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Robot map building in unknown dynamic environment based on hybrid dezert-smarandache model

Information Technology Journal 2009年第3期8卷 284-292页

作者： Peng, Li Xinhan, Huang Min, Wang Intelligent Control and Robotics Laboratory Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

In this study, a new method of information fusion DSmT (Dezert-Smarandache Theory) which is extended from Bayesian Theory and Dempster-Shafer Theory (DST) is introduced to solve the problem of robot map building in an unknown dynamic environment. The grid map method is adopted and a sonar sensor mathematical model is constructed based on DSmT. Meanwhile a few of general basic belief assignment functions (gbbaf) are constructed to deal with the uncertain and imprecise, sometimes even high conflicting information obtained by sonar sensors with the application of hybrid DSm model in the system and consideration of characteristics of sonar sensors. At last, Pioneer II mobile robot is used to carry out experiments of map building. The 2D general basic belief assignment (gbba) maps are structured and then correlative 3D gbba maps are built by openGL. The comparison of created ichnography with the real map testified the validity of hybrid DSm model for fusing imprecise information and map building proposed by this research. © 2009 Asian Network for Scientific Information.

关键词： Information fusion

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Embedded autopilot for accurate waypoint navigation and trajectory tracking: Application to miniature rotorcraft UAVs

Embedded autopilot for accurate waypoint navigation and traj...

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2009 IEEE International Conference on robotics and Automation, ICRA '09

作者： Kendoul, Farid Zhenyu, Yu Nonami, Kenzo Robotics and Control Lab. Department of Electronics and Mechanical Engineering Chiba University 263-8522 Chiba City Japan State Key Laboratory of Rail Traffic Control and Safety Beijing JiaoTong University China

ISBN: (纸本)9781424427895

In this paper, we describe a miniature flight platform weighing less than 700 grams and capable of waypoint navigation, trajectory tracking, precise hovering and automatic takeoff and landing. In an effort to make advanced autonomous behaviors available to mini and micro rotorcraft a lightweight/portable and inexpensive Guidance, Navigation and control system (GN&C) was developed. To compensate for the weaknesses of the low-cost equipment, we put our efforts in obtaining a reliable model-based nonlinear controller. The GN&C system was implemented on a small four rotor helicopter which has undergone an extensive program of flight tests resulting in various flight behaviors under autonomous control from takeoff to landing. Flight test results that demonstrate the operation of the GN&C algorithms on a real MAV arepresented. © 2009 IEEE.

关键词： Navigation

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Visual servoing of an autonomous Micro Air Vehicle for ground object tracking

Visual servoing of an autonomous Micro Air Vehicle for groun...

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2009 IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Syaril Azrad Farid Kendoul Dwi Perbrianti Kenzo Nonami Robotics and Control Laboratory Department of Electronics and Mechanical Engineering Chiba University Chiba Japan

This paper describes an object tracking system using an autonomous micro air vehicle (MAV) and demonstrate its potential use for civilian purposes. The vision-based control system relies on a color and feature based vision algorithm for target detection and tracking, Kalman filters for relative pose estimation, and a nonlinear controller for MAV stabilization and guidance. The vision algorithm relies on information from a single onboard camera. An arbitrary target can be selected in real-time from the ground control station, thereby outperforming template and learning-based approaches. Experimental results obtained from outdoor flight tests, showed that the vision-control system enabled the MAV to track and hover above the target as long as the battery is available.

关键词： Visual servoing Land vehicles Remotely operated vehicles Road vehicles Mobile robots Target tracking Nonlinear control systems control systems Object detection Navigation

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Fuzzy controller for cooperative object pushing with variable line contact

Fuzzy controller for cooperative object pushing with variabl...

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International Conference on Mechatronics (ICM)

作者： Mahsa Aliakbar Golkar Sarah Taghavi Namin Hossein Aminaiee Control and Intelligent Processing Center of Excellence Robotics and AI Laboratory Department of Electrical and Computer Engineering University of Tehran Iran

Designing an appropriate cooperation protocol in multi-robot systems such as multi-robot object manipulation systems is a challenging task. In this paper designing and implementing a cooperation protocol between two robots pushing an object toward an arbitrary goal configuration is investigated. The proposed method benefits from task decoupling which simplifies the cooperation protocol design. Each robot gets its proper action from a particular fuzzy inference system independently. The fuzzy controllers outputs are low-level robot commands by which the need to a robot path planning algorithm is eliminated. Simulation results show that robots could push the object to the goal configuration cooperatively. Experiments have been conducted to approve the proposed system.

