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检索条件"机构=Laboratory of Automatic Control and Robotics"

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Using enzymatic numerical P systems for modeling mobile robot controllers

Using enzymatic numerical P systems for modeling mobile robo...

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作者： Pavel, Ana Brânduşa Buiu, CǍtǍlin Laboratory of Natural Computing and Robotics Department of Automatic Control and Systems Engineering Politehnica University of Bucharest Splaiul Independenţei Nr. 313 Sector 6 060042 Bucharest Romania

P systems (PSs) are powerful computing models based on the structure of a biological cell and on the way chemicals interact in complex biochemical reactions which take place in various compartments (or membranes) of the cell. A lot of interest has been focused on developing various forms of PSs, from cell-like to tissue-like structures. Most of the research effort has been concentrated on symbolical PSs. Numerical P systems (NPSs) have been introduced in 2006 for possible applications in economics and business processes but no other structures and applications concerning this type of PSs have been provided since then. This paper proposes a newclass of NPSs, in which enzyme-like variables allow the existence of more than one production function in each membrane, while keeping the deterministic nature of the system. The way this new type of deterministic NPSs works and a possible use of it for modeling mobile robot controllers are detailed. © Springer Science+Business Media B.V. 2011.

关键词： Enzymes

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Modeling and adaptive control of a quadrotor

Modeling and adaptive control of a quadrotor

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IEEE International Conference on Mechatronics and Automation

作者： Matthias Schreier Institute of Automatic Control and Mechatronics Control Theory and Robotics Laboratory Technical University of Darmstadt Darmstadt Germany

In this paper, we propose two variants of adaptive state space controllers for attitude stabilization and self-tuning of a four-rotor aerial robot, a quadrotor. First of all, the use of a Model Identification Adaptive controller (MIAC) is proposed in terms of combining a recursive least-squares estimator with exponential forgetting with an integral discrete-time state space controller. Furthermore, a continuous-time Model Reference Adaptive control (MRAC) scheme based on Lyapunov theory is applied to the simplified dynamics of a quadrotor, which guarantees global asymptotic stability for at least linear overall systems. The effectiveness of the suggested adaptive methods is demonstrated in simulations with a quaternion-based nonlinear dynamic model of a quadrotor derived in this work. The results are compared to a designed nonadaptive integral state space controller.

关键词： Vectors Aerospace electronics Adaptation models Rotors Mathematical model Quaternions Adaptive control

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Multi-Model Observer for Position Estimation and Object Contact Detection of a Flexible Robotic Actuator

Multi-Model Observer for Position Estimation and Object Cont...

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IEEE International Conference on control Applications

作者： Benoit Huard Mathieu Grossard Sandrine Moreau Thierry Poinot CEA LIST Interactive Robotics Laboratory Informatics and Automatic control for Systems Laboratory (LIAS) University of Poitiers CEA LIST LIAS

ISBN: (纸本)9781467345033

This paper proposes a multi-model based approach that estimates joint position and collision detection of a lightweight electric actuator dedicated to manipulation tasks. Taking advantage of an optimized back-drivable mechatronic design, the use of proprioceptive measures at the motor level enables the estimation of the unmeasured terminal position of the mechanical motor-to-joint transmission and force contact disturbance. An accurate model of the actuated mechanical flexible transmission is theoretically introduced to precisely describe its non-linear dynamic behavior, and is reformulated into a polytopic form. Then, a multi-model observer-based estimator is synthesized for object contact detection strategy and joint position estimation without additional position/force sensor. A root-clustering synthesis is performed through Linear Matrix Inequalities (LMIs) and is experimentally validated with a single degree-of-freedom manipulator.

关键词： position estimation electric actuators CONTACT Contact Information flexible transmission actuators

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Surface sensor networks for Underwater Vehicle positioning with bearings-only measurements

Surface sensor networks for Underwater Vehicle positioning w...

