检索结果-内蒙古大学图书馆

Trajectory Tracking Controllers for AUVS: An Integrated Approach to Guidance and Control System Design

IFAC Proceedings Volumes 1996年第1期29卷 8041-8046页

作者： C. Silvestre A. Pascoal I. Kaminer E. Hallberg Institute for Systems and Robotics and Department of Electrical Engineering Institute Superior Técnico Av. Rovisco Pais 1096 Lisboa Codex Portugal Department of Aeronautics and Astronautics Naval Postgraduate School Monterey California 93943 USA

This paper describes a solution to the problem of 3-D trajectory tracking for Autonomous Underwater Vehicles (AUVs). The trajectories considered consist of segments of trimming helices, which are parameterized by the vehicle's linear speed, yaw rate and flight path angle. Motivated by recent developments in robotics, the linear position of an AUV is given in terms of its location with respect to the closest point on a desired trajectory, together with the length of an imaginary curve traced along that trajectory. Tracking of a trimming trajectory by the vehicle at a fixed speed is then converted into the problem of driving a generalized error vector - that implicitly includes the distance to the trajectory - to zero. By showing that the linearization of the generalized error dynamics about trimming trajectories is time-invariant, the problem of trajectory tracking is posed and solved in the framework of gain scheduled control theory. This leads to a new method for the integrated design of guidance and control systems for AUVs.

关键词： Autonomous vehicles Tracking systems Guidance H-infinity Control

来源：评论

学校读者我要写书评

暂无评论

Application of feature-based multi-view servoing for lamp filament alignment

Application of feature-based multi-view servoing for lamp fi...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： R. Joshi A.C. Sanderson NYS Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

This paper presents an application of feature-based visual servoing to achieve accurate and robust 3D filament alignment. Two orthogonal cameras are used to localize the five degrees of freedom of an axi-symmetric filament. An algorithm for precisely estimating the center and orientation features of a filament in a camera view is described. The use of feature-based servoing overcomes the difficulty of 3D camera calibration in a factory environment. These features drive a PID control loop for each view. The two views are coupled in one degree of freedom, and the multiple-view controller switches between two single-view controllers to achieve 3D servoing. The overall accuracy achieved is in thousandths of an inch. Experimental results on the performance of the control algorithm are discussed. Models explaining the system behavior are presented. The use of visual servoing in this application far exceeds the positioning accuracy and the repeatability of human operators.

关键词： Lamps Cameras Visual servoing robotics and automation Manufacturing automation Robot vision systems Robustness Application software Computer aided manufacturing Calibration

来源：评论

学校读者我要写书评

暂无评论

Real-time robot motion control with circulatory fields

Real-time robot motion control with circulatory fields

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： L. Singh H. Stephanou J. Wen NYS Center for Advanced Technology in Robotics Automation and Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper introduces a new feedback algorithm for steering a point robot through an obstacle field. The key innovation is the use of a circulatory field to rotate the robot path around the obstacles instead of the common potential field which repels the robot. This idea is motivated by a charged particle in a magnetic field generated by a current flowing around the obstacle. In constrast, the potential field approach is associated with a repulsive static electric field generated by charges of the same polarity as the robot, on the obstacle. The circulatory field does not generate any spurious local minimum as it does not change the total energy of the system. By combining with an attractive potential field associated with the desired destination, this method achieves global convergence while avoiding collisions with obstacles.

关键词： Robot motion Motion control Robot control robotics and automation Feedback Manufacturing automation Computer aided manufacturing Orbital robotics Electrostatics Navigation

来源：评论

学校读者我要写书评

暂无评论

Modular robotics: design and examples

Modular robotics: design and examples

引用

International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： A.C. Sanderson Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA Intellignet robotics Laboratory Institute for Information Science and Electronics University of Tsukuba Tsukuba Japan

An object-oriented modular approach to the engineering of complex robotic systems emphasizes reliability, reusability, ease of development, and user and network interfaces. This modular approach integrates many architectural principles and computational techniques which support adaptive and learning capability at the local, modular level. The TETROBOT is a modular and reconfigurable robotic system which was developed to demonstrate the reliable performance in a wide variety of task domains through reconfiguration of the same fundamental hardware and software components. Such a modular approach emphasizes the synthesis and integration of engineering modules and takes advantage of object-oriented engineering principles to design for a family of tasks. This paper provides an overview of the TETROBOT modular system and describes three modular systems in other applications domains.

