检索结果-内蒙古大学图书馆

International Joint Conference on Neural Networks (IJCNN)

作者： Moritz Schneider Jürgen Adamy Institute of Automatic Control and Mechatronics Laboratory of Control Methods and Robotics Technische Universität Darmstadt Darmstadt Germany

ISBN: (纸本)9781479919611

Motivation and emotion are inseparable component factors of value systems in living beings, which enable them to act purposefully in a partially unknown and sometimes unforgiving environment. Value systems that drive innate reinforcement learning mechanisms have been identified as key factors in self-directed control and autonomous development towards higher intelligence and seem crucial in the development of a concept of “self” in sentient beings [1]. This contribution is concerned with the relationship between artificial learning control systems and innate value systems. In particular, we adapt the state-of-the-art model of motivational processes based on reduction of generalized drives towards higher flexibility, expressivity and representation capability. A framework for modelling self-adaptive value systems, which develop autonomously starting from an inherited (or designed) innate representation, within a learning control system architecture is formulated. We discuss the relationship of anticipated effects in this control architecture with psychological theory on motivations and contrast our framework with related approaches.

关键词： Biology Artificial intelligence Cognition Adaptation models

来源：评论

学校读者我要写书评

暂无评论

controlling force in polarization-maintaining fiber fused biconical tapering

引用

Mathematical Problems in Engineering 2015年第1期2015卷

作者： Zhang, Wei Rong, Weibin Wang, Lefeng Zheng, Qing Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China AVIC Xi'An Flight Automatic Control Research Institute Xi'an710065 China

Fused biconical tapering (FBT) is an important method of manufacturing polarization-maintaining fiber (PMF) couplers. However, the tension on the ends of the fibers can affect the performance of the coupler. In this paper, a computer-based method of controlling the drawing force was presented. The system includes a drawing mechanism, rotary position encoders, and a control circuit. A three-dimensional model of a permanent magnet and a coil is constructed, and the relationship among the coil current, rotation angle of the clamp, and electromagnetic force is determined using finite element simulations. Electromagnetic force control based on these simulations can be realized. The method is verified experimentally, and it is shown that a drawing force of 0-1.8 gf can be achieved with an error of within 3.04%. This result can be used in the FBT-based manufacture of fiber components such as fiber couplers and gratings. © 2015 Wei Zhang et al.

关键词： Permanent magnets

来源：评论

学校读者我要写书评

暂无评论

control of mobility assistive robot for human fall prevention

Control of mobility assistive robot for human fall preventio...

引用

IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Milad Geravand Wolfgang Rampeltshammer Angelika Peer Chair of Automatic Control Engineering Technische Universität München Munich Germany Bristol Robotics Laboratory University of the West of England Bristol United Kingdom

ISBN: (纸本)9781479918096

Mobility assistance robots can provide physical and balance support in order to prevent falls of elderly or patients. In this paper we propose a fall prevention approach for a mobility assistance robot equipped with a pair of actuated arms. The algorithm evaluates the user's Extrapolated Center of Mass (XCOM) and determines required supportive forces to be provided to the user in order to prevent user falls. We further present how the required forces are realized by the robot. Performance of the proposed approach is tested in experiments by a mobility assistance robot supporting subjects provoking falls in different directions.

关键词： Legged locomotion Force Computational modeling Foot Robot sensing systems Manipulators

来源：评论

学校读者我要写书评

暂无评论

Synchronizing linear heterogeneous networks by output homogenization 19

Synchronizing linear heterogeneous networks by output homoge...

引用

19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Khodaverdian, Saman Adamy, Jürgen Institute of Automatic Control and Mechatronics Laboratory of Control Theory and Robotics Technische Universität Darmstadt Germany

ISBN: (纸本)9783902823625

This article deals with the synchronization of heterogeneous multi-agent systems. A simple distributed control law is provided to solve the problem. The presented approach is based on the idea to ascribe the heterogeneous case to a homogeneous synchronization task, for which the solution is well known. The presented method is applicable to networks of completely different agents, even with different dimensions. Additionally, the communication effort is minimized because only the states which are to be synchronized need to be exchanged through the network. An example illustrates the efficiency of the concept. © IFAC.

关键词： Multi agent systems

来源：评论

学校读者我要写书评

暂无评论

Development and characterization of a dynamic smart structure providing multi-axis force sensing for robotic applications

Development and characterization of a dynamic smart structur...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Davinson Castaño-Cano Mathieu Grossard Arnaud Hubert CEA Interactive Robotics Laboratory Gif-sur-Yvette France Automatic Control and Micro-Mechatronic Systems Department ENSMM-UTBM-CNRS Besancon France Sorbonne Universites Electromechanical Laboratory (LEC) Compiegne CEDEX CS France

When considering force-controlled robots, one key-point to sense the arm-environment interaction is the availability of cheap but sufficiently precise multi-axis force sensors. Even if resonant sensors can overcome some well-known limitations such as noise and drift issues, designing multi-axial resonant force sensor is still non-intuitive due to dynamical nature and multiple modes interaction. This paper presents the development of an integrated three-component force sensing resonant structure, which may be used to simultaneously estimate, all the three components of the force applied on it, for the first time. The sensor principle relies on one single pre-stress composite plate where actuation and measurement are achieved with piezoelectric transducers. Feedback control based on Phase-Locked Loop is used to measure resonances, then estimate the applied forces. Multiple smart design strategies, such as modal superposition, spatial modal filtering using optimal transducers placement and intelligent signal conditioning, limit the electronic treatment and reduce the controller complexity. Experimental comparisons with other calibrated force sensors have shown that the applied force can be efficiently estimated with accuracy, demonstrating the interest of our approach to design integrated and inexpensive multi-axis force sensor solution for robotic applications.

