Bandung 40132 Indonesia Department of Computer Engineering Bina Nusantara University 9 K.H. Syahdan Jakarta 14810 Indonesia Department of Electrical Engineering University of Pelita Harapan 1100 M.H. Thamrin Boulevard Lippo Vilage Tangerang 15811 Indonesia Industrial Engineering Department University of Pelita Harapan 1100 M.H. Thamrin Boulevard Lippo Vilage Tangerang 15811 Indonesia Research Center for Physics Indonesian Institute of Sciences Kawasan PUSPIPTEK Serpong Tangerang Selatan 15314 Banten Indonesia Research Center of Maju Makmur Mandiri Foundation 40/80 Srengseng Raya Jakarta 11630 Indonesia

An experiment was performed for the observation of H emission induced in a cooled laser-induced atmospheric pressure gas plasma of He atoms in their metastable excited state. The strong H emission detected clearly established, to the exclusion of other well known major excitation processes, the exclusive contribution of the He-induced excitation (HIE) mechanism. The process is suggested to take place by means of energy transfer from the excited He atoms to the H atoms via Penning collision induced ionization involving electron exchange. The result further shows that this mechanism may also work for elements other than H and thereby strongly suggests the use of ambient He gas to broaden and complement the applications of standard laser-induced breakdown spectroscopy. © 2011 American Institute of Physics.

关键词： Laser induced breakdown spectroscopy

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Action-reaction based motion and vibration control of multi-degree-of freedom flexible systems

Action-reaction based motion and vibration control of multi-...

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2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010

作者： Khalil, Islam S. M. Sabanovic, Asif Mechatronics Department Faculty of Engineering and Natural Sciences Sabanci University Istanbul 34956 Turkey

ISBN: (纸本)9781424466696

This paper demonstrates the feasibility of using the Action-Reaction principle in order to identify and observe dynamical system parameter and states respectively by considering the instantaneous system's reaction to an imposed action as a natural feedback from the system. System parameters, dynamics and environmental interaction forces or torques are coupled in this incident natural feedback signal. Therefore, success to determine such natural feedback along with decoupling each of the previous information makes it possible to keep dynamical system free from any attached sensors that in turn implies the possibility of performing motion, vibration and force control assignments through measurement taken from the interface point of the actuator with the dynamical system. Both lumped and distributed flexible system are investigated then experiments are performed on a flexible system with two flexible modes then the possibility of extending the work to systems with infinite modes is discussed. © 2010 IEEE.

关键词： Dynamical systems

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Action-Reaction based motion and vibration control of multi-degree-of freedom flexible systems

Action-Reaction based motion and vibration control of multi-...

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International Workshop on Advanced Motion Control (AMC)

作者： Islam S. M. Khalil Asif Sabanovic Mechatronics Department Faculty of Engineering and Natural Sciences Sabanci University Istanbul Turkey

关键词： Vibration control Force feedback Vibration measurement State feedback Sensor systems Performance evaluation Force control Force measurement Motion measurement Actuators

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Action-reaction based parameters identification and states estimation of flexible systems

Action-reaction based parameters identification and states e...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Islam S. M. Khalil Asif Sabanovic Faculty of Engineering and Natural Sciences Mechatronics Department Sabanci University Istanbul Turkey

This work attempts to identify and estimate flexible system's parameters and states by a simple utilization of the Action-Reaction law of dynamical systems. Attached actuator to a dynamical system or environmental interaction imposes an action that is instantaneously followed by a dynamical system reaction. The dynamical system's reaction carries full information about the dynamical system including system parameters, dynamics and externally applied forces that arise due to system interaction with the environment. This in turn implies that the dynamical system's reaction can be considered as a natural feedback as it carries full coupled information about the dynamical system. The idea is experimentally implemented on a dynamical system with three flexible modes, then it can be extended to the more complicated structures with infinite flexible modes.

关键词： Actuators Torque Equations Current measurement Mathematical model Damping State estimation

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