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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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Output feedback decoupling of neutral time delay systems

Output feedback decoupling of neutral time delay systems

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Mediterranean Conference on control and Automation (MED)

作者： G. E. Panagiotakis F. N. Koumboulis P. N. Paraskevopoulos Department of Automation Halkis Institute of Technology Psachna Greece Division of Signals Control and Robotics Department of Electrical and Computer Engineering National and Technical University of Athens Athens Greece

The problem of Input Output Decoupling is studied for the case of general neutral multi-delay systems, via proportional realizable output feedback. Using a pure algebraic approach, the necessary and sufficient conditions for the problem to have a realizable solution are established and the general analytical expressions of the proportional realizable controller matrices, are derived.

关键词： Output feedback Delay effects control systems Laplace equations robotics and automation Proportional control Polynomials Matrices Automatic control Robot control

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Model matching of SISO neutral time delay systems via output feedback

Model matching of SISO neutral time delay systems via output...

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Mediterranean Conference on control and Automation (MED)

作者： F. N. Koumboulis N. D. Kouvakas P. N. Paraskevopoulos Department of Automation Halkis Institute of Technology Chalkis Greece Division of Signals Control and Robotics Department of Electrical and Computer Engineering National and Technical University of Athens Athens Greece

The necessary and sufficient conditions for the solvability of the exact model matching problem for general neutral single input-single output multi-delay systems, via a realizable dynamic output feedback and a realizable dynamic precompensator, are established. The general class of the realizable dynamic controllers solving the problem is analytically determined. The results are successfully applied to the model of a cascade connection of two mixers as well as a numerical example.

关键词： Delay effects Output feedback Delay systems robotics and automation Sufficient conditions Automatic control Robot control Proportional control control systems

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Generalized Algebraic Deadlock Avoidance Policies for Sequential Resource Allocation Systems

Generalized Algebraic Deadlock Avoidance Policies for Sequen...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Spyros Reveliotis Elzbieta Roszkowska Jin Young Choi Georgia Institute of Technology School of Industrial and Systems Engineering USA Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Poland Digital Communications Infra Division Samsung Networks Inc. South Korea

Currently, one of the most actively researched approaches regarding the design of deadlock avoidance policies for sequential resource allocation systems is based on concepts and techniques provided by the, so called, theory of regions, that addresses the broader problem of synthesizing PN models with pre-specified behaviors. However, one limitation of the theory of regions and its aforementioned derivatives is that they cannot be applied when the target behavior has a non-convex representation in the underlying state space. In this paper, we show how this problem can be circumvented by appropriately generalizing the employed class of the candidate policies.

关键词： System recovery Resource management Digital audio players State-space methods Space technology Polynomials robotics and automation Discrete event systems Automata Petri nets

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Correctness Verification of Generalized Algebraic Deadlock Avoidance Policies through Mathematical Programming

Correctness Verification of Generalized Algebraic Deadlock A...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Spyros Reveliotis Elzbieta Roszkowska Jin Young Choi School of Industrial & Systems Engineering Georgia Institute of Technology USA Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Poland Digital Communications Infra Division Samsung Networks Inc. South Korea

Generalized algebraic deadlock avoidance policies (DAPs) for sequential resource allocation systems (RAS) have recently been proposed as an interesting extension of the class of algebraic DAPs, that maintains the analytical representation and computational simplicity of the latter, while it guarantees completeness with respect to the maximally permissive DAP. The original work of S. Reveliotis, et al., (2007) that introduced these policies also provided a design methodology for them, but this methodology is limited by the fact that it necessitates the deployment of the entire state space of the considered RAS. Hence, this paper seeks the development of alternative computational tools that can support the synthesis of correct generalized algebraic DAPs while controlling the underlying computational complexity. From a conceptual standpoint, the presented results are motivated by and extend similar past results for the synthesis of correct algebraic DAPs. However, when viewed from a more technical standpoint, the presented developments are complicated by the fact that generalized algebraic DAPs do not admit a convenient representation in the Petri net (PN) modeling framework, that has been the primary vehicle for the aforementioned past developments, and therefore, the relevant analysis must be pursued in an alternative, automaton-based representation of the RAS behavior and the applied policy logic. We believe that this translation of the past results in this new representational framework is a significant contribution in itself, since it enables a more profound understanding of the past developments, and at the same time, it renders them more accessible to the practitioner.

