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IEEE Conference on Control Technology and Applications (CCTA)

作者： D. Hughes J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Smart materials such as piezoceramics and shape memory alloys (SMAs) exhibit significant hysteresis and in order to estimate the effect on open and closed loop control a suitable model is needed. One promising candidate is the Preisach independent domain hysteresis model that is characterized by the congruent minor loop and wiping out properties. Comparable minor loop and decaying oscillation test data for a multi-sheet piezoceramic actuator (made of lead zirconate titanate) attached to a flexible beam are presented and are seen to be very consistent with the two Preisach model properties. The commanded parameter is the sheet transverse electric field while the measured parameter is an approximately colocated strain induced in the beam. Equivalent data for a Nitinol SMA wire muscle, attached to the same beam, are also presented. The input and output parameters are the SMA current and a beam strain respectfully. The minor loop and wiping out evidence is less strong than that of the piezoceramic case, but encouraging. In all experiments the quasi-steady state responses were generated in order to avoid exciting beam flexible modes which would complicate the analysis.

关键词： Piezoelectric materials Shape memory alloys Hysteresis Strain measurement Shape control Open loop systems Testing Actuators Titanium compounds Electric variables measurement

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Synthesized passive feedback control of sensor-rich smart structures-experimental results

Synthesized passive feedback control of sensor-rich smart st...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures Department of Electrical Computer and Systems EngineeringCenter for Advanced Technology in Automation Robotics & Manufacturing Rensselaer Polytechnic Institute RPI Troy NY USA

Passivity based controllers are used in structural control due to their inherent robustness properties. These controllers require sensor/actuator collocation. In this paper, we consider the design of a "squaring down" matrix which renders a system passive by using a linear combination of all collocated and non-collocated sensor/actuator pairs. The design uses experimental transfer functions and does not require the knowledge of the system model. The problem of finding the squaring down matrix is cast as a solution to a set of linear matrix inequalities (LMIs) subject to some additional performance considerations. The design procedure of the squaring down matrix assumes that velocity information is available from the sensors which is not generally the case. We show that the squaring down matrix can be implemented without the use of such velocity information. We provide experimental results gathered from the single link flexible beam setup in the C/sub La/MS laboratory at RPI to show that implementation of passive loops without velocity measurements provides very good results.

关键词： Feedback control Linear matrix inequalities intelligent sensors Control system synthesis Robust control Sensor systems Hydraulic actuators Transfer functions Laboratories Economic indicators

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Object-oriented analysis, modeling, and simulation of a notional air defense system

Object-oriented analysis, modeling, and simulation of a noti...

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IEEE International Conference on Systems, Man and Cybernetics

作者： B.T. Barcio S. Ramaswamy R. MacFadzean K.S. Barber The Laboratory for Intelligent Processes and Systems Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA Division of Computer and Applied Sciences Georgia Southwestern College Americus GA USA

This paper describes the analysis, modeling, and simulation of a notional air defense system using SMOOCHES (State Machines for Object-Oriented, Concurrent, Hierarchical engineering Specifications). SMOOCHES is an object-oriented environment based on hierarchical state machines and extensions to statecharts, specifically developed as an environment to specify, model, simulate and analyze/evaluate distributed, reactive systems.

关键词： Object oriented modeling Analytical models Radar tracking Target tracking Monitoring Computational modeling Law Legal factors Laboratories intelligent systems

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A high level specification mechanism for the analysis and design of manufacturing systems

A high level specification mechanism for the analysis and de...

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IEEE International Conference on Systems, Man and Cybernetics

作者： S. Ramaswamy K.S. Barber Division of Computer and Applied Sciences Georgia Southwestern College Americus GA USA The Laboratory of Intelligent Processes and Systems The Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA

A structured development approach to deriving system models that helps to better understand and represent system details is presented. Real-world systems are never completely designed by either top-down or bottom up approaches. Therefore, methods that allow the integration of these two approaches as well as provide a means for analyzing such models are very useful. First, a general purpose system architecture, a corresponding system specification language, and a broad classification of the various concurrent system activities are presented. Second, Petri net (PN) extensions to simplify system specification and modeling are provided. Third, a transformation between the high level specifications to the proposed PN extensions is provided. Finally, a PN system model using the new PN extensions is derived as an example. To facilitate the use of existing PN based analysis and simulation tools a transformation between the PN extensions used in this paper to classical PNs is also illustrated.

