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IEEE Transactions on Haptics: Editorial

IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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A CMAC-Q-Learning based Dyna agent

A CMAC-Q-Learning based Dyna agent

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SICE Annual Conference

作者： Yuan-Pao Hsu Wei-Cheng Jiang Hsin-Yi Lin Department of Computer Science and Information Engineering National Formosa University Yunlin Taiwan Robotics Control Technology Department Intelligent Robotics Technology Division Industrial Technology and Research Institute Hsinchu Taiwan

In the this paper, a CMAC-Q-learning based Dyna agent is presented to relieve the problem of learning speed in reinforcement learning, in order to achieve the goals of shortening training process and increasing the learning, speed. We combine CMAC, Q-learning, and prioritized sweeping techniques to construct the Dyna agent in which a Q-learning is trained for policy learning; meanwhile, model approximators, called CMAC-model and CMAC-R-model, are in charge of approximating the environment model. The approximated model provides the Q-learning with virtual interaction experience to further update the policy within the time gap when there is no interplay between the agent and the real environment. The Dyna agent switches seamlessly between the real environment and the virtual environment model for the objective of policy learning. A simulation for controlling a differential-drive mobile robot has been conducted to demonstrate that the proposed method can preliminarily achieve the design goal.

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Output-feedback networked control system and its stability

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Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering science) 2008年第3期42卷 378-381页

作者： Liu, Song-Hui Wu, Jun Xu, Wei-Hua Chen, Sheng State Key Laboratory of Industrial Control Technology Institute of Advanced Process Control Zhejiang University Hangzhou 310027 China Department of Chemical Engineering Hangzhou Vocational Technology College Hangzhou 310018 China School of Electronics and Computer Science University of Southampton Southampton SO17 1BJ United Kingdom

A kind of output-feedback networked control system was addressed to overcome the defect of feedback lag introduced by the network usage in the networked control system. By introducing a plant model and a buffer into this system, when feedback was available, this system could compute the control output and update the plant model with the plant output, otherwise, compute the control output based on the plant model output instead of plant output. On the condition that the plant was SISO and the error between plant and model existed, the necessary and sufficient condition for closed-loop stability of this system was derived. Simulation indicates that the range of model error within which this system is stable is easy to be derived by using this necessary and sufficient condition.

关键词： Closed loop control systems

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Fast Moving Window Algorithm for QR and Cholesky Decompositions

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IFAC Proceedings Volumes 2008年第2期41卷 10106-10111页

作者： Wuxing Liang Uwe Kruger Xun Wang Lei Xie Tim Littler School of Electronics Electrical Engineering and Computer Science Queen's University Belfast BT9 5AH U.K. Department of Electrical Engineering The Petroleum Institute P.O. Box 2533 Abu Dhabi U. A. E. Institute of Advanced Process Control Zhejiang University Hangzhou 310027 P.R. China

This paper proposes a fast moving window algorithm for QR and Cholesky decompositions by simultaneously applying data updating and downdating. The developed procedure is based on inner products and entails a similar downdating to that of the Chambers’ approach. For adding and deleting one row of data from the original matrix, a detailed analysis shows that the proposed algorithm outperforms existing ones in terms or computational efficiency, if the number of columns exceeds 7. For a large number of columns, the proposed algorithm is numerically superior compared to the traditional sequential technique.

关键词： Cholesky factorization QR decomposition adaptive algorithms update and downdate recursive algorithms

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Neural networks for disturbance and friction compensation in hard disk drives

Neural networks for disturbance and friction compensation in...

