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作者： Wang, Binrui Xu, Xinhe Tan, Jindong Key Laboratory of Process Industry Automation Institute of AI and Robotics Northeastern University Shenyang 110004 China Department of Electrical and Computer Engineering Michigan Technological University Houghton MI 49931 United States

ISBN: (纸本)008045108X

Intelligent bionic leg (IBL) is important for above-knee amputees. Biped robot with heterogeneous legs (BRHL) including artificial leg and bionic leg is proposed as a good test-bed for IBL. Mechanism and virtual prototype of BRHL is designed and built. Model of BRHL is established. Based on the complex differential algebraic equation of bionic leg, computed torque and PD feedback control of joint angle are introduced for gait tracking. The iterative learning control is applied in conjunction with computed torque and PD control law for good tracking performance. Control simulation is done and shows intelligent control is good for BRHL. Copyright © 2005 IFAC.

关键词： Differential equations

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A case study of 3D stereoscopic vs. 2D monoscopic tele-reality in real-time dexterous teleoperation

A case study of 3D stereoscopic vs. 2D monoscopic tele-reali...

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2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Wai-keung Fung Wang-tai Lo Yun-hui Liu Ning Xi Networked Sensors and Robotics Laboratory Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong New Territories Hong Kong China Robotics and Automation Laboratory Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA

This paper reports a case study of using single 3D stereoscopic visual feedback for real-time teleoperation of dexterous tasks. In traditional teleoperation systems, real-time visual feedbacks of multiple monoscopic views of the robot workspace are provided for remote operator. However, it is difficult for the operator to control remote robot to perform dexterous tasks by looking at multiple video feedbacks at the same time. During teleoperation, remote operators usually find multiple 2D visual feedbacks confusing, especially when performing dexterous tasks that require accurate positioning and orientating of robot end-effectors. In this paper, we propose to provide single real-time 3D stereoscopic visual feedback for remote operators so that they perceive remote robot workspace with the sense of depth. This sense of 3D empowers remote operators to accurately position and orient robot end-effector with confidence. Experiments have been conducted to reveal the usefulness of real-time 3D stereoscopic video feedback over multiple monoscopic video feedback in real-time teleoperation.

关键词： computer aided software engineering robotics and automation Feedback Robot sensing systems Delay effects System performance IP networks Control systems Real time systems Laboratories

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A fast digital fuzzy logic controller: FPGA design and implementation

A fast digital fuzzy logic controller: FPGA design and imple...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： K.M. Deliparaschos F.I. Nenedakis S.G. Tzafestas Intelligent Robotics and Automation Laboratory Department of Electrical Engineering and Computer Science National and Technical University of Athens Athens Greece

This paper describes an improved approach to design a Takagi-Sugeno zero-order type fast parameterized digital fuzzy logic controller (DFLC) processing only the active rules (rules that give a non-null contribution for a given input data set), at high frequency of operation, without significant increase in hardware complexity. To achieve this goal, an improved method of designing the fuzzy controller model is proposed that significantly reduces the time required to process the active rules and effectively increases the input data processing rate. The DFLC discussed in this paper achieves an internal core processing speed of at least 200 MHz, featuring two 8-bit inputs and one 12-bit output, with up to seven trapezoidal shape membership functions per input and a rule base of up to 49 rules. The proposed architecture was implemented in a field programmable gate array (FPGA) chip with the use of a very high-speed integrated-circuits hardware-description-language (VHDL) and advanced synthesis and place and route tools

关键词： Fuzzy logic Digital control Field programmable gate arrays Takagi-Sugeno model Process control Frequency Hardware Design methodology Fuzzy control Data processing

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Internet-based teleoperation of a mobile robot using shared impedance control scheme: a pilot study

Internet-based teleoperation of a mobile robot using shared ...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： I. Hassan-Zadeh F. Janabi-Sharifi M.R. Akhavan X. Yang Department of Control Engineering University of Tabriz Iran Department of Mechanical and Industrial Engineering Robotics and Manufacturing Automation Laboratory (RMAL) Ryerson University Toronto Ontario Canada Robotics and Manufacturing Automation Laboratory (RMAL) Ryerson University Toronto Ontario Canada Department of Electrical and computer Engineering University of western Ontario Canada

In this paper, a shared impedance control scheme is proposed for Internet-based teleoperation of mobile robots. Also, pilot study is conducted to evaluate the effect of different teleoperation parameters. In particular, the effects of time delay, human operator training history, operator-machine interface modalities such as degree of haptic versus visual integration, and performance of virtual model versus real images were studied. The scheme was implemented using Matlab XPC Target and Simulink. Several measures were introduced for the evaluation of teleoperation performance. The study confirmed the significance of haptic cues integration for improving teleoperation of mobile robots. The results suggest that appropriate integration of haptic feedback to a proper image feedback could result in a relatively reliable teleoperation in unstructured environments, e.g., for dynamic obstacle avoidance

关键词： Internet Mobile robots Impedance Force feedback robotics and automation Haptic interfaces Manufacturing automation Laboratories Delay effects Humans

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INTELLIGENT CONTROL OF BIPED ROBOT WITH HETEROGENEOUS LEGS

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IFAC Proceedings Volumes 2005年第1期38卷 181-186页

作者： Binrui Wang Xinhe Xu Jindong Tan Key Laboratory of Process Industry Automation Ministry of Education Institute of AI and Robotics Northeastern University Shenyang 110004 China Department of Electrical and Computer Engineering Michigan Technological University Houghton MI 49931 USA

