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检索条件"机构=ISR - Institute of Systems and Robotics and the Department of Electrical and Computer Engineering"

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Reducing position errors arising from control-space quantisation on a mobile robot

Reducing position errors arising from control-space quantisa...

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： R. Araujo A.T. de Almeida Institute of Systems and Robotics ISR and Electrical Engineering Department University of Coimbra Coimbra Portugal

Quantisation of control space is frequently present on a mobile robot. This often results on position errors due to the finite set of available wheels velocities. In this article, the authors present two algorithms that can be used for minimising these position errors on robot motion. The first algorithm can be used to perform pure rotations (no translation) of the mobile robot. The second algorithm can be used to perform straight-line motions, between the mobile robot current position, and a predefined goal position in its working environment. Results of simulation experiments demonstrating the effectiveness of the algorithm are presented.

关键词： Error correction Quantization Mobile robots Wheels Control systems Orbital robotics Digital control Velocity control Kinematics DC motors

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Co-evolutionary genetic Multilayer Perceptron for feature selection and model design

Co-evolutionary genetic Multilayer Perceptron for feature se...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Francisco Souza Tiago Matias Rui Araójo Institute of Systems and Robotics (ISR-UC) and Department of Electrical and Computer Engineering (DEEC-UC) University of Coimbra Coimbra Portugal

This paper proposes a method for Soft Sensors design using a Multilayer Perceptron model based on co-evolutionary genetic algorithms, called CEV-MLP. This method jointly and automatically selects the best input variables and the best configuration of the network for the prediction setting. The CEV-MLP is constituted by three levels, the first level selects the best input variables and respective delays set, the second level is composed by the parameters of hidden layers to be optimized (number of neurons in the hidden layers and transfer function), and the third level is the combination of first and second level. The method was successfully applied, and compared with two state-of-the-art methods, in three real datasets. In all the experiments, the proposed method shows the best approximation accuracy, while all the design of the prediction setting is performed automatically.

关键词： Input variables Biological cells Neurons Delay Genetic algorithms Sensors Training

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Automatic extraction of the fuzzy control system for industrial processes

Automatic extraction of the fuzzy control system for industr...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Jérôme Mendes Ricardo Seco Rui Araújo Institute of Systems and Robotics (ISR-UC) and Department of Electrical and Computer Engineering (DEEC-UC) University of Coimbra Coimbra Portugal

The paper proposes a new method to automatically extract all fuzzy parameters of a Fuzzy Logic Controller (FLC) in order to control nonlinear industrial processes. The learning of the FLC is performed from controller input/output data and by a hierarchical genetic algorithm (HGA). The algorithm is composed by a five level structure, where the first level is responsible for the selection of an adequate set of input variables. The second level considers the encoding of the membership functions. The individual rules are defined on the third level. The set of rules are obtained on the fourth level, and finally, the fifth level, selects the elements of the previous levels, as well as, the t-norm operator, inference engine and defuzzifier methods which constitute the FLC. To demonstrate and validate the effectiveness of the proposed algorithm, it is applied to control a simulated water tank level process.

关键词： Fuzzy systems Input variables Genetic algorithms Process control Encoding Delay Genetics

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A comparison of adaptive PID methodologies controlling a DC motor with a varying load

A comparison of adaptive PID methodologies controlling a DC ...

引用

International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Luís Osório Jérôme Mendes Rui Araújo Tiago Matias Institute for Systems and Robotics (ISR-UC) and Department of Electrical and Computer Engineering (DEEC-UC) University of Coimbra Coimbra Portugal

This work addresses the problem of controlling unknown and time varying plants for industrial applications. To deal with such problem several Self-Tuning Controllers with a Proportional Integral and Derivative (PID) structure have been chosen. The selected controllers are based on different methodologies, and some use implicit identification techniques (Single Neuron and Support Vector Machine) while the others use explicit identification (Dahlin, Pole placement, Deadbeat and Ziegler-Nichols) based in the Least Squares Method. The controllers were tested on a real DC motor with a varying load. The results have shown that all the tested methods were able to properly control an unknown plant with varying dynamics.

关键词： Vectors DC motors Support vector machines Heuristic algorithms Neurons Process control Adaptation models

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Data fusion for compliant motion tasks based on human skills

Data fusion for compliant motion tasks based on human skills

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： R. Cortesao R. Koeppe U. Nunes G. Hirzinger Electrical and Computer Engineering Department Institute of Systems and Robotics (ISR) University of Coimbra Coimbra Portugal Institute of Robotics and Mechatronics German Aerospace Center Germany

The paper discusses new developments of the data fusion paradigm due to Cortesao and Koeppe (1999, 2000). A bank of Kalman filters is analyzed in the fusion process. Experiments for a robotic compliant motion task (peg-in-hole) emerged from human skills are reported. Stereo vision and pose sense are fused to execute the task. Feedforward artificial neural networks (ANNs) are trained to transfer human skills to robotic manipulators.

