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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Jun Ueda L. Odhner Sang-Gook Kim H.H. Asada DArbeloff Laboratory for Information Systems and Technology Massachusetts Institute of Technology Cambridge MA USA Robotics Laboratory Graduate School of Information Science Nara Institute of Science and Technology Ikoma Nara Japan Micro & Nano Systems Laboratory Mechanical Engineering Massachusetts Institute of Technology Cambridge MA USA

A biologically-inspired approach is proposed for the coordination of a vast number of "cellular actuators." Each cellular actuator has a decision-making unit that changes the transition probability depending on the broadcasted control signal from a centralized feedback controller. Although there is no deterministic coordination among the vast number of cellular actuator, the sum of the displacements of the cellular actuators can track a desired trajectory. We propose a design of transition probability that guarantees the convergence of the expectation of this ensemble. We show that broadcast signal needs to contain the positioning error but other information is unnecessary, and robustness against failure is guaranteed for any percentage of inactive (dead) cells. A MEMS-PZT cellular actuator with strain amplifying mechanism is also presented

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Knowledge engineering Approach to Concurrently Competng Cyclic Processes Control

Knowledge Engineering Approach to Concurrently Competng Cycl...

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International IEEE Conference on Intelligent systems, IS

作者： R. Wojcik G. Bocewicz Z. Banaszak Wroclaw University of Technology Institute of Computer Engineering Control and Robotics Wroclaw Poland Technical University of Koszalin Koszalin Poland Systems Research Institute of Polish Academy of Sciences Laboratory of Knowledge Systems and Artificial Intelligence Wroclaw Poland

This paper addresses the problem of designing the steady-state behavior of a system composed of a set of repetitive processes competing for access to shared resources. Its objective is to provide a framework allowing to prototype a robust distributed control policy as a function of the characteristics of the component processes and dispatching rules involved. The considered problem resolution consists in finding a schedule with no process waiting for access to the shared resources and wherefore leading to controls not requiring resource conflict resolution. The problem is formulated as a task of prototyping of conditions sufficient for existence of a waiting-free n-process execution. The conditions prototyping is then examined within the framework of logic-algebraic method. The illustrative example of the approach proposed is provided

关键词： Knowledge engineering Process control Dispatching Steady-state Prototypes Distributed control Telephony Robust control Job shop scheduling Resource management

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Control of the multi agent micro-robotic platform MiCRoN

Control of the multi agent micro-robotic platform MiCRoN

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IEEE International Conference on Computer-Aided Design

作者： Panagiotis Vartholomeos Savvas Loizou Michael Thiel Kostas Kyriakopoulos Evangelos Papadopoulos Mechanical Engineering Department Control Systems Laboratory National and Technical University of Athens Athens Greece GRASP lab University of Pennsylvania Philadelphia PA USA Mechanical Engineering Department Control Systems Laboratory National and Technical University of Athens Greece Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

This paper presents the theoretical framework for the centralized control architecture of the multi agent micro-robotic platform MiCRoN. The entire control system architecture integrates sensory modules, modeling modules, and control modules. The latter are composed by (i) a high level simulation and autonomous execution unit that is capable for on-line multi-robot navigation with collision avoidance, (ii) a trajectory tracking unit for manipulation purposes, and (iii) a low level position controller that performs position control exploiting machine learning algorithms. The high level controllers take into account behaviors specific to the micro-scale. The performance of the layered control system is evaluated through simulations and preliminary hardware experiments on a micro-robotic platform. The application domain of the MiCRoN platform is cell manipulation, and 3-D assembly for micro-fabrication.