关键词： Manufacturing systems Specification languages Aerodynamics Laboratories intelligent manufacturing systems intelligent structures Analytical models Communication system software Hardware System testing

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A robotic system to locate hazardous chemical leaks

A robotic system to locate hazardous chemical leaks

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.A. Russell D. Thiel R. Deveza A. Mackay-Sim Intelligent Robotics Research Centre Department of Electrical&Computer Systems Engineering Monash University Clavton VIC Australia School of Microelectronic Engineering Griffith University Brisbane QLD Australia School of Science Griffith University Brisbane QLD Australia

Tracing leaks of airborne radioactive, poisonous or flammable materials is a potentially dangerous activity that could be undertaken by robotic systems. This paper describes a practical investigation of the possibility of developing simple, low cost, autonomous robots to perform this task. It is envisaged that these robots would be used in large numbers. This would improve reliability through redundancy and provide large area coverage from a wide distribution of robots. Failure of a single unit would not jeopardise the overall sensing operation. Sensing and control techniques developed to perform leak location in a simplified laboratory environment are described and experimental results are presented.

关键词： Chemical hazards Robot sensing systems Mobile robots Chemical sensors Wheels intelligent robots Chemical technology Orbital robotics Computational geometry Vehicles

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Complete algorithms for reorienting polyhedral parts using a pivoting gripper

Complete algorithms for reorienting polyhedral parts using a...

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IEEE International Conference on robotics and Automation (ICRA)

作者： A. Rao D. Kriegman K. Goldberg Department of Computer Science Utrecht University Postbus Utrecht Netherlands Center for Systems Science Department of Electrical Engineering Yale University New Heaven CT USA University of Utrecht Netherlands Institute for Robotics and Intelligent Systems Department of Computer Science University of Southern California Los Angeles CA USA

To rapidly feed industrial parts on an assembly line, Carlisle et. al. (1994) proposed a flexible part feeding system that drops parts on a flat conveyor belt, determines the pose of parts with a vision system and manipulates them into a desired pose. A robot arm with 4-DOF is capable of moving parts through 6-DOF when equipped with a passive pivoting axis between the parallel jaws of its gripper. We refer to these actions as pivot grasps. This paper considers the planning problem. Given a polyhedral part shape, coefficient of friction and a pair of stable configurations as input, find pairs of grasp points that will cause the part to pivot from one stable configuration to the other. For some transitions, pivot grasps may not exist. For a part with n faces and m stable configurations, we give an O(m/sup 2/n log n) algorithm to generate the m/spl times/m matrix of pivot grasps. When the part is star shaped, this reduces to O(m/sup 2/n). We also study a generalization that considers "capture regions" around stable configurations. Both algorithms are complete in that they are guaranteed to find pivot grasps when they exist.

关键词： Grippers robotics and automation Service robots Feeds Belts Machine vision computer science intelligent robots Manipulators Robotic assembly

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Autonomous mobile robot self-referencing with sensor windows and neural networks

Autonomous mobile robot self-referencing with sensor windows...

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International Conference on Industrial Electronics, Control and Instrumentation

作者： J.A. Janet R. Gutierrez-Osuna M.G. Kay R.C. Luo Dept. of Electr. & Comput. Eng. North Carolina State Univ. Raleigh NC USA Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

When navigating an environment a mobile robot can update its position and orientation by searching known landmarks and compare predictions with observations. This paper presents a method of mobile-robot self-referencing where every mapped object (obstacles to the global motion planner) in the environment can be used as potential sources of position and orientation information. This approach employs the efficiency of traversability vectors (t-vectors) for finding in-range geometric beacons and isolating surfaces visible to a sensor. Configuration-space (C-space) buffering (growing polygons to keep motion a safe distance from objects) will reduce the search time for finding in-range geometric beacons. Finally, a small multilayered neural network is used to provide a credence value for each predicted range that can be factored in to a filter or control strategy. This approach can be generalized to any ranging sensor that samples a region (e.g. IR sensors).