关键词： Robots Hardware Robustness Humans Indium phosphide Utility programs

来源：评论

学校读者我要写书评

暂无评论

Novel active-vision-based visual-threat-cue for autonomous navigation tasks

Novel active-vision-based visual-threat-cue for autonomous n...

引用

Conference on Computer Vision and Pattern Recognition (CVPR)

作者： S.R. Kundur D. Raviv Robotics Center and Department of Electrical Engineering Florida Atlantic University Boca Raton FL USA Intelligent Systems Division National Institute for Standards and Technology Gaithersburg MD USA

This paper presents a new visual motion cue, we call the Visual Threat Cue (VTC) that provides some measure for a relative change in range as well as clearance between a 3D surface and a fixing observer in motion. The VTC corresponds to visual fields surrounding a moving observer. The fields are time-based imaginary 3-D surfaces that move with the observer. They are analogous to equi-potential fields of an electric dipole. A practical method to extract the VTC is presented. The approach is independent of the 3D surface texture and needs no optical flow information, 3D reconstruction, segmentation, feature tracking or pre-processing. This algorithm to extract the VTC was applied to several indoor as well as outdoor real images of textures, where we observed a similar behavior for most of the textures employed.

关键词： Navigation Data mining Surface texture Cameras Surface reconstruction NIST Motion measurement Image reconstruction Image segmentation Electric variables measurement

来源：评论

学校读者我要写书评

暂无评论

On-line identification of continuous time-delay systems using the genetic algorithm

引用

electrical engineering IN JAPAN 1996年第6期116卷 115-126页

作者： Hachino, T Yang, ZJ Tsuji, T Kyushu Institute of Technology Currently in the doctoral program in Electrical Engineering at Kyushu Institute of Technology. He is engaged in research on system identification. He is a member of the Institute of Systems Control and Information Engineers and the Society of Instrument and Control Engineers. Received his Dr. of Eng. degree in 1992 from Kyushu University. Since then he has been a Research Associate in the Department of Electrical Engineering Kyushu Institute of Technology. He is engaged in research mainly in system identification and related genetic algorithms neural networks wavelet analysis and control of magnetic levitation systems etc. He is a member of the Institute of Systems Control and Information Engineers Society of Instrument and Control Engineers and Robotics Society of Japan. Received his Dr. of Eng. degree in 1968 from Kyushu University. In 1968 he became a Lecturer in 1971 an Associate Professor and since 1982 a Professor in the Department of Electrical Engineering Kyushu Institute of Technology. He was Visiting Researcher at the University of Minnesota under the sponsorship of the Ministry of Education from 1986 to 1987. He is engaged in research mainly on control theory and power electronics. He is a member of the Institute of Systems Control and Information Engineers

This paper proposes a new kind of on-line identification method of continuous time-delay systems from sampled input-output data. In order to track the time-varying system parameters as well as time-delay, the recursive linear least squares (RLS) method is combined in a bootstrap manner with the genetic algorithm (GA) which has a high potential for global optimization. The time-delay is coded into binary bit strings and searched by the GA, while the system parameters are updated by the RLS method. Furthermore, this method (GALS method) is hybridized with the sequential nonlinear least squares method to improve the speed of convergence. Simulation results show that both the GALS and hybrid methods are efficient in the case that the system changes abruptly, and among them the hybrid method has superior convergence property to the GALs method and yields excellent estimation results in the case that the system changes with time continuously.

关键词： on-line identification continuous-time system time-delay system recursive least squares method sequential nonlinear least squares method genetic algorithm

来源：评论

学校读者我要写书评

暂无评论

Innovative networking concepts tested on the advanced communications technology satellite

引用

INTERNATIONAL JOURNAL OF SATELLITE COMMUNICATIONS 1996年第3期14卷 201-217页

作者： Friedman, D Gupta, S Zhang, CG Ephremides, A Ctr. Satellite Hybrid Commun. N. Institute for Systems Research University of Maryland College Park MD 20742 United States University of Illinois Chicago IL United States University of Maryland College Park MD United States University of Maryland Hughes Network Systems Natl. Technical University of Athens Princeton University Electrical Engineering Department Institute of Systems Research (ISR) NASA Ctr. Comml. Devmt. Space H. Natl. Technical University in Athens Greece EECS Department University of California Berkeley CA United States INRIA France MIT ETH Zurich Switzerland Satellite Commun. Fair-child Indust. University of Maryland IEEE