关键词： Humans Sensor phenomena and characterization Stochastic resonance Robot sensing systems State estimation Information filtering Information filters Aerospace engineering Mechatronics Stereo vision

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An online variable selection method using recursive least squares

An online variable selection method using recursive least sq...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Francisco Souza Rui Araújo Institute of Systems and Robotics (ISR-UC) Department of Electrical and Computer Engineering (DEEC-UC) University of Coimbra Coimbra Portugal

This paper proposes a method for online variable selection and model learning (AdaFSML-RLS) to be applied in industrial applications in the context of adaptive soft sensors. In the proposed method the model learning is made online and recursivelly, i.e it is not necessary to store the past values of data while learning the model. Furthermore, the proposed method has the capability of tracking the real time correlation coefficient between each variable and the target, allowing the knowledge about the importance of variables over the time. Moreover, in this method is not necessary to have any knowledge about the process or variables. The method was sucessfully applied in two datasets, an artificial dataset and in a real-world dataset.

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Multi-contact compliant motion control for robotic manipulators

Multi-contact compliant motion control for robotic manipulat...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Jaeheung Park R. Cortesao O. Khatib Robotics Group University of Stanford CA USA Electrical and Computer Engineering Department Institute of Systems and Robotics (ISR) University of Coimbra Coimbra Portugal

The paper describes the formulation of multi-contact compliant motion control. It extends our previous work to non-rigid environments. The contact forces are controlled through active observers (AOB), based on the Kalman filter theory. Noise characteristics enter in the control design and are estimated on-line. Experimental results are provided.

关键词： Motion control Robots Manipulators Force control Matrix decomposition Orbital robotics Contacts Working environment noise Control design Robotic assembly

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Adaptive predictive control with recurrent fuzzy neural network for industrial processes

Adaptive predictive control with recurrent fuzzy neural netw...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Jérôme Mendes Nuno Sousa Rui Araújo Institute of Systems and Robotics (ISR-UC) and Department of Electrical and Computer Engineering (DEEC-UC) University of Coimbra Coimbra Portugal

The paper proposes an adaptive fuzzy predictive control method. The proposed controller is based on the Generalized predictive control (GPC) algorithm, and a recurrent fuzzy neural network (RFNN) is used to approximate the unknown nonlinear plant. To provide good accuracy in identification of unknown model parameters, an online adaptive law is proposed to adapt the consequent part of the RFNN, and its antecedent part is adapted by back-propagation method. The stability of closed-loop control system is studied and proved via the Lyapunov stability theory. A nonlinear lab oratory-scale liquid-level process is used to validate and demonstrate the performance of the proposed control. The simulation results show that the proposed method has good performance and disturbance rejection capacity in industrial processes and outperforms the PID and the classical GPC controllers.

关键词： Adaptation models Predictive models Predictive control Fuzzy control Mathematical model Fuzzy neural networks Equations

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An analysis of sampling effect on bilateral teleoperation system transparency 34

An analysis of sampling effect on bilateral teleoperation sy...

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34th Chinese Control Conference, CCC 2015

作者： Ting, Yang Fu, Yi Li Tavakoi, Mahdi State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin Heilongjiang China Department of Electrical and Computer Engineering University of Alberta EdmontonAB Canada

ISBN: (纸本)9789881563897

The performances of continuous-time controlled and discrete-time controlled bilateral teleoperation systems are mathematically and experimentally studied and compared. The results show that under stability conditions, continuous-time controlled teleoperation systems have hybrid matrix parameters that are closer to their ideal values than their discrete-time controlled counterparts. This means better force tracking and position tracking performance under continuous-time control, which can lead to better task performance. © 2015 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Bilateral teleoperation continuous-time control discrete-time control hybrid parameters system performance

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Influence of slot geometry on air gap magnetic flux density of rotating machines 16

Influence of slot geometry on air gap magnetic flux density ...

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16th International Conference on Environment and electrical engineering, EEEIC 2016

作者： De Lima, Rodrigo Alves Coimbra, A. C. Paulo Almeida, Tony Gomes, Viviane Margarida Pereira, Thiago Martins Alves, Aylton Jose Calixto, Wesley Pacheco Program in Electronic Systems and Automation PGEA Department of Electrical Engineering ENE University of Brasilia UnB Brazil Institute of Systems and Robotics ISR University of Coimbra UC Portugal Experimental and Technological Research and Study Group NExT Federal Institute of Goias IFG Brazil

ISBN: (纸本)9781509023196

The objective of this work is to investigate the influence of slotted air gap constructive parameters on magnetic flux density of rotating machines. For this purpose, different approaches were used to solve the air gap field diagram using finite element method and the magnetic field distribution uniformity was evaluated by Carter's factor calculation. Sensitivity analysis of slot constructive parameters was performed and results show that slot geometry modifies the magnetic flux on air gap and shifts the air gap magnetic equipotential midline of double slotted machines. © 2016 IEEE.

关键词： Finite element method

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