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检索条件"机构=Intelligent Robotics and Systems Lab"

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Solution of Singularity Problem in Motion Control of Acrobots

Solution of Singularity Problem in Motion Control of Acrobot...

引用

第二十六届中国控制会议

作者： Yang Simon X Advanced Robotics and Intelligent Systems（ARIS） Lab.School of Engineering University of GuelphGuelphOntario N1G 2W1Canada

This paper gives an integrated fuzzy-control solution of singularity problem in the motion control of an ***,the singularity that arises in motion control based on Lyapunov function is ***,a fuzzy controller is employed to regulate one of parameters of the control law to solve the singularity problem in the motion control occurred in the motion control law,Finally,two additional fuzzy controllers for different situations are designed to regulate another parameter of the control law in order to improve the control *** results show the efectiveness of the proposed control strategy.

关键词： Acrobot fuzzy control Lyapunov function singularity

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Solution of Singularity Problem in Motion Control of Acrobots

Solution of Singularity Problem in Motion Control of Acrobot...

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Chinese Control Conference (CCC)

作者： Lai Xuzhi She Jinhua Wu Min X Yang Simon School of Information Science an dEngineering Central South University Changsha Hunan P.R. China School of Bionics Tokyo University of Technology Tokyo Japan Advanced Robotics and Intelligent Systems(ARIS) Lab. University of Guelph Guelph Ontario Canada

This paper gives an integrated fuzzy-control solution of singularity problem in the motion control of an acrobot. First, the singularity that arises in motion control based on Lyapunov function is explained. Then, a fuzzy controller is employed to regulate one of parameters of the control law to solve the singularity problem in the motion control occurred in the motion control law. Finally, two additional fuzzy controllers for different situations are designed to regulate another parameter of the control law in order to improve the control performance. Simulation results show the effectiveness of the proposed control strategy.

关键词： Motion control Fuzzy control Torque control Lyapunov method intelligent robots Actuators Asymptotic stability Fuzzy sets Information science intelligent systems

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Test-bed for navigation and control of a thruster based AUV

Test-bed for navigation and control of a thruster based AUV

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OCEANS 2006 - Asia Pacific

作者： Kumar, R. Prasanth Babu, S. Sarath Srilekha, Y. Kumar, C.S. Sen, D. Dasgupta, A. Robotics and Intelligent Systems Lab. Department of Mechanical Engineering Indian Institute of Technology Kharagpur WB 721 302 India Robotics and Intelligent Systems Lab. Department of Ocean Engineering and Naval Architecture Indian Institute of Technology Kharagpur WB 721 302 India

ISBN: (纸本)1424401380

A thruster controlled AUV is being developed for the Indian AUV project. All motions and control is carried out by a set of five thrusters for controlling positions in two attitudes and three linear directions. As a prototype and verification system for the above AUV, a test-bed to develop and validate the control schemes was found necessary and has been developed at IIT Kharagpur. This paper describes the design criteria of the test-bed and the methods used to develop control scheme for such class of underwater vehicles, which are wholly thruster controlled and can be implemented in this test-bed. The design and capabilities of such a test-bed has been considered for taking into account similar thruster actuated AUVs which may be used in conditions like low speed motion as well as high maneuverability, station keeping etc. Such vehicles are different from the hydroplane controlled vehicles which are more effective above a certain operational velocity. The test-bed proposed here is targeted to generate valuable experimental data for full thruster controlled underwater vehicles operating over a range of operational velocities including station keeping to cruising modes. © 2006 IEEE.

关键词： Maneuverability

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3D Target Scale Estimation for Size Preserving in PTZ Video Tracking

3D Target Scale Estimation for Size Preserving in PTZ Video ...