关键词： System recovery Mathematical programming Digital audio players Design methodology Resource management Automation USA Councils State-space methods Computational complexity Vehicles

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Neural network feedforward control for mechanical systems with external disturbances

Neural network feedforward control for mechanical systems wi...

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Proceedings of the 46th IEEE Conference on Decision and control, Pages 2301-2758

作者： Xuemei Ren Frank L Lewis Shuzhi Sam Ge Jingliang Zhang Department of Automatic Control Beijing Institute of Technology Beijing China Automation and Robotics Research Institute University of Texas Arlington Fort worth TX USA Department of Electrical and Computer Engineering National University of Singapore Singapore ASTAR Data Storage Institute Singapore

ISBN: (纸本)9781424414970;1424414970

In this paper, a novel feedforward control based on accelerometer measurements is proposed for mechanical systems with external disturbances. The control scheme includes a feedback controller and a neural network feedforward compensator. The feedback controller is employed to guarantee the stability of the mechanical systems, while the neural network is used to provide the required feedforward compensation input for trajectory tracking with the help of a sensor to detect external vibrations. Dynamics knowledge of the plant, disturbances and the sensor is not required. The stability of the proposed scheme is analyzed by the Lyapunov criterion. Simulation results show that the proposed controller performs well for a hard disk drive system and a two-link manipulator.

关键词： Mechanical systems external disturbance feedback controller FEEDFORWARD control disk drive system Neural network Sensors trajectory tracking

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Stable grasp of a 2D rigid object through rolling with soft fingers

Stable grasp of a 2D rigid object through rolling with soft ...

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IEEE International Conference on robotics and Biomimetics

作者： Morio Yoshida Suguru Arimoto Ji-Hun Bae Zhi-Wei Luo Bio-Mimetic Control Research Center RIKEN Nagoya Aichi Japan Pohang Institute of Intelligent Robotics PIRO Nam Gyeongbuk South Korea Department of Computer and Systems Engineering Kobe University Kobe Hyogo Japan

ISBN: (纸本)9781424417612;1424417619

This paper first proposes a testbed problem of control for dynamic grasp or immobilization of a 2D rigid object for the sake of gaining a physical insight into stable grasp of an object by soft fingers. Such a problem may play a principal role in understanding the methodology of sensory feedback stabilization similarly to the role of "inverted pendulum on a cart" problems in stabilization and control of mechanical systems. Second a class of coordinated control signals is proposed and shown to be effective for realizing stable grasp of a 2D rigid object in a blind manner without using the knowledge of object kinematics or external sensings. It is shown that rolling contact constraints around the centers of contact areas between soft finger-tips and object surfaces treated as nonholonomic constraints play an essential role in stabilization of a dynamic grasp with force/torque balance.

关键词： Fingers Robot kinematics Torque Testing Feedback control systems Mechanical systems Robot sensing systems Intelligent robots Biomimetics

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Sensor Property of a Novel EAP Device with Ionic-liquid-based Bucky Gel

Sensor Property of a Novel EAP Device with Ionic-liquid-base...

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IEEE SENSORS

作者： Norihiro Kamamichi Masaki Yamakita Kinji Asaka Zhi-Wei Luo Toshiharu Mukai Bio-Mimetic Control Research Center RIKEN Nagoya Japan Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan Research Institute of Cell Engineering AIST Osaka Japan Department of Computer and Systems Engineering Kobe University Kobe Japan

Bucky gel actuator is a novel electro-active polymer (EAP), which is a low-voltage driven dry soft actuator. Its device has a bimorph structure with polymer-supported bucky gel electrodes and a polymer-supported ionic gel electrolyte. It can be fabricated by layer-by-layer casting, to form any shape easily. Some of the EAP materials can be used as a sensor as well as an actuator. If sensor function and actuator function exist in a same device, both function can be integrated with keeping the advantages of functional polymeric material. Miniature actuator-sensor systems and feedback control systems can be constructed; therefore, possibility of application can be expanded. In this paper, we verify the sensor device property of bucky gel devices. Based on the experiment, the relationship between an output signal and a deformation is investigated, and an estimation method of a deformation is demonstrated.