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2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： D. Moreno-Salinas A. M. Pascoal J. Aranda Department of Computer Science and Automatic Control UNED Madrid Spain Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Technical University of Lisbon Portugal

There is increasing interest in the use of Autonomous Underwater Vehicles (AUVs) to substantially improve the means available for ocean exploration and exploitation. A key element in the operation of certain classes of AUVs is the availability of good underwater positioning systems to localize one or more vehicles simultaneously based on information received on-board a support ship or a set of autonomous surface vehicles. In an interesting operational scenario, the set of autonomous surface vehicles carries a network of acoustic units that measure the elevation and azimuth angles between the target and each of the receivers. Motivated by these considerations, in this paper we address the problem of determining the optimal geometric configuration of an acoustic sensor network at the ocean surface that will maximize the angle-related information available for underwater target positioning. It is assumed that the angle measurements are corrupted by white Gaussian noise, the variance of which is distance-dependent. Using the Cramer-Rao lower bound inequality, the trace of the inverse of the Fisher Information matrix (also called the Cramer-Rao Bound matrix) for the problem at hand is used to determine the sensor configuration that yields the minimum possible covariance of any unbiased target estimator. It is shown that the optimal configuration lends itself to an interesting geometrical interpretation and that the spreading of the sensor configuration depends explicitly on the intensity of the measurement noise and the target depth. Simulation examples illustrate the key results derived.

关键词： Robot sensing systems Sea measurements Noise measurement Noise Vectors Sea surface Acoustic measurements

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Micro-cantilever design and modeling framework for quantitative multi-frequency AFM

Micro-cantilever design and modeling framework for quantitat...

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IEEE Conference on Nanotechnology

作者： Naveen Shamsudhin Hugo Rothuizen Michel Despont John Lygeros Abu Sebastian Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland IBM Research Zurich Research Laboratory Ruschlikon Switzerland Automatic Control Laboratory ETH Zurich Zurich Switzerland

Recently several multi-frequency imaging techniques have been proposed that have opened up a multitude of information channels to probe surface properties in atomic force microscopy (AFM). However, the dynamics involved are significantly more complicated than in the traditional AFM modes, and hence quantitative multi-frequency AFM (MF- AFM) remains a key challenge. In this paper, we introduce custom-made micro-cantilevers with integrated actuators and a systems-theoretic modeling framework for MF-AFM, which together provide powerful experimental and theoretical tools for quantitative measurement of tip-sample interaction forces and sample properties.

关键词： Force Actuators

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Adaptive control for a cable driven robot arm

Adaptive control for a cable driven robot arm

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Ma, Jianjun Li, Yanan Ge, Shuzhi Sam Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Singapore Department of Automatic Control College of Mechatronics and Automation National University of Defense Technology Changsha 410073 China NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781467312776

The cable-driven mechanism is usually used in robotic systems for the efficient transmission of forces or torques from actuators to the end-effector. However, the control design is challenging for these systems due to the cable compliance and transmission elasticity. In this paper, adaptive control in a cascaded structure is designed for the trajectory tracking of a cable driven robot arm. The desired control input is obtained by developing an adaptation scheme, which does not require the computation of the regressor matrix. Proportional-derivative (PD) control is designed to specify the actual control input such that the trajectory tracking is achieved. Simulation results are provided to show the effectiveness of the proposed method. © 2012 IEEE.

关键词： Cables

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Multi-Model Observer and State Feedback Position control of a Flexible Robotic Actuator

Multi-Model Observer and State Feedback Position Control of ...

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Annual Conference on IEEE Industrial Electronics Society

作者： Benoit Huard Mathieu Grossard Sandrine Moreau Thierry Poinot CEA LIST and LIAS Interactive Robotics Laboratory CEA LIST Interactive Robotics Laboratory Informatics and Automatic control for Systems Laboratory (LIAS) University of Poitiers

ISBN: (纸本)9781467324199

This paper proposes a state feedback control of a lightweight electric actuator dedicated to manipulation tasks. Taking advantage of an optimized back-drivable mechatronic design, the use of proprioceptive measures at the motor level enables the estimation of the unmeasured terminal position of the mechanical motor-to-joint transmission and force disturbance. An accurate model of the actuated mechanical flexible transmission is introduced to determine unmeasurable states with a model-based observer. The observer and the controller are synthesized by tacking into account the non-linear dynamic behavior of the mechatronic system. Non-linearities are reformulated into a poly-topic multi-model, and dynamic performances of the controlled system are fixed by root-clustering. This synthesis is performed through Linear Matrix Inequalities (LMIs) and is experimentally validated with a single degree-of-freedom manipulator.

