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2006 IEEE Symposium on Computational Intelligence and Games, CIG'06

作者： Olenderski, Adam Nicolescu, Monica Louis, Sushil J. Robotics Research Laboratory Dept. of Computer Science and Engineering University of Nevada Reno United States Evolutionary Computing Systems Lab Dept. of Computer Science and Engineering University of Nevada Reno United States

ISBN: (纸本)1424404649

Game environments provide a good domain for serious simulations such as those used in training Navy conning officers. Currently, a typical training scenario requires multiple personnel to play each of the boats and thus is expensive. We propose an approach to addressing this issue by developing intelligent, autonomous controllers for each boat. Significant challenges toward achieving these goals are the realism of behavior exhibited by the automated boats and their real-time response to change. In this paper we describe a control architecture that enables the real-time response of boats and the repertoire of realistic behaviors we developed for this application. We demonstrate the capabilities of our system with experimental results.

关键词： Personnel training

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Improvements in the Estimated Time of Flight of Acoustic Signals for AUV Localization

Improvements in the Estimated Time of Flight of Acoustic Sig...

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Oceans 2013 - Norway

作者： B. C. Pinheiro U. F. Moreno J. T. B. de Sousa O. C. Rodriguez Department of Automation and Systems (DAS) Federal University of Santa Catarina Underwater Systems and Technologies Laboratory (USTL) Faculty of Engineering of the University of Porto Laboratory of Robotics and Systems Engineering and Sciences (LARSyS) Algarve University

ISBN: (纸本)9781479900022

The problem acoustic localization for autonomous underwater vehicles (AUVs) is discussed in the framework of kernel-based models. The approach consists of improving the measurement of time of fligth of acoustic signals with the help of the Auto-Associative Kernel Regression (AAKR). This makes localization less sensitive to perturbations in the acoustic channel improving the estimation filter convergence. Field tests with vehicle confirmed these claims.

关键词： Vehicles Acoustics Navigation Acoustic measurements Estimation Sensors Time measurement

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Trailer-Like Leader Following Trajectory Planning

Trailer-Like Leader Following Trajectory Planning

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IEEE Annual Conference on Decision and Control

作者： Pedro Pereira Rita Cunha David Cabecinhas Carlos Silvestre Paulo Oliveira Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico Universidade de Lisboa 1049-001 Lisboa Portugal

ISBN: (纸本)9781467360890

In this paper a trajectory planner for n autonomous vehicles following a common leader is presented, with the planning being accomplished in real time and in a three dimensional setting. The trajectory planner is designed such that n follower vehicles behave as n distinct points of a unique two dimensional trailer attached to a single leader vehicle. We prove that for a wide range of initial conditions the trailer reference frame converges to a unique solution, thus guaranteeing that each follower can plan its trajectory independently from its peers, thereby reducing the need for communications among vehicles. Additionally, convergence to a fixed formation of n + 1 vehicles with respect to the trailer reference frame is also guaranteed. Finally, we present bounds on the planned velocity and acceleration, which provide conditions for the feasibility of the planned trajectory. An experimental validation of the planner's behavior is presented with quadrotor vehicles, demonstrating the richness of the planned trajectories.

关键词： trajectory planning vehicle trajectory Trailers REFERENCE FRAMES Communication Research acceleration

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A spatial motion control to transfer an object between a pair of air jet 15

A spatial motion control to transfer an object between a pai...

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15th International Conference on Informatics in Control, Automation and robotics, ICINCO 2018

作者： Yoshinaga, Kazuki Iwaki, Satoshi Tsuchihashi, Naoki Abe, Nobukado Ikeda, Tetsushi Kosaku, Toshiharu Takaki, Takeshi Systems Engineering Robotics Laboratory Graduate School of Information Science and Technology Hiroshima City University Asaminami Hiroshima Hiroshima Prefecture Japan Hiroshima University Graduate school of Engineering Hiroshima Japan

ISBN: (纸本)9789897583216

We propose a method in which multiple nozzles are arranged consecutively along a conveying line and an object can be relayed one after another. In this paper, as a most essential technology for such a conveyor, we focus on the transferring control of the object between a pair of air jet on a vertical plane. We propose a relaying control method based on some natural behaviours of an object in a fluid field where two air jet streams collide. Some successful experiment results are shown. Copyright © 2018 by SCITEPRESS – science and Technology Publications, Lda. All rights reserved

关键词： Conveying

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Revisiting population structure and particle swarm performance 10th

Revisiting population structure and particle swarm performan...