关键词： Actuators Carbon nanotubes Liquids Polymer gels Electrodes Sensor systems and applications Mechanical factors Design engineering Feedback control Conducting materials

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LANDING AN UNMANNED AIR VEHICLE: VISION BASED MOTION ESTIMATION AND NONLINEAR control

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Asian Journal of control 2008年第3期1卷

作者： Omid Shakernia Yi Ma T. John Koo Shankar Sastry Dept. of Electrical Engineering & Computer Science University of California at Berkeley Berkeley CA94720-1774 U.S.A. Tak-Kuen John Koo received the B.Eng. degree in 1992 in Electronic Engineering and the M.Phil. in 1994 in Information Engineering both from the Chinese University of Hong Kong. From 1994 to 1995 he was a graduate student in Signal and Image Processing Institute at the University of Southern California. He is currently a Ph.D. Candidate in Electrical Engineering and Computer Sciences at the University of California at Berkeley. His research interests include nonlinear control theory hybrid systems inertial navigation systems with applications to unmanned aerial vehicles. He received the Distinguished M.Phil. Thesis Award of the Faculty of Engineering The Chinese University of Hong Kong in 1994. He was a consultant of SRI International in 1998. Currently he is the team leader of the Berkeley AeRobot Team and a delegate of The Graduate Assembly University of California at Berkeley. He is a student member of IEEE and SIAM. S. Shankar Sastry received his Ph.D. degree in 1981 from the University of California Berkeley. He was on the faculty of MIT from 1980-82 and Harvard University as a Gordon McKay professor in 1994. He is currently a Professor of Electrical Engineering and Computer Sciences and Bioengineering and Director of the Electronics Research Laboratory at Berkeley. He has held visiting appointments at the Australian National University Canberra the University of Rome Scuola Normale and University of Pisa the CNRS laboratory LAAS in Toulouse (poste rouge) and as a Vinton Hayes Visiting fellow at the Center for Intelligent Control Systems at MIT. His areas of research are nonlinear and adaptive control robotic telesurgery control of hybrid systems and biological motor control. He is a coauthor (with M. Bodson) of “Adaptive Control: Stability Convergence and Robustness Prentice Hall 1989.” and (with R. Murray and Z. Li) of “A Mathematical Introduction to Robotic Manipulati

In this paper, we use computer vision as a feedback sensor in a control loop for landing an unmanned air vehicle (UAV) on a landing pad. The vision problem we address here is then a special case of the classic ego-motion estimation problem since all feature points lie on a planar surface (the landing pad). We study together the discrete and differential versions of the ego-motion estimation, in order to obtain both position and velocity of the UAV relative to the landing pad. After briefly reviewing existing algorithm for the discrete case, we present, in a unified geometric framework, a new estimation scheme for solving the differential case. We further show how the obtained algorithms enable the vision sensor to be placed in the feedback loop as a state observer for landing control. These algorithms are linear, numerically robust, and computationally inexpensive hence suitable for real-time implementation. We present a thorough performance evaluation of the motion estimation algorithms under varying levels of image measurement noise, altitudes of the camera above the landing pad, and different camera motions relative to the landing pad. A landing controller is then designed for a full dynamic model of the UAV. Using geometric nonlinear control theory, the dynamics of the UAV are decoupled into an inner system and outer system. The proposed control scheme is then based on the differential flatness of the outer system. For the overall closed-loop system, conditions are provided under which exponential stability can be guaranteed. In the closed-loop system, the controller is tightly coupled with the vision based state estimation and the only auxiliary sensor are accelerometers for measuring acceleration of the UAV. Finally, we show through simulation results that the designed vision-in-the-loop controller generates stable landing maneuvers even for large levels of image measurement noise. Experiments on a real UAV will be presented in future work.

关键词： Motion estimation computer vision based control unmanned air vehicle differential flatness

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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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