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Active modeling based course control of Unmanned Surface Vehicles

ICIC Express Letters 2009年第3期3卷 579-584页

作者： Peng, Yan Huang, Qingjiu He, Yuqing Han, Jianda State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Nanta street 114 Shenyang 110016 China School of Mechatronics Engineering and Automation Shanghai University Shanghai 200072 China Department of Mechanical and Control Engineering Tokyo Institute of Technology 2-12-1-13-11 O-okayama Meguro-ku Tokyo 152-8552 Japan

Model uncertainties and external disturbances extensively exist in UnmannedSurface Vehicle (USV) systems, which will greatly deteriorate the autonomousability. In this paper, a, new kind, of robust controller design strategy based,on active modeling technique is proposed, to attenuate the uncertaintiespre-described, in the coarse control of USV systems. Firstly, with detailed,analysis, the uncertainties are introduced, into the new-designed, coarsedynamics model by using the concept of modeling errors;Secondly, Kalman filteris used to estimate simultaneously the modeling errors, which is subsequentlyused, to design the robust controller;Finally, the new strategy is tested withrespect to the unmanned trimaran vehicles system-Tri-0601 to show thefeasibility and validity of it. ICIC International © 2009.

关键词： Kalman filters

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Design considerations for moving and rotating fingers in robotic hand

Design considerations for moving and rotating fingers in rob...

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IEEE International Conference on automation and Logistics

作者： Minzhou Luo Giuseppe Carbone Marco Ceccarelli Center for Biomimetic Sensing and Control Research Institute of Intelligent Machine Chinese Academy and Sciences Hefei China LARM Laboratory of Robotics and Mechatronics DiMSAT-University of Cassino Cassino Italy

ISBN: (纸本)9781424425020

Many robotic hands have few configurations to achieve versatile grasp modes or the proper grasp force wrench, which is necessary for stable grasp. In this paper, design considerations are reported for improving the grasping capabilities of a low-cost and easy-operation three-finger robotic hand. A special planetary gear mechanism has been designed to adjust the position and orientation of two fingers. This novel solution significantly improves the flexibility of a robotic hand in terms of sizes and shapes of objects which can be grasped. Furthermore, both pinching and enveloping grasp configurations can be achieved similarly to human hands. Simulations are performed in Adams environment to show effectiveness of the proposed mechanism design in terms of both kinematic and dynamic performance.

关键词： Fingers Gears Robots Force Humans Shape Robot sensing systems

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TRACKING control IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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Two Dimensional Dynamic Manipulation of a Disc Using Two Manipulators

Two Dimensional Dynamic Manipulation of a Disc Using Two Man...

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IEEE International Conference on mechatronics and automation

作者： Borhan Beigzadeh Majid Nili Ahmadabadi Ali Meghdari Center of Excellence in Design Robotics and Automation (CEDRA) ME Department Sharif University of Technology Iran Control and Intelligent Processing Center of Excellence Robotics and AI Laboratory ECE Department University of Tehran Iran

In this paper, we analyze a dynamic object manipulation (DOM) problem; throwing upward and catching a disc using two planar manipulators. The manipulators control the disc xy position dynamically and use its angular movement as a free parameter. We use a simple model for the system. Each manipulator has three links and three active joints. In addition, the disc has considerable radius and mass. Therefore, we design a simple mechanism in the palm to damp a portion of the impact

关键词： Manipulator dynamics robotics and automation intelligent robots Leg Grippers Motion planning Humans Design automation Process control Force control

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Learning distributed grasp in presence of redundant agents

Learning distributed grasp in presence of redundant agents

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

作者： A.H. Elahibakhsh M. Nili Ahmadabadi F. Janabi-Sharifi B. Nadjar Araabi AI & Robotics Laboratory Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Eng. Institute for Studies on Theoretical Physics and Mathematics University of Tehran Tehran Iran Robotics and Manufacturing Automation Lab Department of Mechanical and Industrial Engineering Ryerson University Toronto ONT Canada

Learning distributed object grasp by a group of robots with redundant members is the main focus of this paper. In Elahibakhsh, A. H., et al. (2004), we tackled the problem of learning form closure grasp for planar convex objects by multiple non-communicating robots without any information about the shape of objects. In this paper, the problem in presence of redundant agents is investigated. Agents' states and actions are designed such that the group learns grasping different objects using Q-learning method. As the environment is not intelligent enough to assess each agent's effect on the team performance, a credit assignment algorithm based on knowledge evaluation is designed. The proposed method considers the environment credit for the team, number of redundant agents, and the expertness level of each agent in its credit assignment. Applicability of the designed approach is verified through a set of simulations. It is shown that the team learns grasping different objects. Therefore, it is expected that the proposed method can be extended for distributed grasp of deformable objects

关键词： intelligent robots Learning Robot sensing systems Shape Cognitive robotics robotics and automation intelligent agent Algorithm design and analysis Grasping Redundancy

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Mobile robot modeling using local model networks

Mobile robot modeling using local model networks

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2003 European control Conference, ECC 2003

作者： Skoundrianos, E.N. Tzafestas, S.G. Intelligent Robotics and Automation Laboratory Division of Signals Control and Robotics National Technical University of Athens Zographou Athens15773 Greece

ISBN: (纸本)9783952417379

This article deals with the modeling issue of plants with unknown description. The modeling approach is based on the Local Model Network structure. Local Models perform local linearization and their structure is quite similar to the Takagi-Sugeno fuzzy models. Local Neural Models (LNM) function as linear filters, giving a satisfying estimation for the plant's output within parts of the operating regime. Their training is performed off-line, which ensures a reliable method. The method is applied on the RobuterTM mobile robot. © 2003 EUCA.

