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IEEE Conference on Decision and control

作者： Hao Ding Gunther Reissig Olaf Stursberg Institute of Control and System Theory Dept. of Electrical Engineering and Computer Science University of Kassel Germany Chair of Control Eng. (LRT-15) Dept. Aerospace Eng. University of the Federal Armed Forces Munich D-85577 Neubiberg (Munich) Germany

ISBN: (纸本)9781612848006

Path planning for robotic manipulators interacting with obstacles is considered, where an end-effector is to be driven to a goal region in minimum time, collisions are to be avoided, and kinematic and dynamic constraints are to be obeyed. The obstacles can be time-varying in their positions, but the positions should be known or estimated over the prediction horizon for planning the path. This non-convex optimization problem can be approximated by Mixed Integer Programs (MIPs), which usually leads to a large number of binary variables, and hence, to inacceptable computational time for the planning. In this paper, we present a geometric result whose application drastically reduces the number of binary decision variables in the aforementioned MIPs for 3D motion planning problems. This leads to a reduction in computational time, which is demonstrated for different scenarios.

关键词： Path planning Robot Manipulator million instructions per second Manipulators computational time Mixed integer binary decision kinematics

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Stability Analysis of Robust Multiple Model Adaptive control

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IFAC Proceedings Volumes 2011年第1期44卷 350-355页

作者： Vahid Hassani João Pedro Hespanha Michael Athans António M. Pascoal Institute for Systems and Robotics (ISR) Instituto Superior Técnico (1ST) Lisbon Portugal. Tel: (+351) 21 841 8054 Fax: (+351) 21 841 8291 Dept. of Electrical and Computer Eng. Univ. of California Santa Barbara CA 93106-9560 USA Michael Athans is also Professor of EECS (emeritus) M.I.T. USA

Abstract The Robust Multiple Model Adaptive control (RMMAC) methodology was first introduced in Fekri et al. [2006] for open-loop stable plants with parametric uncertainty and unmodeled dynamics subjected to external disturbances and measurement noise. This paper addresses the stability of RMMAC systems. We show, using concepts and analysis tools that borrow from Supervisory control, that all closed-loop signals in a RMMAC system are bounded. It is further shown that robust performance is recovered in steady state.

关键词： Robust Adaptive control Multiple Model control Supervisory control

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An autonomous navigation algorithm for UGV and its 3D graphical simulation

An autonomous navigation algorithm for UGV and its 3D graphi...

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作者： Cho, Youngwan Woo, Haemin Hyun, Changho Kim, Haijun Kim, Seungwoo Dept. of Computer Eng. Seokyeong University Seoul Korea Republic of Div. of Electrical Electronic and Control Eng. Kongju National University Kongju Korea Republic of Dept. of Electrical and Robotics Eng. Soonchunhyang University Asan Korea Republic of

ISBN: (纸本)9789604741755

This paper proposed an algorithm and 3D graphical simulation approaches for autonomous navigation of UGV(Unmanned Ground Vehicle). The autonomous navigation algorithm is proposed for the environment where the vehicle is navigating on a multi-lane road with other multiple vehicles. The algorithm for autonomous navigation is mainly focused on seeking the optimal trajectory to avoid collisions with adjacent multiple vehicles navigating on multi-lane road environment. The 3D graphical simulation model is constructed to visualize the autonomous navigation control and verify the proposed algorithm and the control system.

关键词： Ground vehicles

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Robust falling-down avoidance control for acrobat robot using switching controller

Robust falling-down avoidance control for acrobat robot usin...

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作者： Yashiro, Y. Yamakita, M. Hirano, S. Luo, Z.W. Dept. of Mechanical and Control Eng. Tokyo Institute of Technology Tokyo Japan Nagoya Japan Dept. of Computer and Systems Eng. Kobe University Kobe Japan

ISBN: (纸本)9784907764364

In this paper, we propose methods of designing systematic controller including identification to stabilize the acrobat robot with reinforcement learning algorithm. We model the final stage of the robot at falling-down as a switched system with few contact conditions. For this model, we can systematically design a SDOF controller with for an unstable LTI system whose parameters are calculated by a closed loop identification. Considering the change of the dimension of the subsystem, we add a new subsystem with a reduced dimension to the switched system. we confirm the effectiveness of these methods with experiments using a real robot system. © 2010 SICE.

关键词： controllers

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SVR sagittal balance of a biped robot controlling the torso and ankle joint angles

SVR sagittal balance of a biped robot controlling the torso ...

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IEEE International Conference on Industrial eng.neering and eng.neering Management, IEEM2010

作者： Ferreira, J.P. Crisóstomo, M.M. Coimbra, A.P. Inst. of Systems and Robotics Dept. of Electrical and Computer Eng. Univ. of Coimbra Portugal Dept. of Electrical Engmeenng Supenor Institute of Engineering of Coimbra Coimbra Portugal

ISBN: (纸本)9781424485031

关键词： Intelligent robots

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Integrated actuator-sensor system of bucky gel device

Integrated actuator-sensor system of bucky gel device

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作者： Tanaka, Kazuhiro Sugiura, Motonobu Yamakita, Masaki Kamamich, Norihiro Mukai, Toshiharu Dept. of Mechanical and Control Eng. Tokyo Institute of Technology Tokyo Japan Dept. of Robotics and Mechatronics Tokyo Denki University Tokyo Japan Nagoya Japan

ISBN: (纸本)9784907764364

Bucky gel actuator is a novel electro-active polymer(EAP), which is a low-voltage driven dry soft actuator. It exhibits a bending motion under an applied electric current and it has also ability of sensor. Since sensor and actuator functions exist in a same device, both functions can be integrated with keeping the advantages of flexibility. In this paper, we study a parallel type actuator-sensor integrated bucky gel devices. These devices have a problem of the electric interference between the actuator signal and the sensor signal. To solve the problem, we propose two solutions;one of the solutions is that we construct the sensor system which estimates the electric interference voltage and compensate the sensor output. The other solution is that the resistivity change of the bucky gel device surface is used for the sensing. The effectiveness of the methods are demonstrated by experiments. © 2010 SICE.