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IEEE Conference on Decision and control

作者： Chow Yin Lai Frank L. Lewis V. Venkataramanan Xuemei Ren Shuzhi Sam Ge Thomas Liew Centre for Life Sciences (CeLS) Graduate School for Integrative Sciences and Engineering (NGS) National University of Singapore Singapore Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Data Storage Institute Engineering Agency for Science Technology and Research Singapore Department of Automatic Control Beijing Institute of Technology Beijing China Department of Electrical and Computer Engineering National University of Singapore Singapore

ISBN: (纸本)9781424431236

In this paper, we show that the tracking performance of a hard disk drive actuator can be improved by using two adaptive neural networks, each of which is tailored for a specific task. The first neural network utilizes accelerometer signal to detect external vibrations, and compensates for its effect on hard disk drive position via feedforward action. In particular, no information on the plant, sensor and disturbance dynamics is needed in the design of this neural network disturbance compensator. The second neural network, designed to compensate for the pivot friction, uses a signum activation function to introduce nonlinearities inherent to pivot friction, thus reducing the neural network¿s burden of expectation. The stability of the proposed scheme is analyzed by the Lyapunov criterion. Simulation results show that the tracking performance of the hard disk drives can be improved significantly with the use of both neural networks compared to the case without compensation, or when only one of the networks is activated.

关键词： Neural networks Friction Hard disks Actuators Adaptive systems Feedforward neural networks Accelerometers Signal detection Stability analysis Stability criteria

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Cognition-oriented building blocks of future benchmark scenarios for humanoid home robots

Cognition-oriented building blocks of future benchmark scena...

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2007 AAAI Workshop

作者： Burghart, Catherina R. Mikut, Ralf Holzapfel, Hartwig Institute of Process Control and Robotics University of Karlsruhe D-76128 Karlsruhe Germany Forschungszentrum Karlsruhe GmbH Institute of Applied Computer Science P.O. Box 3640 D-76021 Karlsruhe Germany Interactive Systems Lab. University of Karlsruhe D-76128 Karlsruhe Germany

ISBN: (纸本)9781577353317

Comparing intelligent robots interacting with humans is a difficult task. First of all, robotic helps in everyday life can be involved in different tasks. Additionally, the grade of autonomy of the robot and the type of interaction between human and robot may differ to a great extent. It also is an intricate task to design common metrics to assess human-robot interaction. Thus normal benchmarks fail in this case. After an overview of already existing benchmarks in robotics this paper sketches affordances for benchmarks for human-robot interaction in a home environment. Many aspects of already existing benchmarks, evaluation criteria, and metrics have to be combined to asses human-robot interaction in a complex environment. The great difficulty is measuring human and robot behavior;here novel approaches taking into account perspectives from different fields (i.e. engineers, psychologists, sociologist) are needed, as a human being does not behave as anticipated by the system designer most of the time. Copyright © 2007, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Human robot interaction

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Multiple-Valued Logic Circuits Design Using Negative Differential Resistance Devices

Multiple-Valued Logic Circuits Design Using Negative Differe...

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International Symposium on Multiple-Valued Logic

作者： Krzysztof S. Berezowski Sarma B.K. Vrudhula The Institute of Computer Engineering Control and Robotics (CECR) Wroclaw University of Technology Wroclaw Poland Computer Science and Engineering Department Arizona State University Tempe AZ USA

In this paper, we present a novel multiple-valued logic circuit design style based on negative differential resistance (NDR) devices and the mono stable-to-multistable transition logic (MML) operating principle. We introduce an innovative topology that considerably enhances the design space of MML circuits thus providing more functionality achievable within an atomic multiple-valued circuit. The functional correctness of the design is proved by simulations.

关键词： Logic circuits Logic devices CMOS logic circuits Logic design Design engineering Circuit topology Circuit simulation CMOS technology control engineering computing Robot control

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A Study On Iterative Learning control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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Special Issue on Variable Structure System control — New Designs and Applications

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Asian Journal of control 2008年第4期5卷