关键词： Fuzzy control Robot kinematics Protocols Fuzzy systems Electric variables control control systems Multirobot systems Path planning Inference algorithms Mobile robots

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A mathematical model for mapping EMG signal to joint torque for the human elbow joint using nonlinear regression

A mathematical model for mapping EMG signal to joint torque ...

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International Conference on Autonomous Robots and Agents, ICARA

作者： Khalil Ullah Jung-Hoon Kim Department of Electronics and Communication Engineering Intelligent Robotics Laboratory Myongji University Yongin si South Korea Department of Civil and Environmental Engineering Yonsei University Seoul South Korea

Numerous researchers have investigated the relationship between EMG and joint torque. Most of these studies use some conventional filtering (i.e. rectification followed by low pass filtering) to estimate the electromyogram (EMG) amplitude and then relate it to the joint torque. Currently some advanced pre-processing techniques (i.e. signal whitening) are also used to estimate the EMG amplitude and then relate it to joint torque. In this study we apply some pre-processing techniques like DC offset removal, noise filtering followed by rectification and then we calculate the moving average of the EMG signal. Thus we get a linear envelope (muscle activation) of the EMG signal and use that linear envelope to estimate the joint torque. To map the EMG to joint torque we propose a new mathematical model. This model has some unknown adjustable parameters, and the values of these parameters are obtained using nonlinear regression. Five subjects took part in the experiments. They were asked to perform non-fatiguing and variable force maximal voluntary contractions (MVC) and submaximal voluntary contractions (SMVC), and the resulting elbow joint torque and EMG signals were recorded. This recorded data was entered to the model, to estimate best fit values for the unknown parameters. Once these values of the parameters were obtained they were put into the model and thus joint torque was estimated. Predictions made by our model are well correlated with experimental data in both MVC and SMVC, the correlation coefficient and mean square error obtained for experimental data during MVC are 0.998 and 0.056 Nm respectively. The results of this new model were compared with other existing models and some new models and it was found that our model has greater correlation and least mean square error with experimental data. This model may be helpful in the control systems for recognition systems, robot manipulators, exoskeletons, EMG prosthesis and electric stimulators.

关键词： Mathematical model Signal mapping Electromyography Torque Humans Elbow Filtering Low pass filters Amplitude estimation Mean square error methods

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Dynamic manipulation of active objects: Modeling and optimization

Dynamic manipulation of active objects: Modeling and optimiz...

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IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： L. Makarem A. Akbarimajd M. Nili Ahmadabadi Robotics and AI Laboratory Control and Intelligent Processing Center of Exellence ECE Department University of Tehran Tehran Iran Faculty of Engineering University of Mohaghegh Ardabil Iran

In this paper the problem of dynamic manipulation of active objects by throwing is studied. Here active object means a multi-body object that can actively move its body parts. The prime reason for selecting this problem is existence of conceptual analogy between it and dynamic walking. The second reason is theoretical attraction in addition to its possible practical applications for manipulation of active objects in space or in micro scales. First the task is decomposed into three distinct phases and it is mathematically modeled. Main constraints such as requirement to hold dynamic grasp are also derived and mapped into the manipulator's configuration space. Then the task is formulated as an optimization problem and a proper cost function in the manipulator's configuration space is presented. Finally this optimization problem is solved for obtaining appropriate trajectories of manipulator's joints in addition to that of the active object. Simulation results in ADAMS verify the developed formulations.

关键词： Manipulator dynamics Legged locomotion Arm intelligent robots Leg Mechatronics Mathematical model Cost function Orbital robotics Motion control

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Estimation of the state of charge of Ni-MH battery pack based on artificial neural network

Estimation of the state of charge of Ni-MH battery pack base...