关键词： Force Resonant frequency Force sensors Robot sensing systems Phase locked loops Frequency measurement

来源：评论

学校读者我要写书评

暂无评论

Persistent Tracking of a Dynamic Target by a Mobile Robot 33

Persistent Tracking of a Dynamic Target by a Mobile Robot

引用

第三十三届中国控制会议

作者： LIANG Xiao FANG Yongchun YANG Dedong Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University Shool of Control Science and Engineering Hebei University of Technology

ISBN: (纸本)9781479947249

A novel pursuing algorithm, together with a new experiment method, is introduced to drive a nonholonomic mobile robot tracking a dynamic target in the framework of pursuit-evasion game. Specifically, a pan-tilt with an on-board camera is attached to the mobile robot to construct a tracking system, which greatly improves the maneuverability compared with the traditional method. To keep the target close enough to the vision center of the camera, a control technique is devised according to its kinematic model and Lyapunov theory. By utilizing game theory, the viability set is determined. A tracking controller is employed to guarantee persistent tracking for the dynamic target, where the relative position between the target and the robot is successfully acquired from the visual measurements by the utilization of geometric analysis. Both simulation and experimental results are provided to illustrate the performance of the controller.

关键词： Nonholonomic Constraint,Camera Tracking,Mobile control,Lyapunov Theory

来源：评论

学校读者我要写书评

暂无评论

Modal decoupling for MIMO self-oscillating systems - application to resonant force sensor control

Modal decoupling for MIMO self-oscillating systems - applica...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： D. Castano-Cano M. Grossard A. Hubert CEA Interactive Robotics Laboratory Gif-sur-Yvette France Automatic Control and Micro-Mechatronic Systems Department FEMTO-ST Institute Université de Franche-Comte Besançon France Sorbonne Universités EA 1006 Laboratoire Electromecanique Compiègne CEDEX CS France

In this paper we present a new method to control instantaneously MIMO oscillating systems. The algorithm and its hardware configuration are implemented on a multidimensional resonant force sensor. The robotic applications of this sensor require real-time resonant frequency measures. Inspired by the technique used in single quartz crystal oscillator, the method is extended to the MIMO case and is presented as an alternative solution to control multiple resonances of a force sensor. Three frequencies of one single active plate, on which several piezoelectric patches are bonded, are simultaneously excited. The method uses spatial modal decoupling technique implemented with analogue electronics thanks to a smart arrangement of the piezoelectric patches. This allows the full MIMO system to be transformed into three independent SISO subsystems. Then, for each of them, a controller is tuned to reinforce self-oscillation of the force sensor system to several resonant working points in a closed-loop configuration. Finally, experimental verification shows that the method can be successfully used for the control of a new type of resonant force sensors.

关键词： Force sensors Robot sensing systems Resonant frequency Force MIMO Frequency measurement

来源：评论

学校读者我要写书评

暂无评论

Synchronizing Linear Heterogeneous Networks by Output Homogenization

引用

IFAC Proceedings Volumes 2014年第3期47卷 4687-4692页

作者： Saman Khodaverdian Jürgen Adamy Institute of Automatic Control and Mechatronics Laboratory of Control Theory and Robotics Technische Universität Darmstadt Germany

关键词： Synchronization Multi-agent systems Heterogeneous agents Distributed control

来源：评论

学校读者我要写书评

暂无评论

Comparison of two robust predictive control strategies for trajectory tracking of flexible-joint robots

Comparison of two robust predictive control strategies for t...

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： M. Makarov M. Grossard P. Rodriguez-Ayerbe D. Dumur SUPELEC Systems Sciences (E3S) Automatic Control Department France CEA Interactive Robotics Laboratory France

ISBN: (纸本)9781479957378

Two control design approaches are proposed for robust and accurate trajectory tracking of flexible-joint robot manipulators using motor-side measurements only. Within a two-degrees-of-freedom linear controller structure with reference anticipation, the design methods are based either on the Generalized Predictive control (GPC) or the H ∞ frameworks. In the first case, the approach considers the Youla parametrization of an initial GPC controller, while in the second case, a two-degree-of-freedom H ∞ controller with anticipated reference is synthesized. Experimental evaluation of both methods is performed using the CEA lightweight ASSIST robot arm under rigid model-based compensation, which is modeled as an uncertain system and preliminary identified experimentally. Benefits and drawbacks of both methods are discussed.

关键词： Robustness Robots Joints Polynomials Uncertainty Frequency control Frequency-domain analysis

来源：评论

学校读者我要写书评

暂无评论

Hand motion recognition based on pressure distribution maps and LS-SVM

Hand motion recognition based on pressure distribution maps ...

引用

International Conference on Mechatronics and control (ICMC)

作者： Nan Li Shourong Wei Minfeng Wei Bo Liu Hong Huo Li Jiang National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing Aerospace Automatic Control Institute Beijing China State Key Laboratory of Robotics and system Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479925391

This paper presents a novel hand motion recognition method to achieve the volitional control of a multi-DOF prosthetic hand. Based on the principle that the pressure distributions on the surface of forearm caused by the muscular activities are different when different hand motions are performed, a human-machine interface (HMI) composed of 32 force sensitive resistor (FSR) sensors, measurement unit and recognition unit is designed to measure and classify the pressure distribution maps (PDM) of 9 typical hand motions. The least-squares support vector machine (LS-SVM) is adopted as the pattern recognition algorithm to classify the selected movement modes. The multi-subject experiment results show that the method can identify each motion with high accuracy.

关键词： Accuracy Sensor arrays Prosthetic hand Thumb Support vector machines

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：