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Building hybrid observers for complex dynamic systems using model abstractions 1

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2nd International Workshop on Hybrid systems: Computation and Control, HSCC 1999

作者： Mosterman, Pieter J. Biswas, Gautam Institute of Robotics and System Dynamics DLR Oberpfaffenhofen P.O. Box 1116 WesslingD-82230 Germany Knowledge Systems Laboratory Department of Computer Science Stanford University StanfordCA94305 United States Department of Computer Science Vanderbilt University NashvilleTN United States

ISBN: (数字)9783540489832

ISBN: (纸本)3540657347

Controllers for embedded dynamic systems require models with continuous behavior evolution and discrete configuration changes. These changes may cause fast continuous transients in state variables. Time scale and parameter abstractions simplify the analysis of these transients, causing discontinuities in the state variables. The two abstraction types have a very different impact on the analysis of system behavior. We have developed a systematic modeling approach that introduces formal semantics for behavior generation. This paper discusses the implementation of this scheme in a hybrid observer designed to track embedded system behavior. The resultant observer is based on piecewise simpler continuous models with mode transitions defined between them. Actual mode transitions in the system are provided by a digital controller and directly obtained from measuring physical variables. © Springer-Verlag Berlin Heidelberg 1999.

关键词： Embedded systems

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Fuzzy logic and intelligent agents

Fuzzy logic and intelligent agents

引用

IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： J. Yen M.S. El-Nasr T.R. Ioerger Center for Fuzzy Logic Robotics and Intelligent Systems Department of Computer Science Texas A and M University College Station TX USA

intelligent agents are software modules that can interact with its external environment in an autonomous fashion to achieve its goals. Fuzzy logic can play a major role in an intelligent agent for reasoning about the dynamic environment. FLAME (fuzzy logic adaptive model of emotions) is a new computational model of emotions that can be incorporated into intelligent agents and other complex, interactive programs.

关键词： Fuzzy logic intelligent agent Fires Control systems Decision making intelligent robots Space technology Space exploration Humans Artificial intelligence

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Disassembly sequencing and assembly sequence verification using force flow networks

Disassembly sequencing and assembly sequence verification us...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： S. Lee H. Moradi Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA Department of Computer Science-EE Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

The design of an assembly line for a mechanical assembly has to satisfy all the geometrical and the physical constraints presented in the assembly such as blocking relation and contact forces. Given a desired final assembly, determining an appropriate assembly sequence which satisfies not only the blocking constraints but also the force constraints needs a proper model to directly provide the information needed to reason about assembly. We introduce a representation, the directional force graph, which explicitly describes how parts interact in the assembly. This representation is used to determine disassemblable parts that are naturally broken apart from an assembly by a decomposition force. A decomposition force is an external force applied to a held part(s) against a fixture part(s). The proposed approach provides a mechanism to explicitly incorporate the real-world constraints of assembly directions, fixturing, and tooling requirements into planning. We describe a complete planning algorithm and report the results.

关键词： Robotic assembly Design automation Motion planning intelligent robots Fixtures Product design Manufacturing Manuals Production facilities Design methodology

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Dynamic process initial conditions in repetitive processes. Controllability and stability analysis

Dynamic process initial conditions in repetitive processes. ...

引用

1999 Information, Decision and Control, IDC 1999

作者： Galkowski, K. Rogers, E. Gramacki, A. Gramacki, J. Owens, D.H. Technical University of Zielona Gora Institute of Robotics and Software Engineering Zielona Gora Poland University of Southampton Image Speech and Intelligent Systems Research Group Department of Electronics and Computer Science SouthamptonSO17 lBJ United Kingdom University of Exeter Centre for Systems and Control Engineering School of Engineering ExeterEX4 4QF United Kingdom

