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IEEE Conference on Decision and Control

作者： D.N. Godbole J. Lygeros S. Sastry Department of Electrical Engineering & Computer Sciences Intelligent Machines and Robotics Laboratory University of California Berkeley CA USA

A case study of the difficulties associated with the design of hybrid control systems is presented. The authors use an intelligent vehicle highway system (IVHS) architecture as their example of a hierarchical hybrid system. The authors point out that, even though conventional analysis tools suggest that the proposed design should fulfill certain performance requirements, the simulation results show that it does not. The authors consider this as an indication that the conventional tools currently in use for the design and verification of control systems may be inadequate for the design of hierarchical control of hybrid systems.< >

关键词： computer aided software engineering Control systems intelligent vehicles Road transportation intelligent robots Road safety Vehicle safety Road vehicles Machine intelligence Laboratories

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Model based fuzzy logic control

Model based fuzzy logic control

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IEEE Conference on Decision and Control

作者： J. Lygeros D.N. Godbole C.P. Coleman Intelligent Machines and Robotics Laboratory Department of Electrical Engineering & Computer Sciences University of California Berkeley CA USA

In this paper, we introduce a general formalism for generating a fuzzy plant model. We provide a description of fuzzification, inference rules, and defuzzification in terms of mappings from the set of real numbers to the fuzzy set domain; We demonstrate the use of this formalism by developing a general fuzzy logic, rule based plant model for a stable, discrete-time, linear time-invariant system, with rational coefficients. We prove that the fuzzy plant model exactly duplicates the behavior of the discrete-time linear system. A worked example and simulation results are also presented. Finally, we outline a method for control design using fuzzy rule base plant models. Possible application of this method for regulation and tracking is considered.< >

关键词： Fuzzy logic Fuzzy control Control system synthesis Fuzzy sets Control design intelligent robots Ear Control systems Machine intelligence Laboratories

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Simulation as a tool for hybrid system design

Simulation as a tool for hybrid system design

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Annual Conference of AI, Simulation, and Planning in High Autonomy Syslems

作者： J. Lygeros D. Godbole S. Sastry Intelligent Machines and Robotics Laboratory Department of Electrical Engineering and Computer Sciences University of California Berkeley CA USA

A case study of the use of simulation as a tool for design and validation of hybrid systems is presented. We use an intelligent vehicle highway systems (IVHS) architecture, a system that involves both continuous state and discrete event controllers as our example of a hierarchical hybrid system. We point out that even though analytical methods do not exist for verification of hybrid control system, a simulation tool can be useful to (in)validate that the hybrid system operates properly.< >

关键词： Computational modeling Control systems intelligent robots intelligent vehicles Analytical models Performance analysis Optimal control Machine intelligence Laboratories computer simulation

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Motion perception using spatiotemporal frequency analysis

Motion perception using spatiotemporal frequency analysis

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IEEE International Conference on Image Processing

作者： G. Ravichandran M.M. Trivedi Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

Motion information is extracted by identifying the temporal signature associated with the textured objects in the scene. We present a new computational framework for motion perception. Our methodology considers spatiotemporal frequency (STF) domain analysis to extract the optical flow information. First, we show that a sequence of image frames can be used to extract the motion parameters for the different regions in a dynamic scene using the basic Fourier transform properties in the STF analysis approach. A detailed analytical description of this model to interchangably extract motion and depth parameters and results to highlight their salient properties are presented.< >

关键词： Motion analysis Spatiotemporal phenomena Image motion analysis Data mining Layout Frequency domain analysis Information analysis Fourier transforms Image analysis Image sequence analysis

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An optimal sonar array for target localization and classification

An optimal sonar array for target localization and classific...

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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Kleeman R. Kuc Intelligent Robotics Research Centre Department of Electrical & Computer Systems Eng Monash University Australia Intelligent Sensors Laboratory Department of Electrical Engineering Yale University USA

A novel sonar array for mobile robots is presented with applications to localization and mapping of indoor environments. The ultrasonic sensor localizes and classifies multiple targets in two dimensions to ranges of up to 8 meters. By accounting for effects of temperature and humidity, the system is accurate to within 1 mm and 6.1 degrees in still air. Targets separated by 10 mm can be discriminated. Targets are classified into planes, corners, edges and unknown, with the minimum of two transmitters and two receivers. A novel approach is that receivers are closely spaced to minimize the correspondence problem of associating echoes from multiple targets. A set of templates is generated for echoes to allow the optimal arrival time to be estimated, and overlapping echoes and disturbances to be rejected.< >

关键词： intelligent sensors Pulse measurements Transmitters Leg Sonar measurements Sensor arrays intelligent robots Robot localization Rough surfaces Surface roughness