关键词： Mobile robots Neural networks Robot sensing systems intelligent sensors intelligent robots Filters Predictive models intelligent networks Machine intelligence computer networks

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TMS320 DSP based neuro-fuzzy controller

TMS320 DSP based neuro-fuzzy controller

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IEEE International Conference on Systems, Man and Cybernetics

作者： K.K. Kumbla M.-R. Akbarzadeh-T. M. Jamshidi CAD Laboratory for Intelligent and Robotic Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA University of New Mexico Albuquerque NM US CAD Lab. for Intelligent & Robotic Syst. New Mexico Univ. Albuquerque NM USA

Fuzzy logic can be used to map complex nonlinear relations by a set of IF-THEN rules. The membership functions are designed by intuitive human reasoning. This poses two problems; first, for different control application a new set of membership functions have to developed and second, once these membership functions are developed and implemented there is no means of changing them. This means fuzzy logic lacks a learning function. Neural network on the other hand self-organizes the mapping relationship by learning. So by integrating neural networks and fuzzy logic it is possible to overcome these problems. Implementing this algorithm on a TMS320 DSP chip is discussed. Controlling a flexible link manipulator is taken as an example to evaluate the controller.

关键词： Digital signal processing Fuzzy logic Biological neural networks Artificial neural networks Fuzzy reasoning Neural networks Humans Fuzzy set theory Fuzzy control Fuzzy neural networks

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Global self-localization for autonomous mobile robots using self-organizing Kohonen neural networks

Global self-localization for autonomous mobile robots using ...

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Proceedings 1995 IEEE/RSJ International Conference on intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots

作者： J.A. Janet R. Gutierrez-Osuna T.A. Chase M. White R.C. Luo Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA North Carolina State University Raleigh NC US Dept. of Electr. & Comput. Eng. North Carolina State Univ. Raleigh NC USA

An approach to global self-localization for autonomous mobile robots has been developed using self-organizing Kohonen neural networks. This approach categorizes discrete regions of space using mapped sonar data corrupted by noise of varied sources and ranges. Our approach is similar to optical character recognition (OCR) in that the mapped sonar data can, over time, assume the form of a character unique to that room. Hence, it is believed that an autonomous vehicle can be capable of determining which room it is in based on mapped sensory data ascertained by wandering through and exploring that room. With some pre-processing and a robust explore routine, the solution becomes time-, translation- and rotation-invariant.

关键词： Mobile robots Sonar Optical noise Optical character recognition software Neural networks Optical computing Optical sensors Character recognition Remotely operated vehicles Robustness

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LONGITUDINAL CONTROL OF THE LEAD CAR OF A PLATOON

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 1994年第4期43卷 1125-1135页

作者： GODBOLE, DN LYGEROS, J Department of Electrical Engineering and Computer Intelligent Machines and Robotics Laboratory University of California Berkeley CA USA

We present longitudinal control laws for vehicles moving in an intelligent Vehicle Highway System (IVHS) [1], [2]. In particular, the scenario where cars move along the highway in;tightly spaced platoons is considered. We present control schemes that perform the major longitudinal tasks that will be required from the lead vehicle of a platoon moving on an automated highway. More specifically, schemes that maintain safe spacing, track an optimal velocity and perform various maneuvers (forming, breaking up platoons and changing lanes) are described. Simulation results are given in the Appendix.

关键词： Automated highways Road vehicles Automatic control Safety Control systems Road transportation intelligent robots intelligent vehicles Traffic control Large-scale systems

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