The basic operational scenario for many application domains is to deploy nonhuman system components in the hazardous workspace and keep the human operator away from the hazardous but real work environment. The operato...
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The basic operational scenario for many application domains is to deploy nonhuman system components in the hazardous workspace and keep the human operator away from the hazardous but real work environment. The operator is an essential element of the integrated system and is provided with various powerful displays (for both visual and nonvisual information) for telepresence and interactive controls for teleoperation. Thus, the operator stationed in the safe and virtual work environment, is able to cooperate with the robotic system in accomplishing an assigned task. The team has been investigating various problems associated with the use of virtual-reality based concepts in robot control and system development for the past several years. Some of the main ideas which underlie the investigations are, multiple sensory based operation, transparency between real and virtual mode operation, integrating sensing and task planning in simulation, and reliance on extensive and systematic experimental evaluation. The systems developed are useful for both off-online and online operation.
This paper describes a reactive obstacle negotiating algorithm for articulated-tracked robots and demonstrates a working system by presenting the simulation, animation, and control methodologies for an articulated-tra...
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This paper describes a reactive obstacle negotiating algorithm for articulated-tracked robots and demonstrates a working system by presenting the simulation, animation, and control methodologies for an articulated-tracked mobile robot with a manipulator and sensory modules. Developing the motion planning strategies for robots with articulated-tracked locomotin is much different from path planning techniques developed for wheeled robots traveling on a planar surface, as the problems are not limited to solving the obstacle avoidance only, but involve finding the obstacle negotiating strategy as well. The authors have been developing tracked mobile-manipulator systems for applications in hazardous environments. A simulation, animation, visualization and interactive control (SAVIC) environment has been developed for the design and operation of a integrated robotic manipulator system.
The modeling and implementation of an innovative micro capacitive proximity sensor using micromachining technology are described. The proximity sensor works on the principle of fringing capacitance. The target object ...
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The modeling and implementation of an innovative micro capacitive proximity sensor using micromachining technology are described. The proximity sensor works on the principle of fringing capacitance. The target object to be measured does not need to be part of the measuring system and can be either a conductor or a nonconductor. By selecting a set of geometrical parameters, this sensor is capable of precise measurement of proximity in the range from micrometers to millimeters. The capacitance change is quite significant for such small sensing structures, though it is only a fraction of a picofarad. The micro size of the sensor makes it possible to mount it in many space-constrained places.
Summary form only given. A neural network scheme is proposed to solve the inverse kinematic problem for redundant robots in an environment with or without obstacles. The inverse kinematic solution of a four link plana...
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Summary form only given. A neural network scheme is proposed to solve the inverse kinematic problem for redundant robots in an environment with or without obstacles. The inverse kinematic solution of a four link planar robot is simulated using a multilayer feedforward network with hidden units having sigmoidal functions and output units having linear functions. The results show that the proposed scheme provides very satisfactory solutions.< >
This paper reveals the essential equivalence of second order impedance control and proportional gain explicit force control with feed forward. This is first done analytically by reviewing each control method and showi...
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In this paper, the application of a real-time fuzzy controller is presented in order to improve the power system stability. The above is done with the means of the fuzzy membership functions whose values are computed ...
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In this paper, the application of a real-time fuzzy controller is presented in order to improve the power system stability. The above is done with the means of the fuzzy membership functions whose values are computed depending on the measured generator frequency and voltage. The controller was tested in real time for different loads on the generator. For comparison a proportional crisp controller was also design and tested under the same circumstances.
A modular neural network architecture is proposed to classify binary and continuous patterns. This system consists of a supervised feedforward backpropagation network and an unsupervised self-organization map network....
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A modular neural network architecture is proposed to classify binary and continuous patterns. This system consists of a supervised feedforward backpropagation network and an unsupervised self-organization map network. The supervised feedforward (basic) network is trained until a saturation error level occurs. Simultaneously, the unsupervised self-organization map (control) network fluids the mapping features for the given input/output patterns. The resultant features are used by Gaussian and linear functions to adjust the hidden and the output weights of the basic network and to classify the given patterns.< >
In this paper fuzzy control and decision making are used to simulate the control of traffic flow at an intersection. Fuzzy logic can be used as an alternative method for control of traffic environments. A traffic envi...
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In this paper fuzzy control and decision making are used to simulate the control of traffic flow at an intersection. Fuzzy logic can be used as an alternative method for control of traffic environments. A traffic environment includes the lanes to and from an intersection, the intersection, vehicle traffic, and signal lights in the intersection. To test the fuzzy logic controller a computer simulation is constructed to model a traffic environment. A typical cross intersection was chosen for the traffic environment and the performance of the fuzzy logic controller was compared with the performance of two different types of conventional control. The fuzzy logic controller proved to be a better method of control than conventional control methods, especially in the case of highly uneven traffic flow between different directions
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