This paper describes a program of experiments conducted over the advanced communications technology satellite (ACTS) and the associated T1-VSAT (very small aperture terminal). The experiments were motivated by the commercial potential of low-cost receive-only satellite terminals that can operate in a hybrid network environment, and by the desire to demonstrate frame relay technology over satellite networks. The first experiment tested highly adaptive methods of satellite bandwidth allocation in an integrated voice-data service environment. The second involved comparison of forward error correction (FEC) and automatic-repeat-request (ARQ) methods of error control for satellite communication with emphasis on the advantage that a hybrid architecture provides, especially in the case of multicasts. Finally, the third experiment demonstrated hybrid access to databases and compared the performance of internetworking protocols for interconnecting local area networks (LANs) via satellite. A custom unit termed frame relay access switch (FRACS) was developed by COMSAT Laboratories for these experiments;the preparation and conduct of these experiments involved a total of 20 people from the University of Maryland, the University of Colorado and COMSAT Laboratories, from late 1992 until 1995.

关键词： Satellite communication systems

来源：评论

学校读者我要写书评

暂无评论

On the design and implementation of a trajectory tracking controller for a fixed wing unmanned air vehicle

On the design and implementation of a trajectory tracking co...

引用

American Control Conference (ACC)

作者： I. Kaminer E.N. Hallberg A. Pascoal C. Silvestre Department of Aeronautical and Astronautical Engineering Naval Postgraduate School Monterrey CA USA Department of Electrical Engineering and Institute for Systems and Robotics ISR Instituto Superior Technico Lisboa Portugal

This paper introduces a new methodology for integrated design of guidance and control systems for autonomous vehicles. An application of this methodology to the design of a guidance and control system for a a fixed wi... 详细信息

关键词： Trajectory Unmanned aerial vehicles Control systems Navigation Gravity Global Positioning System Contracts Equations State-space methods Design methodology

来源：评论

学校读者我要写书评

暂无评论

An integrated approach to the design and analysis of navigation, guidance and control systems for autonomous underwater vehicles

An integrated approach to the design and analysis of navigat...

引用

IEE Colloquium on Control and Guidance of Remotely Operated Vehicles

作者： D. Fryxell P. Oliveira A. Pascoal C. Silvestre Institute for Systems and Robotics and Department of Electrical Engineering Instituto Superior Technico Lisboa Portugal

This paper addresses the problem of designing guidance, navigation and control systems for Autonomous Unmanned-Underwater Vehicles (AUVs) to achieve accurate tracking of reference paths defined in a universal reference frame. The theoretical framework adopted is illustrated with a design example in which recent developments in multivariable control theory and classical results in navigation and guidance were applied to the design of a trajectory following system for the AUV MARIUS (Marine Utility Vehicle System). The key ideas in the design methodology are to clearly state performance specifications in the frequency domain and to use design tools that explicitly address these types of specifications. Thus, the natural constraint that the navigation, control and guidance systems have decreasing bandwidths, can be directly incorporated in the initial phase of the project. Analysis of the integrated system is performed using a simulation package that allows the user to assess the impact of the navigation. Guidance, and control algorithms on the dynamic behaviour of the vehicle.< >

关键词： Mobile robots Multivariable systems

来源：评论

学校读者我要写书评

暂无评论

Mission reachability for extraterrestrial rovers

Mission reachability for extraterrestrial rovers

引用

IEEE International Conference on robotics and Automation (ICRA)

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

A methodology for the mobility evaluation and mission oriented performance assessment of an autonomous mobile robot is developed. The evaluation strategy uses both time and energy based measures resulting in the development of isochronal/isoenergy contours which characterize the expected mobility of the robot over novel terrain using sample trials on patches of land prior to the mission. This work has a basis in the evaluation of a robot for extraterrestrial exploration and demonstrates the feasibility of the evaluation methodology proposed using simulations. Simulation results are reported for two designs of micro-rovers viz. legged and wheeled on a simulated Martian terrain. Future work is discussed in the context of increased complexity due to hardware implementations, better terrain models and statistical simulations all of which are currently under development.

关键词： Mobile robots Path planning Intelligent robots Context modeling Mars Testing Performance evaluation robotics and automation Computer science Intelligent systems

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：