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10th International Joint Conference on Computational Intelligence, IJCCI 2018

作者： Fernandes, Carlos M. Fachada, Nuno Laredo, Juan L.J. Merelo, Juan Julian Castillo, Pedro A. Rosa, Agostinho LARSyS: Laboratory for Robotics and Systems in Engineering and Science University of Lisbon Lisbon Portugal HEI-LAB - Digital Human-Environment and Interactions Labs Universidade Lusófona Lisbon Portugal LITIS University of Le Havre Le Havre France Departamento de Arquitectura y Tecnología de Computadores University of Granada Granada Spain

ISBN: (纸本)9789897583278

Population structure strongly affects the dynamic behavior and performance of the particle swarm optimization (PSO) algorithm. Most of PSOs use one of two simple sociometric principles for defining the structure. One connects all the members of the swarm to one another. This strategy is often called gbest and results in a connectivity degree = , where is the population size. The other connects the population in a ring with = 3. Between these upper and lower bounds there are a vast number of strategies that can be explored for enhancing the performance and adaptability of the algorithm. This paper investigates the convergence speed, accuracy, robustness and scalability of PSOs structured by regular and random graphs with 3 ≤ ≤ . The main conclusion is that regular and random graphs with the same averaged connectivity may result in significantly different performance, namely when is low. Copyright © 2018 by SCITEPRESS – science and Technology Publications, Lda. All rights reserved.

关键词： Particle swarm optimization (PSO)

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Dynamical balance optimization and control of quadruped robots under perturbing external force

Dynamical balance optimization and control of quadruped robo...

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3rd IFAC Conference on Intelligent Control and Automation science, ICONS 2013

作者： Li, Zhijun Yu, Sijia Liu, Sibang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China Robotics Institute School of Mechanical Engineering University of Electronic Science and Technology of China Chengdu 610054 China Robotics Institute University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9783902823458

This paper investigates the optimal feet forces distribution and control of quadruped robots under external disturbance forces. First, we formulate a constrained dynamic model of quadruped robots and derive a reduced order dynamical model of motion/force. Consider an external wrench on quadruped robots, the distribution of required forces and moments on the supporting legs of a quadruped robot is handled as a tip-point force distribution and used to equilibrate the external wrench. Then, a gradient neural network is adopted to minimize the optimized objective function with linear equality and inequality constraints, and hybrid motion/force control based on adaptive neural network is used to compensate for the external perturbation in the environment and approximate feedforward force and impedance of the leg joints on line. The verification of the proposed control is conducted using the extensive simulations. Copyright © 2013 IFAC.

关键词： Adaptive control systems

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Kinematics Analysis of Leg Configuration of An Ostrich Bionic Biped Robot 2021

Kinematics Analysis of Leg Configuration of An Ostrich Bioni...

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2021 International Conference on robotics and Control engineering, RobCE 2021

作者： Che, Junjie Pan, Yang Yan, Wei Yu, Jiexian Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China Southern University of Science and Technology Shenzhen China

ISBN: (纸本)9781450389471

Bio-inspired biped robots require high level dynamic control when walking or jumping. Compared with 4 or 6 legged robots, mechanisms of biped robots are more complicated and have more DOFs, which means both kinematical and dynamic models are more complex. In this paper, we formulated the kinematic models of ostrich bionic biped robot, which apply serial-parallel hybrid mechanism with 13 joints (5 active, 8 passive) each leg. The mechanism topology patterns are analyzed during walking, jumping and standing. We defined the feet as 5-DOFs end-effectors and both forward and inverse kinematic models are formulated using screw theory. An ordinary walking gait based on inverted pendulum was used to test the models and the results show that the robot can walk very well in simulation environments. The research of this paper has obvious application significance for the design, iteration and control of ostrich bionic biped robot. © 2021 ACM.

关键词： Bionics

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Automated Disassembly Sequence Prediction for Industry 4.0 Using Enhanced Genetic Algorithm

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Computers, Materials & Continua 2021年第11期69卷 2531-2548页

作者： Anil Kumar Gulivindala M.V.A.Raju Bahubalendruni R.Chandrasekar Ejaz Ahmed Mustufa Haider Abidi Abdulrahman Al-Ahmari Department of Mechanical Engineering Industrial Robotics and Manufacturing Automation LaboratoryNational Institute of TechnologyKariakal609609India Department of Computer Science Engineering National Institute of TechnologyKariakal609609India Raytheon Chair for Systems Engineering Advanced Manufacturing InstituteKing Saud UniversityRiyadh11421Saudi Arabia Industrial Engineering Department College of EngineeringKing Saud UniversityRiyadh11421Saudi Arabia