关键词： Intelligent control robot dynamics modeling computed torque control learning control hierarchical structures

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Learning distributed grasp in presence of redundant agents

Learning distributed grasp in presence of redundant agents

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

作者： A.H. Elahibakhsh M. Nili Ahmadabadi F. Janabi-Sharifi B. Nadjar Araabi AI & Robotics Laboratory Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Eng. Institute for Studies on Theoretical Physics and Mathematics University of Tehran Tehran Iran Robotics and Manufacturing Automation Lab Department of Mechanical and Industrial Engineering Ryerson University Toronto ONT Canada

Learning distributed object grasp by a group of robots with redundant members is the main focus of this paper. In Elahibakhsh, A. H., et al. (2004), we tackled the problem of learning form closure grasp for planar convex objects by multiple non-communicating robots without any information about the shape of objects. In this paper, the problem in presence of redundant agents is investigated. Agents' states and actions are designed such that the group learns grasping different objects using Q-learning method. As the environment is not intelligent enough to assess each agent's effect on the team performance, a credit assignment algorithm based on knowledge evaluation is designed. The proposed method considers the environment credit for the team, number of redundant agents, and the expertness level of each agent in its credit assignment. Applicability of the designed approach is verified through a set of simulations. It is shown that the team learns grasping different objects. Therefore, it is expected that the proposed method can be extended for distributed grasp of deformable objects

关键词： Intelligent robots Learning Robot sensing systems Shape Cognitive robotics robotics and automation Intelligent agent Algorithm design and analysis Grasping Redundancy

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Modeling of human driving behavior based on piecewise linear model

Modeling of human driving behavior based on piecewise linear...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Jong-Hae Kim S. Okuma Young-Woo Kim Don-Ha Hwang Min-Huei Kim Dong-Hee Kim Department of Electrical Engineering and Computer Science Graduate School of Engineering University of Nagoya Japan Space Robotics Research Center Toyota Technological Institute Nagoya Japan Industry Applications Research Laboratory Korea Electrotechnology Research Institute Changwon South Korea Department of Electrical & Automation Engineering Yeungnam College of Science and Technology Daegu South Korea Department of Electrical Engineering Yeungnam University Kyungbuk South Korea

This paper presents the development of the modeling strategy of the human driving behavior based on the expression as Piecewise Linear (PWL) model focusing on the driver’s stopping maneuver. The driving data are collected by using the three-dimensional driving simulator based on CAVE, which provides stereoscopic immersive vision. In our modeling, the relationship between the driver’s sensory information and the operation of the driver such as braking amount is expressed by PWL model, which is a class of Hybrid Dynamical System (HDS). The identification problem for the PWL model is formulated as the Mixed Integer Linear Programming (MILP) by transforming the switching conditions into binary variables. From the obtained results, it is found that the driver appropriately switches the ‘control low’ according to the sensory information. These results enable us to capture not only the physical meaning of the driving skill, but also the decision-making aspect (switching conditions) in the driver’s stopping maneuver.

关键词： Humans Piecewise linear techniques Hidden Markov models Decision making computer science Space technology robotics and automation Switches Automatic control Service robots

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Super media enhanced internet-based robotics

Super media enhanced internet-based robotics

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IEEE International Conference on Mechatronics and automation

作者： Ning Xi The Laboratory of Robotics and Automation Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA

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An intelligent system for Aerial image Retrieval and Classification

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3rd Hellenic Conference on Artificial Intelligence, SETN 2004

作者： Gasteratos, Antonios Zafeiridis, Panagiotis Andreadis, Ioannis Laboratory of Robotics and Automation Section of Production Systems Department of Production and Management Engineering Democritus University of Thrace Building of University’s Library Kimmeria XanthiGR-671 00 Greece Laboratory of Electronics Section of Electronics and Information Systems Technology Department of Electrical and Computer Engineering Democritus University of Thrace Vassilisis Sophias 12 XanthiGR-671 00 Greece

ISBN: (纸本)3540219374

Content based image retrieval is an active research area of pattern recognition. A new method of extracting global texture energy descriptors is proposed and it is combined with features describing the color aspect of texture, suitable for image retrieval. The same features are also used for image classification, by its semantic content. An exemplar fuzzy system for aerial image retrieval and classification is proposed. The fuzzy system calculates the degree that a class, such as sea, clouds, desert, forests and plantations, participates in the input image. Target applications include remote sensing, computer vision, forestry, fishery, agricultures, oceanography and weather forecasting. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Fuzzy systems

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Peak stick RBF network for online system identification

Peak stick RBF network for online system identification

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International Joint Conference on Neural Networks (IJCNN)

作者： H. Mobahi F. Janabi-Sharifi Robotic Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran Robotics and Manufacturing Automation Laboratory Department of Mechanical and Industrial Engineering Ryerson University Toronto ONT Canada

In many practical problems of online system identification, the distribution of observed samples is uneven. For instance, at points where system is idle or changes slowly, the sample density increases and where system moves quickly, it is reduced. This generally results in performance degradation of learning. We will propose a new algorithm for training RBF networks that is particularly developed for online learning with uneven sample distribution. The basic idea is to find peaks and stick to them. Experiments show a notable improvement in convergence rate, settling of weights and error minimization.

关键词： Radial basis function networks System identification Degradation Convergence Approximation algorithms Neural networks Learning systems Robots Linear systems Mathematical model

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