关键词： Control systems Robots Nanobioscience Mechanical engineering robotics and automation Navigation Centralized control Assembly systems Robotic assembly Trajectory

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Decision Support systems Based on CLP Approach in SMEs

Decision Support Systems Based on CLP Approach in SMEs

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Izabela Tomczuk-Pirog Robert Wojcik Zbigniew Banaszak Department of Management and Production Engineering Technical University of Opole Opole Poland Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wroclaw Poland Systems Research Institute Laboratory of Knowledge Systems and Artificial Intelligence Polish Academy of Sciences Wroclaw Poland

The paper focuses on a selected class of decision problems related with the production flow planning in SMEs, particularly in new production orders. Verification of orders gives a possibility to evaluate whether resources capacity of a manufacturer is balanced with the orderer's requirements. The class of decision problems under analysis is included in the scope of organizational production preparation and can be naturally determined by available CLP (constraint logic programming) tools. The approach proposed in the paper is based on establishment of an interface which facilitates its task oriented use. The system has been presented on the basis of a sample order execution in a manufacturer's company (Archimedes S.A.).

关键词： Decision support systems Flow production systems Logic programming Production planning Manufacturing Companies Packaging Artificial intelligence Production systems Knowledge management

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NANOROBOTIC MANIPULATION OF CARBON NANOTUBES INSIDE A TRANSIMISSION ELECTRON MICROSCOPE

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IFAC Proceedings Volumes 2006年第16期39卷 114-119页

作者： Lixin Dong Bradley J. Nelson Xinyong Tao Li Zhang Xiaobin Zhang Dominic R. Frutiger Arunkumar Subramanian Institute of Robotics and Intelligent Systems ETH Zurich 8092 Zurich Switzerland Dept. of Materials Science and Engineering Zhejiang University Hangzhou 310027 China Laboratory for Micro- and Nanotechnology Paul Scherrer Institute CH-5232 Villigen-PSI Switzerland

Basic processes for nanorobotic manipulation of carbon nanotubes (CNTs) inside a transmission electron microscope are investigated experimentally. These processes are fundamental for the characterization of nanoscale materials, for the structuring of nanosized building blocks, and for the prototyping of nanoelectromechanical systems. Multi-walled CNTs, bamboo-structured CNTs, Cutipped CNTs, and quantum dots attached to CNTs have been used as test structures for manipulation.

关键词： nanorobotic manipulation transmission electron microscope carbon nanotube property characterization NEMS

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Who Moved?! An Investigation into Distribution of Actions and Behaviors in a Multi Agent System

Who Moved?! An Investigation into Distribution of Actions an...

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International Conference on Mechatronics (ICM)

作者： Roozbeh Daneshvar Caro Lucas Artificial Intelligence and Robotics Laboratory Faculty of Electrical and Computer Engineering University of Tehran Tehran Iran Center of Excellence for Control and Intelligent Processing Faculty of Electrical and Computer Engineering School of Intelligent Systems IPM University of Tehran Tehran Iran

In this paper we have considered systems in which agents communicate via their environment. In these systems the agents do not have direct and explicit communication with each other and instead they have implicit communication which is performed via the environment they are located in. Different kinds of environment elements are considered to be changed while on the other hand for all of these situations there is a change in the environment and this change means potential stimuli that fires behaviors of agents for future. It is considered that if we can find a track of changes in the environment and find the roots of a movement in an agent that is originally made by another agent of the group

关键词： Artificial intelligence Intelligent robots Fires Tracking Process control Communication system control Control systems Intelligent control Optical computing Intelligent systems

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Low cost two-axis solar tracker with high precision positioning

Low cost two-axis solar tracker with high precision position...

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International Symposium on Environment Identities and Mediterranean Area, ISEIMA

作者： A. Yazidi F. Betin G. Notton G.A. Capolino Center of Robotics Power Electrical Engineering and Control Systems of the University of Picardie Mitterrand Cuffies France Laboratory of Sciences for the environment University of Corse Ajaccio France Laboratory of Sciences for the environment university of Corse Centre de recherche de Vignola Ajaccio Corse

In this paper, the design of a low cost two-axis solar tracker is introduced. The aim is to obtain a high precision positioning of the cell. The control-board is able to support different control strategy such as classical techniques as PID algorithm or more advanced strategy such as fuzzy logic control (FLC). Using the error signal, the tracking capacities of the proposed approaches can be tested experimentally on the experimental prototype built in our laboratory.