The evolution of Industry 4.0 made it essential to adopt the Internet of Things(IoT)and Cloud Computing(CC)technologies to perform activities in the new age of *** technologies enable collecting,storing,and retrieving essential information from the manufacturing *** collected at sites are shared with others where execution automatedly *** obtained information must be validated at manufacturing to avoid undesirable data losses during the de-manufacturing ***,information sharing from the assembly level at the manufacturing stage to disassembly at the product end-of-life state is a major *** current research validates the information optimally to offer a minimum set of activities to complete the disassembly *** optimal disassembly sequence plan(DSP)can possess valid information to organize the necessary actions in ***,finding an optimal DSP is complex because of its combinatorial *** genetic algorithm(GA)is a widely preferred artificial intelligence(AI)algorithm to obtain a near-optimal solution for the DSP *** converging nature at local optima is a limitation in the traditional *** study improvised the GA workability by integrating with the proposed priori crossover *** optimality function is defined to reduce disassembly effort by considering directional changes as *** enhanced GA method is tested on a real-time product to evaluate the *** obtained results reveal that diversity control depends on the operators employed in the disassembly *** proposed method’s solution can be stored in the cloud and shared through IoT devices for effective resource allocation and disassembly for maximum recovery of the *** effectiveness of the proposed enhanced GA method is determined by making a comparative assessment with traditional GA and other AI methods at different population sizes.

关键词： Automation internet of things disassembly sequence planning priori cross over operator enhanced GA disassembly predicates

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Mechatronic Design of a Human Robot Coupling Interface for Teaching by Demonstration

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IFAC-PapersOnLine 2016年第21期49卷 675-680页

作者： Liang P. Yang C. Wang N. Li Z. Li R. State Key Lab of Robotics Systems Harbin Institute of Technology Harbin China Zienkiewicz Centre for Computational Engineering Swansea University Swansea United Kingdom Centre for Robotics and Neural Systems Plymouth University United Kingdom The MOE Key Laboratory of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China

In this paper, we have developed a mechatronic human-robot coupling interface for kinaesthetic guidance based human robot teaching interface, by integration of a 6-axis force sensor, a coupling mechanism and wearable electromyography (EMG) arrays. Our design aims to transfer human operator's arm kinematics, force as well as human upper limb stiffness estimated from EMG signals to robot manipulators. Experiments have been carried out to test the teaching by demonstration performance of the coupling system in two scenarios: i) human teaching a robot for lifting up task; ii) human-robot skill transfer for one joint motion. Experimental results indicated that the coupling design nearly caused no disturbance to human upper limb stiffness estimation. Moreover, human arm kinematics and force/torque in task space can be transferred to the robot in a natural way with guaranteed safety. This coupling interface design can be easily extended to other robot platforms and has great potentials in application of human robot skill transfer. © 2016

关键词： electromyography (EMG) human robot coupling teaching by demonstration

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On the Machining of Aluminum Alloy Series 7 with EDM 1

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7th International Scientific-Technical Conference, MANUFACTURING 2022

作者： Balanou, Maria Karmiris-Obratański, Panagiotis Karkalos, Nikolaos E. Papazoglou, Emmanouil L. Markopoulos, Angelos P. School of Mechanical Engineering Laboratory of Manufacturing Technology National Technical University of Athens Athens Greece Faculty of Mechanical Engineering and Robotics Department of Manufacturing Systems AGH University of Science and Technology Cracow Poland

ISBN: (数字)9783031008054

ISBN: (纸本)9783031008047

Electrical Discharge Machining is a thermo-electrical non-conventional machining process, which is widely used in machining difficult-to-cut materials in complex shapes and geometries, regardless their mechanical properties. Aluminum series 7 alloys are the strongest wrought aluminum alloy with extensive utilization in numerous modern applications. In the current study, an experimental investigation of machining Al7075 with EDM and brass electrode is presented. Full-scale experiments were conducted, with control parameters the pulse-on current and the pulse-on time, while, as the machining performance indexes, the Material Removal Rate (MRR), and the Tool Material Removal Rate (TMRR) were chosen and Surface Roughness (SR) was estimated in terms of the maximum roughness Rz and the average surface roughness Ra. Finally, a statistical analysis was followed in order to assess how each machining parameter affects the machining results. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Aluminum alloy ANOVA Electrical discharge machining

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