关键词： Actuators

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Short term load forecasting: A dynamic neural network based genetic algorithm optimization

Short term load forecasting: A dynamic neural network based ...

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IEEE International Conference on Power Electronics and Motion control

作者： Wang, Yan Ojleska, Vesna Jing, Yuanwei Gugulovska, Tatjana K. Dimirovski, Georgi M. Northeastern University and Institute of Eng. College of I. S. and E. Shenyang China SS Cyril and Methodius University Faculty of EEIT Skopje Macedonia Northeastern University College of Information Science and Engineering China Dogus University Computer Eng. and Control Eng Istanbul Turkey

ISBN: (纸本)9781424478545

The short term load forecasting plays a significant role in the management of power system supply for countries and regions, in particular in cases of insufficient electric energy for increased needs. A back-propagation artificial neural-network (BP-ANN) genetic algorithm (GA) based optimizing technique for improved accuracy of predictions short term loads is proposed. With GA's optimizing and BP-ANN's dynamic capacity, the weighted GA optimization is realized by selection, crossing and mutation operations. The performance of the proposed technique has been tested using load time-series from a real-world electrical power system. Its prediction has been compared to those of obtained by only backpropagation based neural-network techniques. Simulation results demonstrated that the here proposed technique possesses superior performance thus guarantees better forecasting. © 2010 IEEE.

关键词： Neural networks

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SVR control of the sagittal balance of a biped robot combining torso and ankle joints

SVR control of the sagittal balance of a biped robot combini...

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作者： Ferreira, João P. Crisóstomo, Manuel Coimbra, A. Paulo Inst. of Systems and Robotics Dept. of Electrical and Computer Eng. Univ. of Coimbra Portugal Dept. of Electrical Engineering Superior Institute of Engineering of Coimbra Coimbra Portugal

ISBN: (纸本)9781424496730

This paper describes the control of an autonomous biped robot that combines the use of the torso and the ankle joints movements for its sagittal balance. The innovative characteristic of this controller is the combined use of the ankle and torso joints movements to correct the Zero Moment Point (ZMP). It is used an artificial intelligence technique, the Support Vector Regression (SVR), to control the balance of the robot. The relation between torso and ankle compensations was obtained using the traditional inverted pendulum method. The use of the ankle joint for balance control implies the real time change of the designed initial gait but presents a lower angle control variation compared to the use of the torso joint which is simpler and more precise but slower and with a lower ZMP compensation range. Combining the two control methods it is possible to achieve better results. To obtain a good stable step it is very important to have a good initial legs trajectory design. With that purpose in mind human-based trajectories were used, leading to smaller control corrections of ankle and torso joints. It were tested different combinations of torso and ankle joints corrections for the balance control on flat horizontal and inclined surfaces and the results presented. In order to evaluate and compare the performance of the balance control methods of a biped robot two performance indexes are proposed.

关键词： Inverted pendulum

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Investigating epidemic diseases characterized by vertical transmission and contract: Cellular automata computational model

Investigating epidemic diseases characterized by vertical tr...

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IFAC International Workshop on "Supplemental Ways for Improving International Stability", SWIIS 2010 - Proceedings

作者： Chang, C.L. Jing, Y. Zhang, S. Stojanovski, G. Stankovski, M. Dimirovski, G. School of Information Science and Engineering Northeastern University 110004 Shenyang China Institute of ASE School FEIT SS Cyril and Methodius University Karpos II BB MK 1000 Skopje Macedonia Computer Eng. and Control Eng. Departments Dogus University TR-34722 Istanbul Turkey

ISBN: (纸本)9783902661920

A computationally and theoretically new model based on cellular automata is developed to generate descriptive emulation of epidemic disease processes, a particularly prevailing phenomenon in developing countries that may cause dramatic events. The feature phenomena of vertical transmission and contract of epidemic diseases are accounted for. Thus the proposed model captures the essence of the epidemic dynamics as demonstrated by the simulation experiments. The proposed model can serve as a background basis for developing more sophisticated models and algorithms to simulate scenario of real-world epidemics based on recorded data. © 2010 IFAC.

关键词： Cellular automata

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Generalised minimum variance control of MIMO time-varying system with multiple delays

Generalised minimum variance control of MIMO time-varying sy...

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作者： Li, Zheng.Schmid, Christian School of Electrical Computer and Telecom. Eng. University of Wollongong Wollongong NSW 2522 Australia Institute of Automation and Computer Control Ruhr-Universität Bochum D-44801 Bochum Germany

ISBN: (纸本)9789604741939

A multi-input and multi-output optimal controller for stochastic systems with time-varying dynamics is developed. The system to be controlled is described using a multi-input and multi-output time-varying autoregressive moving average model with multiple delays. The controller minimises a generalised minimum variance cost functional that is the sum of quadratic output tracking error variances and current control variables.

关键词： MIMO systems

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