关键词： Mobile robots

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OPTIMIZING THE SUBDIVISION OF ELEMENTS IN DISCONTINUITY MESHING FOR HIERARCHICAL RADIOSITY

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International Journal on Artificial Intelligence Tools 2003年第4期12卷 395-411页

作者： IOANNIS A. PANTAZOPOULOS SPYROS G. TZAFESTAS Intelligent Robotics and Automation Laboratory Signals Control and Robotics Division Electrical and Computer Engineering Department National Technical University of Athens Zographou Athens Greece

This paper presents a new topological structure for use in the context of hierarchical radiosity combined with discontinuity meshing. This is most useful for a new strategy adopted for subdividing the elements of a scene consisting of convex polygons. The subdivision is done in a local optimization manner keeping the aspect ratios of produced polygons low. The generated meshes give high visual accuracy.

关键词： Hierarchical radiosity discontinuity meshing mesh pre(post)-processing multigriding aspect-ratio

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Solution to the general robust strictly positive real synthesis problem for polynomial segments

Solution to the general robust strictly positive real synthe...

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2003 European control Conference, ECC 2003

作者： Yu, Wensheng Wang, Long Ackermann, Jürgen Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing100080 China Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing100871 China Robust Control Group Institute of Robotics and Mechatronics German Aerospace Center DLR-Oberpfaffenhofen Postfach 1116 WesslingD-82230 Germany

For any two n-th order polynomials a(s) and b(s), the Hurwitz stability of their convex combination is necessary and sufficient for the existence of a polynomial c(s) such that c(s)/a(s) and c(s)/b(s) are both strictl... 详细信息

ISBN: (纸本)9783952417379

关键词： Polynomials

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A robust general Voronoi graph based SLAM for a hyper symmetric environment

A robust general Voronoi graph based SLAM for a hyper symmet...

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IEEE International Workshop on intelligent Robots and Systems (IROS)

作者： Nakju Lett Doh Wan Kyun Chung SungOn Lee SangRok Oh BumJae You Robotics & Bio-Mechatronics Laboratory Mechanical Engineering Pohang University of Science and Technology Pohang South Korea Intelligent System Control Laboratory Korea Institute of Science and Technology Seoul South Korea

ISBN: (纸本)0780378601

In this paper, an algorithm for hyper symmetric environment simultaneous localization and mapping (SLAM) is developed based on the generalized Voronoi graph. The hyper symmetric environment is a challenging environment for the SLAM and the most difficult problem on this is a data association. To redeem this problem, we propose three techniques. The first one is a breadth first node navigation algorithm which highly reduces the complexity of the data association. The second scheme is an odometry calibration method which converts untrustable odometry into reliable one. The third method is a multi layered data association scheme. We integrate above three techniques into one framework and propose a SLAM algorithm for the hyper symmetric environment. The simulation result shows that the proposed algorithm can successfully cover a large hyper symmetric environment under 20% odometry uncertainty.

关键词： Robustness Simultaneous localization and mapping Navigation Calibration Uncertainty Topology Robots Biomechatronics Mechanical engineering intelligent systems

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Integration of topological and metric maps for indoor mobile robot path planning and navigation 2nd

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2nd Hellenic Conference on Artificial Intelligence, SETN 2002

作者： Zavlangas, Panagiotis G. Tzafestas, Spyros G. Intelligent Robotics and Automation Laboratory Signals Control and Robotics Division Department of Electrical and Computer Engineering National Technical University of Athens Zografou Athens15773 Greece

ISBN: (纸本)3540434720

Autonomous mobile robots need to use spatial information about the environment in order to effectively plan and execute navigation tasks. The information can be represented at different levels of abstraction, ranging from detailed geometric maps to coarse topological maps. Each level is adequate for some sub-task, but not for others. In this paper, we consider the representation of spatial knowledge at two different levels of abstraction, which are commonly considered in the robotics literature: the geometric level, and the topological level. We propose to represent the environment by local metric maps connected into a topological network. This technique allows us to use maps that are not metrically consistent on the global scale, although they are metrically consistent locally. The structure allows also the combination of abstract global reasoning and precise local geometric computations. Moreover, this structure reflects the typical organization of indoor environments, where rooms and hallways define independent but connected local working spaces. To navigate in the environment, the robot uses the topological information to plan a sequence of sectors to traverse, and uses the metric information in each sector to locally move within the sector and to the next one. The functioning of the proposed system with respect to omnidirectional mobile robots and results of simulated experiments are presented. © Springer-Verlag Berlin Heidelberg 2002.

关键词： Abstracting

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