ISBN: (纸本)0780352564

Repetitive, or multipass, processes are a class of 2D systems of both practical and algorithmic/theoretical interest whose dynamics cannot be analysed or controlled using standard (1D) systems theory. Recently it has been shown that the modelling of the boundary conditions, also known as the process initial conditions, is a crucial feature in the analysis and control of these processes. This paper presents some further results on the effects of so-called 'dynamic' process initial conditions on the controllability and stability properties of discrete linear repetitive processes. Previous work has shown that these dynamic process initial conditions alone can destroy the stability properties of these processes. Hence their effects must be 'adequately' accounted for the process modelling stage in order to ensure that subsequent analysis does not lead to incorrect results/conclusions. The main results developed in this paper can be summarised as follows. (i) Computationally efficient stability tests which can, in effect, be applied using standard, or 1D, linear systems tests. (ii) Characterisation of so-called pass controllability in the form of matrix rank based conditions. (iii) Conditions under which the dynamic process initial conditions can be selected to ensure stability and pass controllability. © 1999 IEEE.

关键词： Controllability

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Robust localization using relative and absolute position estimates

Robust localization using relative and absolute position est...

引用

IEEE International Workshop on intelligent Robots and systems (IROS)

作者： P. Goel S.I. Roumeliotis G.S. Sukhatme Department of Computer Science Institute of Robotics and Intelligent Systems University of Southern California Los Angeles CA USA University of Southern California Los Angeles CA US

A low cost strategy based on well calibrated odometry is presented for localizing mobile robots. The paper describes a two-step process for correction of 'systematic errors' in encoder measurements followed by fusion of the calibrated odometry with a gyroscope and GPS resulting in a robust localization scheme. A Kalman filter operating on data from the sensors is used for estimating position and orientation of the robot. Experimental results are presented that show an improvement of at least one order of magnitude in accuracy compared to the un-calibrated, un-filtered case. Our method is systematic, simple and yields very good results. We show that this strategy proves useful when the robot is using GPS to localize itself as well as when GPS becomes unavailable for some time. As a result robot can move in and out of enclosed spaces, such as buildings, while keeping track of its position on the fly.

关键词： Robustness Mobile robots Global Positioning System Robot sensing systems intelligent robots Error correction Gyroscopes Orbital robotics Navigation Robot localization

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Smoother based 3D attitude estimation for mobile robot localization

Smoother based 3D attitude estimation for mobile robot local...

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IEEE International Conference on robotics and Automation (ICRA)

作者： S.I. Roumeliotis G.S. Sukhatme G.A. Bekey Department of Electrical Engineering University of Southern California Los Angeles CA USA Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

The mobile robot localization problem is decomposed into two stages; attitude estimation followed by position estimation. The innovation of our method is the use of a smoother, in the attitude estimation loop that outperforms other Kalman filter based techniques in estimate accuracy. The smoother exploits the special nature of the data fused; high frequency inertial sensor (gyroscope) data and low frequency absolute orientation data (from a compass or sun sensor). Two Kalman filters form the smoother. During each time interval one of them propagates the attitude estimate forward in time until it is updated by an absolute orientation sensor. At this time, the second filter propagates the recently renewed estimate back in time. The smoother optimally exploits the limited observability of the system by combining the outcome of the two filters. The system model uses gyro modeling which relies on integrating the kinematic equations to propagate the attitude estimates and obviates the need for complex dynamic modeling. The indirect (error state) form of the Kalman filter is developed for both parts of the smoother. The proposed approach is independent of the robot structure and the morphology of the ground. It can easily be transferred to another robot which has an equivalent set of sensors. Quaternions are used for the 3D attitude representation mainly for practical reasons discussed in the paper. Proposed innovative algorithm is tested in simulation and the overall improvement in position estimation is demonstrated.

关键词： Mobile robots Frequency Sensor fusion Filters Robot sensing systems Technological innovation Gyroscopes Sun Observability Kinematics

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Audio scene analysis and scene change detection in the MPEG compressed domain

Audio scene analysis and scene change detection in the MPEG ...

引用

IEEE Workshop on Multimedia Signal Processing

作者： S. Venugopal K.R. Ramakrishnan S.H. Srinivas N. Balakrishnan Department E. E. Indian Institute of Science Bangalore India Institute of Robotics and Intelligent Systems Bangalore India SERC IISc Bangalore India

The use of audio to retrieve and index the associated video is a relatively new approach. In this paper the focus is on MPEG video. For indexing and retrieval one needs to segment the audio stream associated with the video in terms of gender, speech, music and the speaker. This is called "audio scene" analysis. The paper discusses techniques for such analysis in the MPEG audio compressed domain.