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Control of robotic manipulator using fuzzy logic

Control of robotic manipulator using fuzzy logic

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： K.K. Kumbla M. Jamshidi CAD Laboratory for Intelligent and Robotics Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

This paper describes the implementation of hierarchical control on a robotic manipulator using fuzzy logic. A decentralized control approach is implemented, i.e., individual controllers control the two links of the robot. The kinematic aspect of the control is treated as the supervisory mode at a higher level and the joint control is treated as the lower level. Fuzzy logic based rules determine the inverse kinematic mapping which maps the Cartesian coordinates to the individual joint angles. This scheme is implemented using Togai Infra Logic software and the entire simulation software is implemented using C language. The results of the simulation are discussed. This experiment is a proof of principle to show that the fuzzy controller can be used to map the nonlinear mapping which can be implemented to the more complex problem of inverse kinematics of higher degree of freedom robots. A fuzzy PD controller is implemented on a Rhino robot and the performance is compared with a traditional PD controller.< >

关键词： Robot control Fuzzy logic Fuzzy control Manipulator dynamics Robot kinematics PD control intelligent robots Nonlinear equations Control systems Distributed control

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IMPROVED OPTIMAL-ALGORITHMS FOR SCHEDULING UNIT-LENGTH INDEPENDENT TASKS ON UNIFORM MACHINES

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INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 1994年第3期25卷 591-601页

作者： TRIANTAFYLLAKIS, A TZAFESTAS, S Intelligent Robotics and Control Unit (IRCU) Department of Electrical and Computer Engineering National Technical University of Athens Athens 15773 Zografou Greece

Five scheduling problems are considered, concerning unit-length independent tasks and uniform machines. New improved optimal algorithms are presented that can solve these problems in at most O(n log n) time, where n is the number of tasks. The existing algorithms solve most of these problems in O(n3) time. Proofs of optimality of the present algorithms are included, and simple representative examples are provided that illustrate the type of results obtained.

关键词： Scheduling algorithms

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Embedded fuzzy logic-based wall-following behavior for mobile robot navigation

Embedded fuzzy logic-based wall-following behavior for mobil...

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： E. Tunstel M. Jamshidi CAD Laboratory for Robotics and Intelligent Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

The synthesis of a fuzzy logic controller that provides a small mobile robot with the capability to exhibit a wall-following behavior is described. A general account of the procedure is given with emphasis placed on t... 详细信息

关键词： Fuzzy logic Mobile robots Navigation Fuzzy control intelligent robots Embedded system Robot sensing systems Control systems Assembly Fuzzy systems

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A Bayesian corner detector

A Bayesian corner detector

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The 1994 1st IEEE International Conference on Image Processing

作者： Zhang, Xining Haralick, R.M. Ramesh, V. Bedekar, A.S. Phillips, I. Intelligent Systems Laboratory Department of Electrical Engineering FT-10 University of Washington SeattleWA98195 United States Department of Computer Science and Software Engineering Seattle University SeattleWA98122 United States

A corner is modelled as the intersection of two lines. A corner point is that point on an input digital arc whose a posteriori probability of being a corner is the maximum among all the points on the arc. The performance of the corner detector is characterized by its false alarm rate, misdetection rate, and the corner location error all as a function of the noise variance, the included corner angle, and the arc length. Theoretical expressions for the quantities compare well with experimental results. © 1994 IEEE.

关键词： Edge detection

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Coordinating motion of cooperative mobile robots through visual observation

Coordinating motion of cooperative mobile robots through vis...

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IEEE International Conference on Systems, Man and Cybernetics

作者： S.B. Marapane M. Holder M.M. Trivedi Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of Tennessee TN USA

This paper describes the development of an integrated autonomous multi-robot system, where two heterogeneous robots exhibit coordinated convoying behavior. Coordination is accomplished without any communication but by visual observation. An active perception system uses visual servoing to track the leading vehicle to determine its heading and relative distance. A fuzzy logic based real-time motion controller uses the heading to control the steering and relative distance and velocity information to adjust the speed to let the trailing robot smoothly follow the leader. A novel correlation algorithm based on minimum noise and correlation energy (MINACE) filter is used for object tracking. The MINACE based tracker is adaptive and when the tracking degrades due to the change in appearance of the leading robot a new filter is synthesized online to replace the old one. The performance and robustness of the convoying system has been verified in a series of extensive laboratory trials.< >

关键词： Mobile robots Robot kinematics Motion control Velocity control Communication system control Filters Multirobot systems Mobile communication Visual servoing Remotely operated vehicles

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