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IEEE International Conference on Image Processing

作者： Yi Yao Besma Abidi Mongi Abidi Imaging Robotics and Intelligent Systems Lab University of Tennessee Knoxville TN USA Imaging Robotics and Intelligent Systems Lab University of Tennessee Knoxville TN

In size preserving video tracking, the camera's focal length (zoom) is adjusted automatically to compensate for the changes in the target's image size caused by the relative motion between the camera and the target. The accurate estimation of these changes is paramount to the system performance. Structure from motion (SFM) based on the weak perspective projection model has been applied to real time target scale estimation (B. Tordoff, et al., 2004). In this paper we design target scale estimation algorithms with linear solutions based on more advanced projection models: paraperspective and perspective. The performances of the algorithms using three projection models are examined and compared. Experimental results show that the proposed algorithm based on the paraperspective projection model produces the best performance with respect to accuracy, complexity, and robustness.

关键词： Target tracking Motion estimation Cameras Signal processing algorithms Optical imaging intelligent robots Robustness Optical signal processing Computational complexity Geometry

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Who moved?! An investigation into distribution of actions and behaviors in a multi agent system

Who moved?! An investigation into distribution of actions an...

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2006 IEEE International Conference on Mechatronics, ICM

作者： Daneshvar, Roozbeh Lucas, Caro Artificial Intelligence and Robotics Lab. Faculty of Electrical and Computer Engineering University of Tehran Tehran Iran Center of Excellence for Control and Intelligent Processing Faculty of Electrical and Computer Engineering University of Tehran and School of Intelligent Systems Tehran Iran

ISBN: (纸本)0780397134

In this paper we have considered systems in which agents communicate via their environment. In these systems the agents do not have direct and explicit communication with each other and instead they have implicit communication which is performed via the environment they are located in. Different kinds of environment elements are considered to be changed while on the other hand for all of these situations there is a change in the environment and this change means potential stimuli that fires behaviors of agents for future. It is considered that if we can find a track of changes in the environment and find the roots of a movement in an agent that is originally made by another agent of the group. © 2006 IEEE.

关键词： Multi agent systems

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Multispectral Fusion for Indoor and Outdoor Face Authentication

Multispectral Fusion for Indoor and Outdoor Face Authenticat...

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Biometrics Symposium

作者： H. Chang M. Yi H. Harishwaran B. Abidi A. Koschan M. Abidi imaging Robotics and Intelligent Systems (IRIS) Lab University of Tennessee Knoxville USA

Face analysis via multispectral imaging is a relatively unexplored territory in face recognition research. The multispectral, multimodal and multi-illuminant IRIS-M3 database was acquired, indoors and outdoors, to promote research in this direction. In the database, each data record has images spanning all bands in the visible spectrum and one thermal image, acquired under different illumination conditions. The spectral power distributions of the lighting sources and daylight conditions are also encoded in the database. Multispectral fused images show improved face recognition performance compared to the visible monochromatic images. Galleries and probes were selected from the indoor and outdoor sections of the database to study the effects of data and decision fusion in the presence of lighting changes. Our experiments were validated by comparing cumulative match characteristics of monochromatic probes against multispectral probes obtained via multispectral fusion by averaging, principal component analysis, wavelet analysis, illumination adjustment and decision level fusion. In this effort, we demonstrate that spectral bands, either individually or fused by different techniques, provide better face recognition results with up to 78% improvement on conventional visible images.

关键词： Authentication Image databases Face recognition Probes Lighting Image analysis Multispectral imaging Power distribution Principal component analysis Wavelet analysis

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Test-bed for Navigation and Control of a Thruster based AUV

Test-bed for Navigation and Control of a Thruster based AUV

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OCEANS - Europe

作者： R. Prasanth Kumar S. Sarath Babu Y. Srilekha C.S. Kumar D. Sen A. Dasgupta Department of Mechanical Engineering Robotics and Intelligent Systems Lab Robotics and Intelligent Systems Laboratory Department of Mechanical Engineering Indian Institute of Technology Kharagpur West Bengal India Department of Ocean Engineering and Naval Architecture Indian Institute of Technology Kharagpur WB INDIA

关键词： Navigation Control systems Communication system control System testing Motion control Underwater vehicles intelligent robots Prototypes Velocity control Computational modeling

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Complete and scalable multi-robot planning in tunnel environments

Complete and scalable multi-robot planning in tunnel environ...

