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作者： Vasile, Cristian Pavel, Ana Buiu, CǍtǍlin Laboratory of Natural Computing and Robotics Department of Automatic Control and Systems Engineering Politehnica University of Bucharest Spl. Independentei 313 060042 Bucharest Romania

ISBN: (纸本)9783902661890

A cognitive collaborative multi-agent control architecture that addresses real-world control problems for swarms of mobile robots is proposed. The swarm's emergent behaviour is obtained by using a distributed Particle Swarm Optimization inspired algorithm. A swarm-user interface is also presented and offers a way for a human operator to interact with and guide the robotic swarm without limiting its emergent intelligence. The architecture is designed as a multi-agent system developed using JADE Framework. Three types of agents were defined: local behaviour agent, social behaviour agent and graphical user interface (GUI) agent. Each robot is associated with a pair of a local and a social behaviour agents which implement the reactive component and the interaction between the robots. The swarm forms a hierarchical structure composed of subswarms and neighbourhoods based on tasks and goals defined by the user or the swarm itself. The GUI agent is used as a link between the human expert and the swarm. The architecture was tested on a swarm of e-puck robots.

关键词： Multi agent systems

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Nonlinear system modeling via hybrid system representation of recurrent fuzzy systems

Nonlinear system modeling via hybrid system representation o...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Andreas Schwung Jürgen Adamy Institute of Automatic Control Control Theory and Robotics Laboratory Technische Universität Darmstadt Darmstadt Germany

This paper proposes a new approach to system modeling using continuous-time recurrent fuzzy systems (CTRFS). The approach is based on the representation of CTRFS as hybrid systems. With this representation, various forms of a priori knowledge about the system to be modeled can be incorporated. This allows a reasonable reduction of optimization parameters and hence, avoids overfitting. Furthermore, the presented approach offers a deeper insight into the system structure on the basis of measurement data solely. This is illustrated by a selection algorithm for relevant input and state variables. The applicability of the approach is shown by modeling a chemical process.

关键词： Optimization Fuzzy systems Pragmatics Input variables Nonlinear systems Indexes Linear systems

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Designing nonpolynomial controllers for polynomial systems with input constraints using convex optimization and passivity

Designing nonpolynomial controllers for polynomial systems w...

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IEEE International Symposium on Computer Aided control System Design (CACSD)

作者： Thomas Gußner Jürgen Adamy Institute of Automatic Control Control Theory and Robotics Laboratory Technische Universität Darmstadt Darmstadt Germany

In this paper, a computational approach for controller design for polynomial systems with input constraints is proposed. The design is formulated as a convex optimization problem and capable of dealing with asymmetric input constraints. The idea of the method is to combine the recently introduced notion of virtual inputs and the notion of feedback passivity to obtain an optimization problem with polynomial constraints. The optimization problem is relaxed using the method of sum of squares which finally results in an LMI problem. The resulting state feedback controllers are non-polynomial. The approach contains some conservatism arising when formulating the design as a convex optimization problem. The introduction of slack variables and a postprocessing step reduces this conservatism. The applicability of the method is demonstrated by a controller design for a jet engine compressor.

关键词： Polynomials Optimization Closed loop systems Stability analysis Lyapunov method State feedback

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Active fault tolerant control of an electro-hydraulic servo axis with a duplex-valve-system

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IFAC Proceedings Volumes 2010年第18期43卷 660-668页

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 (Tel: +49-6151-162314) TU Darmstadt Institute of Automatic Control Laboratory for Control Theory and Robotics 64283 Darmstadt Germany (Tel: +49-6151-166283) TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process automation 64283 Darmstadt Germany (Tel: +49-6151-163114) TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process automation 64283 Darmstadt Germany (Tel: +49-6151-162114)

In this paper fault detection, fault diagnosis and active fault tolerant control of an electro-hydraulic servo-axis with a duplex-valve-system are described. The fault detection is based on parity equations. The semi-physical models allow the detection of even small faults in the hydraulic system. The fault diagnosis used on the testbed is based on fuzzy-logic. In order to tolerate a failed hydraulic proportional valve, a duplex-valve-system built up with standard direct-driven proportional valves is applied. The fault management module allows the supervision of the hydraulic servo axis and decides on reconfiguration and fault accomodation of the control-loop. The Internal Model control (IMC)-tracking control structure used for reconfiguration allows bumpless transfer between controllers. Experimental results show the industrial applicability of the approach.