关键词： DC motors Joints Observers Friction Mathematical model Linearity

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Fault-tolerant control of an electro-hydraulic servo axes with a duplex-valve-system

Fault-tolerant control of an electro-hydraulic servo axes wi...

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作者： Beck, Mark Schwung, Andreas Muenchhof, Marco Isermann, Rolf TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process Automation 64283 Darmstadt Germany TU Darmstadt Institute of Automatic Control Laboratory for Control Theory and Robotics 64283 Darmstadt Germany

ISBN: (纸本)9783902661937

This paper presents fault detection, fault diagnosis, the fault-tolerant control of an electro-hydraulic servo axes with a duplex-valve-system. The fault detection is based on parity equations and is load independent. The semi-physical models allow the detection of even small faults in the hydraulic system. The fault diagnosis used at the testbed is based on fuzzy-logic. In order to tolerate a faulty hydraulic proportional valve, a duplex-valve-system built up with standard proportional valves is applied. The fault management module allows the supervision of the hydraulic servo axes and decides on the reconfiguration of the control-loop. An Internal Model control (IMC)-tracking control structure for bumpless transfer between controllers is presented. Experimental results show the industrial applicability of the approach. © 2011 IFAC.

关键词： Fault detection

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Inferring the goal of an approaching agent: A human-robot study

Inferring the goal of an approaching agent: A human-robot st...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Patrizia Basili Markus Huber Omiros Kourakos Tamara Lorenz Thomas Brandt Sandra Hirche Stefan Glasauer Center for Sensorimotor Research Ludwig-Maximilians-Universität München Munchen Germany Institute of Automatic Control Engineering Central Robotics Laboratory Technische Universität München (CCRL-519) CCRL-CoTeSys Munchen Germany Institute of Experimental Psychology Ludwig-Maximilians-Universität München Munchen Germany

The ability to infer intentions and predict actions enables coordinating of one's own actions with those of another human and allows smooth and intuitive interaction. The aim to achieve equally effective human-robot interactions is a crucial aspect of current robotic studies. Thus, we assume that studying human-human interaction provides valuable insights allowing to implement mutual intention recognition and action prediction in robotic systems. A common scenario of interaction, be it in everyday life or in an industrial setting, is that two or more agents share the same workspace and perform tasks without interference. If humans are involved, the robots should act sufficiently predictable to enable the human to attribute goals and predict motion trajectories. In the present work, we first analyzed how well a human recognizes the goal of another person entering the room, and whether this ability is deteriorated by concealing gaze direction of the other person. In a second setup, the same experiment was repeated by replacing the approaching person with a wheeled robot. On average, the distance at which subjects predicted the goal of the approaching agent was approx. 4 m and depended on subject and goal position, but not on the type of agent. However, goal attribution showed a considerable proportion of errors for the robot (19%), much less for a human with hidden gaze direction (6%), and almost none for a human with visible gaze (1%). Thus, our subjects apparently decided on the goal of the approaching agent without taking into account the reliability of directional cues, thus resulting in more errors. In a human-robot setting, such wrong predictions about robotic behavior may easily lead to dangerous situations. For smooth and safe interaction, it is therefore important to ameliorate the predictability of robotic actions.

关键词： Humans Trajectory Mobile robots Robot kinematics Analysis of variance Target recognition

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A saturating set point tracking controller for a class of nonlinear systems subject to input amplitude and rate constraints

A saturating set point tracking controller for a class of no...

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1st Australian control Conference, AUCC 2011

作者： Kefferpütz, Klaus Jost, Michael Gusßsner, Thomas Adamy, Jürgen Control Theory and Robotics Laboratory Technische Universität Darmstadt Germany Automatic Control and Systems Theory Ruhr-Universität Bochum Germany

ISBN: (纸本)9780858259874

We propose a new set point tracking controller for feedback linearizable nonlinear systems subject to simultaneous input amplitude and rate constraints. The saturating tracking controller can be deduced from a controller stabilizing the origin with a guaranteed domain of attraction and can be designed efficiently by solving a convex optimization problem. © 2011 ENGINEERS AUSTRALIA & AUSTRALIAN OPTICAL.

关键词： Nonlinear systems

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