作者： Prof. Jian-Xin Xu Prof. Leonid Fridman Department of Electrical and Computer Eng. National University of Singapore 4 Engineering Drive 3 Singapore 117576 Tel +65 6874-2566 Fax +65 6779-1103 Dr Jian-Xin Xu received his Bachelor degree from Zhejiang University China in 1982. He attended the University of Tokyo Japan where he received his Master's and Ph.D. degrees in 1986 and 1989 respectively. All his degrees are in Electrical Engineering. He worked for one year in the Hitachi research Laboratory Japan and for more than one year in Ohio State University U.S.A. as a Visiting Scholar. In 1991 he joined the National University of Singapore and is currently an associate professor in the Department of Electrical Engineering. His research interests lie in the fields of learning control variable structure control fuzzy logic control discontinuous signal processing and applications to motion control and process control problems. He is the associate editor of Asian Journal of Control member of TC on variable structure systems and sliding mode control of IEEE Control Systems Society and a senior member of IEEE. He has produced more than 90 peer-refereed journal papers near 160 technical papers in conference proceedings and authored/edited 4 books. Division de Estudios de Posgrado Facultad de Ingenieria National Autonomous University of Mexico DEP-FI UNAM Edificio “A” Circuito Exterior Ciudad Universitaria A. P. 70–256 C.P.04510 Mexico D.F. Mexico Tel +52 55 56223014 Fax +52 55 56161719 Dr. Leonid M. Fridman received his M.S in mathematics from Kuibyshev (Samara) State University Russia Ph.D. in Applied Mathematics from Institute of Control Science (Moscow) and Dr. of Science degrees in Control Science from Moscow State University of Mathematics and Electronics in 1976 1988 and 1998 respectively. In 1976–1999 Dr. Fridman was with the Department of Mathematics at the Samara State Architecture and Civil Engineering Academy Samara Russia. In 2000–2002 he was with the Department of Postgraduate Study and Investigations at the Chihuahu

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MODELING AND control OF ELEVATORS BY STATECHARTS

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Asian Journal of control 2008年第2期6卷

作者： Yi-Sheng Huang Sheng-Luen Chung Mu-Der Jeng Department of Aeronautical Engineering Chung Cheng Institute of Technology National Defense University Tashi Taoyuan 335 Taiwan R.O.C. Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106 Taiwan R.O.C. Department of Electrical Engineering National Taiwan Ocean University Kellung 202 Taiwan R.O.C. MuDer Jeng received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute Troy NY in 1992. Since August 1992 Dr. Jeng has been with National Taiwan Ocean University Keelung Taiwan where he is currently a full Professor at the Department of Electrical Engineering. His current research interests include Petri nets discrete event systems computer integrated manufacturing semiconductor factory automation embedded systems. Dr. Jeng is the author/co-author of over 120 book chapters journal papers and conference papers. Dr. Jeng received the Franklin V. Taylor Outstanding Paper Award from the IEEE Systems Man and Cybernetics Society in 1993. He was granted the Research Award by the National Science Council of Taiwan annually from 1994 to 2000. He is an Associate Editor for IEEE Transactions on Systems Man and Cybernetics-Part A IEEE Transactions on Robotics and Automation IEEE Transactions on Robotics and serves on the Editorial Board of International Journal of Computer Integrated Manufacturing. He has been a Guest Editor for eight leading journals. Dr. Jeng is the Chair of the Technical Committee on Discrete Event Systems of the IEEE SMC Society and the Founding Chair of the Technical Committee on Semiconductor Factory Automation of the IEEE Robotics and Automation Society. He served as the Exhibitions Chair of 2003 IEEE International Conference on Robotics and Automation and the Special Sessions Chair of 2004 IEEE International Conference on Networking Sensing and Control. He serves as a Program Co-Chair of 2005 IEEE International Conference on Networking Sensing and Control and the Organization Commit

Statechart has been utilized as a visual formalism for the modeling of complex and interactive systems for its illuminating features on describing properties of causality, concurrency, and synchronization. This paper presents the application of satechart to the modeling, design and implementation of an elevator system, whose system behavior involves aggregating complexity of state descriptions, and imposition of underlying control policy. Based on the operational flow of an elevator, we derive the associated statechart model by looking into the inherent hierarchical structure of the elevator. The advantage of the proposed approach is the clear presentation of system behavior in terms of conditions and events that cause the transitions in system dynamics. Implementation of the controlled elevator based on the modeled statechart is also presented.

关键词： Statechart interactive systems elevator

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