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31st International Telecommunications Energy Conference, INTELEC 2009

作者： Piao, Chang-Hao Fu, Wen-Li Jin-Wang Huang, Zhi-Yu Cho, Chongdu Key Laboratory of Network Control and Intelligent Instrument Ministry of Education Chongqing University of Posts and Communications Chongqing 400065 China Research Center of Energy Electronics College of Automation Engineering Chongqing University of Posts and Telecommunications Chongqing 400065 China Department of Mechanical Engineering INHA University of Korea Incheon 402751 Korea Republic of

ISBN: (纸本)9781424424900

To track the state of charge (SOC) of Ni-MH battery pack at the hybrid electric vehicle, an artificial neural network (ANN) is designed. Current, voltage and the previous SOC are used to inputs of ANN, and output is SOC. The result show that, this artificial neural network can track the state of charge(SOC) of the batteries accurately, in the average tracking error less than 5%;the ANN is in low dependence on the initial SOC, and the output can be achieved target value only in 90 seconds.

关键词： Neural networks

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Online statistical estimation methods for the internal resistance of nickel-hydrogen batteries

Online statistical estimation methods for the internal resis...

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31st International Telecommunications Energy Conference, INTELEC 2009

作者： Piao, Chang-Hao Gai-hui, L.E.I. Wang, Jin Cho, Chongdu Key Laboratory of Network Control and Intelligent Instrument Ministry of Education Chongqing University of Posts and Communications Chongqmg 400065 China Research Center of Energy Electronics College of Automation Engineering Chongqing University of Posts and Communications Chongqing 400065 China Department of Mechanical Engineering Inha University Incheon 402-751 Korea Republic of

ISBN: (纸本)9781424424900

Basing on the aplication of the dynamic batteries ,the on-line resistance of nickel matel hydride batteries is calculated by using a statistical method in the *** the comparision of statistics resistance and pulse resistance at different points of SOC(state of charge),the validity of the statistical method for the resistance of nickel matel hydride power battery is *** the experiment,it shows that,the statical method is successful for the on-line resistance calculation of nickel matel hydride power battery in the different *** the relative error is affected by the discretization and symmetry of the current:if the discretization or symmetry increases, the relative error reduces.

关键词： Hydrides

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control system for reactor vessel inspection manipulator

Control system for reactor vessel inspection manipulator

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IEEE Conference on control Technology and Applications (CCTA)

作者： Alan Mutka Ivica Draganjac Zdenko Kovacic Zeljko Postruzin Ranko Munk Faculty of EE&C Department of Control and Computer Engineering LARICS-Laboratory of Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia Organization of Technology Development and Application HRID Limited Zagreb Croatia

In this paper a system for control and 3D visualization of a manipulator for weld inspection of nuclear reactor vessels is described. Based on client-server TCP/IP software architecture, the presented control system enables an operator to perform the entire inspection procedure remotely over a network, avoiding exposure to dangerous radiation which is commonly present in nuclear reactor environments. The developed graphical user interface provides all necessary tools needed for planning robot scan trajectories, their verification on a virtual 3D model and execution on a remote robot. In addition, the weld inspection process can be observed in parallel on a virtual robot and reactor vessel model and on live video streams captured by two special cameras mounted on the robot.

关键词： control systems Inductors Inspection Welding Parallel robots Visualization TCPIP Software architecture Graphical user interfaces Trajectory

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Decentralized adaptive stabilization of nonlinear interconnected stochastic systems by output feedback

Decentralized adaptive stabilization of nonlinear interconne...

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International Conference on control and Automation (ICCA)

作者： Huijin Fan Li Xu The Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology China The Department of Electronics and Information Systems Akita Prefectural University Akita Japan

ISBN: (纸本)9781424447060

This paper studies the stabilization problem for a class of stochastic nonlinear interconnected systems with unknown parameters involved. By employing filtered transformation, the stochastic Lyapunov-like theorem and the back-stepping design technique, a decentralized output-feedback controller and parameter adaptive law are proposed. It is proved that the closed-loop, large-scale, interconnected stochastic systems is globally asymptotically stable in probability.

关键词： Stochastic systems Output feedback control systems Adaptive control Stochastic processes Interconnected systems Nonlinear systems Programmable control Differential equations Nonlinear control systems

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