关键词： Costs Solar radiation Photovoltaic systems Solar power generation Control systems Three-term control Fuzzy logic Testing Protection Student members

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Stability analysis and control law design for acrobots

Stability analysis and control law design for acrobots

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IEEE International Conference on robotics and Automation (ICRA)

作者： Xu-Zhi Lai Jin-Hua She S.X. Yang Min Wu School of Information Science and Engineering Central South University Changsha Hunan China School of Bionics Tokyo University of Technology Hachioji Tokyo Japan Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

This paper presents a novel control strategy based on a non-smooth Lyapunov function to guarantee the stability of the system in the whole motion space. Three control laws that are derived based on three Lyapunov functions are applied successively in three stages of motion control to achieve a suitable posture and increase the energy so as to make the acrobot move into the area around the unstable inverted equilibrium position, and to stabilize it at that position. These three Lyapunov functions are combined into one non-smooth function, which theoretically guarantees the stability of the acrobot in the whole motion space. Simulation results have demonstrated the validity of this strategy

关键词： Stability analysis Motion control Lyapunov method Control systems Information science Intelligent robots Actuators Fuzzy control Intelligent systems Centralized control

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Uncertainty vs Performance Trade-Offs in Robust Feedback Control: A Mimo Case Study

Uncertainty vs Performance Trade-Offs in Robust Feedback Con...

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IEEE Conference on Decision and Control

作者： J.F. Vasconcelos M. Athans S. Fekri C. Silvestre P. Oliveira Institute for Systems and Robotics (ISR) Instituto Superior Técnico Lisboa Portugal EECS (emeritus) M.I.T. USA Research Associate Department of Engineering Control & Instrumentation Research Laboratory University of Leicester Leicester UK

ISBN: (纸本)1424401704;9781424401703

We use a non-trivial MIMO three-cart Mass-Spring-Dashpot (MSD) system to demonstrate how performance (disturbance-rejection) is reduced as the level of uncertainty in one or two real parameters is increased in the presence of unmodeled dynamics. All designs are carried out by the mixed-mu robust synthesis methodology. Comparisons are made: (a) in the frequency-domain, (b) by RMS values of key signals and (c) in time-domain simulation results

关键词： Uncertainty Robust control Feedback control MIMO Robustness Robust stability Frequency domain analysis Mathematical model Control systems MATLAB

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Generating apparatus for gas heat pump system using sensorless-controlled permanent magnet synchronous generator

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IEEJ Transactions on Industry Applications 2006年第5期126卷 541-546+2页

作者： Toba, Akio Fujita, Kouetsu Maeda, Toshihiro Kato, Tomohiko Electronics Technology Laboratory Fuji Electric Advanced Technology Co. Ltd. 1 Fuji-machi Hino Tokyo 191-8502 Japan Inverter Value Engineering Center Fuji Electric FA Components and Systems Co. Ltd. 5520 Minami-Tamagaki-cho Suzuka Mie 513-8633 Japan Energy Engineering Department Aisin Seiki Co. Ltd. 2-1 Asahi-machi Kariya Aichi 448-8650 Japan Fuji Electric Advanced Technology Co. Ltd. Japan Fuji Electric FA Components and Systems Co. Ltd. Japan Aisin Seiki Co. Ltd. Japan Fuji Electric R and D Co. Ltd. Japan Fuji Electric Advanced Technology Co. Ltd. Tokyo Japan Robotics Society of Japan Japan Fuji Electric FA Components and Systems Japan Inverter Design Section Mie Japan Fuji Electric FA Components and Systems Mie Japan Aisin Seiki Co.

A unique generating system for Gas heat pump system (GHP) is presented. The GHP is an air-conditioning system, in which the compressors are driven by a gas engine. The proposed system is applied to the outside unit of GHP to feed the electrical equipments inside. The system utilizes a permanent magnet synchronous generator, which is connected to the gas engine, to realize high-efficiency and small-size. The generator is controlled by a converter with sensorless control technology to eliminate the position sensor. Another major topic is the "free-run startup" technique to start the converter when the generator is rotating. The system configuration and principles of the techniques are set forth, followed by experimental results which show that the system works properly and successfully.

关键词： Heat pump systems

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