关键词： Fault Detection Fault Diagnosis Fault Tolerance Fault Accomodation Electro-hydraulic Servo Axis Duplex-valve-system Active Fault Tolerant control Reconfiguration Bumpless-Transfer

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Chidori – a bio-inspired cognitive architecture for collective robotics applications

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IFAC Proceedings Volumes 2010年第22期43卷 40-45页

作者： Cristian Vasile Ana Pavel Câtâlin Buiu Laboratory of Natural Computing and Robotics Department of Automatic Control and Systems Engineering “Politehnica” University of Bucharest Spl. Independentei 313 060042 Bucharest Romania

关键词： bio-inspired cognitive architecture collaborative robotics swarm intelligence swarm-user interface multi-agent system particle swarm optimization

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A probabilistic method for hierarchical 2D-3D tracking

A probabilistic method for hierarchical 2D-3D tracking

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International Joint Conference on Neural Networks (IJCNN)

作者： Chen Zhang Julian Eggert Institute of Automatic Control Control Theory and Robotics Laboratory Darmstadt University of Technology Darmstadt Germany Honda Research Institute Europe GmbH Offenbach am Main Germany

In this paper, we present a generic way to use a hierarchical representation of prediction models for adaptive tracking purposes. Each node of the hierarchy consists of an interacting multiple models (IMM) particle filter that combines local predictions with top-down predictions arriving from nodes situated higher up in the hierarchy. Such a hierarchical prediction structure provides mechanisms to automatically control the influences between the nodes of the hierarchy. We demonstrate the gain of a hierarchical 2D-3D tracking system by first using it to track 3D elliptically rotating object in an artificial scene, where in approaching and departing phases the target is inherently hard to track in pure 2D space due to large accelerations. To the contrary, the proposed hierarchical 2D- 3D tracking system successfully tracks the target, because it benefits from the ability of dynamically adapting its prediction models. In order to test the robustness of this framework and its feasibility for real-world applications, we then show in a traffic scene that we can successfully track a motorcylist from a driving car by means of this hierarchical tracking framework.

关键词： Target tracking Acceleration Adaptation model

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Level-set segmentation with contour based object representation

Level-set segmentation with contour based object representat...

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International Joint Conference on Neural Networks (IJCNN)

作者： Daniel Weiler Florian Roehrbein Julian Eggert Institute of Automatic Control Control Theory and Robotics Laboratory Darmstadt University of Technology Darmstadt Germany Honda Research Institute Europe GmbH Offenbach Germany

In this paper we present an approach for contour based object representation. To this end we use a curvature signal gained by a level-set segmentation method. The advantage of that curvature signal is that it generates no computational overhead as it is a byproduct of standard level-set segmentation methods. Different methods for the description of the segmented objects, so called object descriptors are presented. The object descriptors are all invariant against translation, rotation and scale of the object. Furthermore we show a sparse and memory efficient representation of the descriptors for a series of objects. Finally an approach for classification of unknown objects based on ldquomemorizedrdquo objects is proposed.

关键词： Image segmentation Shape Biological system modeling Neurons Pixel Neural networks Signal generators Labeling automatic control control theory

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Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot

Intercontinental, multimodal, wide-range tele-cooperation us...