关键词： Image analysis Layout Transform coding Streaming media Video compression Indexing Speech Music information retrieval Data mining Decoding

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A comparison of part of speech taggers in the task of changing to a new domain

A comparison of part of speech taggers in the task of changi...

引用

International Conference on Information Intelligence and systems

作者： L. Boggess J.S. Hamaker R. Duncan L. Klimek Yufeng Wu Yu Zeng KUDZU Laboratory for Applied Intelligent Systems Research Department of Computer Science Mississippi State University USA ISIP (Institute for Signal and Information Processing) College of Engineering Mississippi State University USA Laboratory for Applied Intelligent Systems Research Department of Computer Science Mississippi State University USA

Part-of-speech tagging in real-world applications is performed on text in domains which are different from the publicly available large training data sets. The two most successful part-of-speech taggers are trained on the Wall Street Journal corpus, a corpus of millions of words. We compare their performance on a test set from a different domain-astronomy-from documents that are available on the World Wide Web. The Maximum Entropy Part of Speech Tagger (MXPOST) and the Transformation-Based Learning Tagger are well-known and widely used in language research and development systems. The two taggers were tested in several modes: (1) after training on the Wall Street Journal corpus only, (2) after training on only a small body of text from our astronomy domain, (3) with and without an auxiliary lexicon derived from many astronomy-related Web documents, and (4) after incremental training-that is, having been trained on the Wall Street Journal, with additional training from the specific domain. One conclusion from the experiment is that different taggers exhibit different biases when trained on the same data.

关键词： Speech Tagging Laboratories Testing Natural languages Electrical capacitance tomography Entropy Natural language processing Data mining Research and development

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A measure of linguistic specificity

A measure of linguistic specificity

引用

IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： C.D. Butler J. Yen Corps of Engineers Engineers Research and Development Center Vicksburg MS USA Center for Fuzzy Logic Robotics and Intelligent Systems Department of Computer Science Texas A and M University College Station TX USA

Understanding the level of uncertainty associated with a prediction is valuable in determining its utility in decision making. One measure of information is Yager's notion of specificity. Yager views specificity as the degree to which a possibility distribution points to a single element in the universe of discourse (U). Specificity in relation to U may complicate its utility in the optimization of fuzzy models in their linguistic space. An increase in granularity is useful to measure the amount of information contained in a possibility distribution in relation to fuzzy sets as opposed to U. This abstracted view of specificity motivates the need for a more generalized version of specificity, denoted linguistic specificity (Sp/sub 1/), where alternatives are measured in relation to the linguistic terms. Such a generalization is useful in support of automating decisions in a fuzzy domain. Results of the linguistic specificity measure are illustrated using an automobile fuel consumption example.

关键词： Entropy Decision making Probability distribution Fuzzy sets intelligent robots Research and development Fuzzy logic Orbital robotics robotics and automation intelligent systems

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Kinematic modeling of a high mobility Mars rover

Kinematic modeling of a high mobility Mars rover

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M. Tarokh G. McDermott S. Hayati J. Hung Robotics & Intelligent Systems Laboratory Department of Mathematical & Computer Sciences San Diego State University San Diego CA USA Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA

The paper describes a method for kinematic modeling of the Rocky 7 Mars rover. The model is derived for full six degree of freedom motions enabling movements in x,y,z directions, as well as pitch, roll and yaw rotations. Forward kinematic equations are derived using wheel Jacobian matrices. The individual matrices are then combined to form the composite equation for the rover. This equation is solved to obtain the rover position and heading in terms of measured wheel velocities and certain rocker joint angles. The inverse kinematics is derived relating the individual wheel velocities and steering angles to the desired forward velocity and turning rate of the rover. Due to the special kinematic configuration of Rocky 7, a geometric approach is developed to determine the steering angles.

关键词： Kinematics Mars Wheels Jacobian matrices Laboratories Equations intelligent robots Propulsion Turning Mobile robots

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