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作者： Peasgood, Mike McPhee, John Clark, Christopher Lab for Intelligent and Autonomous Robotics Department of Mechanical Engineering University of Waterloo Waterloo ON N2L 3G1 Canada Motion Research Group Department of Systems Design Engineering University of Waterloo Waterloo ON N2L 3G1 Canada

ISBN: (纸本)8587978128

This paper addresses the challenging problem of finding collision- free trajectories for many robots moving to individual goals within a common environment. Most popular algorithms for multi-robot planning manage the complexity of the problem by planning trajectories for robots sequentially, such decoupled methods may fail to and a solution even if one exists. In contrast, this paper describes a multi-phase approach to the planning problem that guarantees a solution by creating and maintaining obstacle-free paths through the environment as required for each robot to reach its goal. Using a topological graph and spanning tree representation of a tunnel or corridor environment, the multi-phase planner is capable of planning trajectories for up to r = L¡1 robots, where the spanning tree includes L leaves. Monte Carlo simulations in a large environment with varying number of robots demonstrate that the algorithm can solve planning problems requiring complex coordination of many robots that cannot be solved with a decoupled approach, and is scalable with complexity linear in the number of robots.

关键词： Motion planning

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Common metrics for human-robot interaction

Common metrics for human-robot interaction

引用

HRI 2006: 2006 ACM Conference on Human-Robot Interaction

作者： Steinfeld, Aaron Fong, Terrence Kaber, David Lewis, Michael Scholtz, Jean Schultz, Alan Goodrich, Michael Robotics Institute Carnegie Mellon University Pittsburgh PA United States Intelligent Systems Division NASA Ames Research Center Moffett Field CA United States Dept. of Industrial Engineering North Carolina State University Raleigh NC United States Sch. of Information Science University of Pittsburgh Pittsburgh PA United States Information Access Div. NIST Gaithersburg MD United States Intelligent Systems Section US Naval Research Lab. Washington DC United States Computer Science Dept. Brigham Young University Provo UT United States

ISBN: (纸本)1595932941

This paper describes an effort to identify common metrics for task-oriented human-robot interaction (HRI). We begin by discussing the need for a toolkit of HRI metrics. We then describe the framework of our work and identify important biasing factors that must be taken into consideration. Finally, we present suggested common metrics for standardization and a case study. Preparation of a larger, more detailed toolkit is in progress. Copyright 2006 ACM.

关键词： Human computer interaction

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Unified Treatment of Motion Control of Underactuated two-link manipulators

Unified Treatment of Motion Control of Underactuated two-lin...

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2006 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Xu-zhi Lai Jin-hua She Simon X. Yang Min Wu School of Information Science & Engineering Central South University Changsha Hunan China School of Bionics Tokyo University of Technology Tokyo Japan Advanced Robotics & Intelligent Systems ARIS Lab School of Engineering University of Guelph Guelph ONT Canada

This paper presents a comprehensive unified control strategy for underactuated two-link manipulators, including acrobots and pendubots. The motion space is divided into two areas: swing-up and attractive; and control laws are designed for each. First, a control law based on a weak control Lyapunov function (WCLF) is employed to increase the energy and control the posture of the actuated link in the swing-up area. Next, one of the parameters of the WCLF is chosen to be a nonlinear function of the state so as to avoid any singularities. Then, another parameter in the control law is adjusted based on the state to improve the control performance. Stability is guaranteed in the swing-up area by the use of a WCLF based on the LaSalle invariant theorem. Finally, the global stability of the control system is guaranteed by the use of a non-smooth Lyapunov function integrated with a minimum-switching strategy. Simulation results for a pendubot and an acrobot show this control scheme to be very effective

关键词： Motion control Control systems Stability intelligent robots Lyapunov method Manipulators Information science Torque control intelligent systems Centralized control

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