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Paul Evrard Nicolas Mansard Olivier Stasse Abderrahmane Kheddar Thomas Schauß Carolina Weber Angelika Peer Martin Buss CNRS AIST Joint Robotics Laboratory (JRL) Tsukuba Japan Institute of Automatic Control Engineering Technische Universität München Munich Germany

This paper is the continuation of our previous work in intercontinental, collaborative teleoperation with a humanoid robot. Our new achievement consists in an extension of the former single-arm bilateral teleoperation setting to include bimanual manipulation and walking. A coupling scheme for simultaneous manipulation and locomotion is developed. Furthermore, a task-based control framework, including a force-based control for the arms as well as a walking pattern generation, is presented to realize stable whole-body motions of the highly redundant humanoid robot. Experiments have been performed to assess the proposed control scheme. They bring to light additional scientific challenges that remain in order to reach a smooth and natural telepresent collaboration.

关键词： Humanoid robots Humans Collaborative work Legged locomotion Teleoperators Motion control Collaboration Haptic interfaces Robot sensing systems Mobile robots

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Annual business and news: Beginning the 32nd year

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Journal of Guidance, control, and Dynamics 2009年第1期32卷 1-7页

作者： Schmidt, George T. Akella, Maruthir Balakrishnan, S.N. Campbell, Mark E. Clarke, John-Paul Colgren, Richard D. Crassidis, John L. Doman, David B. Eke, Fidelis O. Enns, Russell J. Gawronski, Wodek Hablani, Hari B. Leitner, Jesse A. Ping, Lu MacDonald, Malcolm McFarland, Michael B. Melton, Robert G. Mitchell, James Mukhopadhyay, Vivekanand Sasiadek, Jurek Z. Schaub, Hanspeter Wise, Kevin A. United States NATO Systems and Electronics Technology Panel Lecture Series on Low Cost Navigation Sensors and Integration Technology U.S. Air Force Office of Scientific Research United States United States American Automatic Control Council United States Sibley School of Mechanical and Aerospace Engineering Cornell University United States School of Aerospace Engineering Air Transportation Laboratory Georgia Institute of Technology United States Lockheed Martin Aeronautics Company Palmdale CA United States United States Wright-Patterson Air Force Base Dayton OH United States Davis United States Apache Longbow Jet Propulsion Laboratory California Institute of Technology United States GSFC United States Department of Aerospace Engineenng Iowa State University United States Raytheon Electronic Systems United States Department of Aerospace Engineering Pennsylvania State University United States NASA Langley Research Center United States Indian Institute of Technology India Department of Aerospace Engineering Carleton University Canada International Federation of Automatic Control Robotics Technical Committee Joint Robotics and Control Systems Societies Chapter Ottawa Canada X-45 Joint-Unmanned Combat Air System Program

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Dynamic validation of the estimates obtained by lumbar infusion test in hydrocephalic patients

Dynamic validation of the estimates obtained by lumbar infus...

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6th IASTED International Conference on Biomedical Engineering, BioMED 2008

作者： Cieslicki, Krzysztof Krol, Tomasz Piechnik, Stefan Laboratory of Bioflows Institute of Automatic Control and Robotics Warsaw University of Technology Poland Department of Clinical Neurology Centre for Functional Magnetic Resonance Imaging of the Brain University of Oxford United Kingdom

ISBN: (纸本)9780889867215

The infusion test is a routine clinical tool to study the efficacy of intracranial volume compensation in neurosurgical practice. Traditional approach requires measurement of two relatively long steady states, totaling up to an hour of invasive testing. Therefore, we investigate here the consistency of estimates arising from shorter monitoring times. We developed an off-line software, based on widely accepted model of cerebrospinal fluid circulation, and used it to validate the dynamically evolving test estimates in 25 recordings in patients referred for the infusion test, to confirm diagnosis of hydrocephalus. Our results show that, typically, 4 minutes is required to reach the inflection point in the response curve and, about twice that time to produce estimates within 10% error from the final results. This effect depends on number of free parameters allowed in model estimation and varies between the clinical cases depending on their status and amount of the measurement noise. The observation of the dynamical convergence in the model parameters provides an important information regarding the stability and accuracy of the latest estimates. Real-time application of our method to clinical practice could potentially save 30% of monitoring time or provide an alternative means to validate the accuracy of the test.

关键词： Cerebrospinal fluid

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