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Answer Set programming for Reasoning with Semantic Knowledge in Collaborative Housekeeping Robotics

IFAC Proceedings Volumes 2012年第22期45卷 77-83页

作者： Erdi Aker Volkan Patoglu Esra Erdem Computer Science and Engineering Faculty of Engineering and Natural Sciences Sabanci University Istanbul TURKEY Mechatronics Faculty of Engineering and Natural Sciences Sabanci University Istanbul TURKEY

Answer Set programming (ASP) is a knowledge representation and reasoning paradigm with high-level expressive logic-based formalism, and efficient solvers; it is applied to solve hard problems in various domains, such as, systems biology, wire routing, space shuttle control. In this paper, we present an application of ASP to housekeeping robotics, by showing how the following problems are addressed using computational methods/tools of ASP: 1) embedding commonsense knowledge automatically extracted from the commonsense knowledge base ConceptNet, into high-level representation, 2) embedding (continuous) geometric reasoning and temporal reasoning about durations of actions, into (discrete) high-level reasoning. We illustrate the applicability of ASP on several housekeeping robotics problems, and report on the computational efficiency in terms of CPU time and memory.

关键词： Knowledge representation reasoning housekeeping robotics answer set programming commonsense knowledge

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Modeling and simulation of a horizontal axis Wind Turbine using S4WT

Modeling and simulation of a horizontal axis Wind Turbine us...

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International Conference on Renewable Energy Research and Applications (ICRERA)

作者： Sanem Evren Mustafa Unel Omer K. Adak Kemalettin Erbatur Mahmut F. Aksit Mechatronics Engineering Faculty of Engineering and Natural Sciences Sabanci University Turkey

In this paper, modeling and simulation of a 500 KW prototype wind turbine that is being developed in the context of the MILRES (National Wind Energy Systems) Project in Turkey are presented. This prototype wind turbine has a nominal power of 500 KW at a nominal wind speed of around 11 m/s. Aerodynamic, mechanical, electrical and control models are built in S4WT (Samcef for Wind Turbines) environment. Kaimal turbulence model have been used to generate realistic wind profiles in Turbsim that can be integrated with S4WT. The standard components (tower, bedplate, rotor, rotor shaft, gearbox, generator and coupling shaft) consisting of Samcef elements (bush, hinge, beam) have been used compatible with the IEC 61400-1 in S4WT to perform the simulations. The pitch and torque controllers are used to achieve the ideal power curve. A pitch function and a PI controller with gain scheduling have been used to control the pitch angle of the blades to limit the power at the full load operating region. The generator torque which consists of an optimal mode gain method, is used to control the power at both partial and full load operating regions. The performance analysis of 500 KW wind turbine prototype is done under different scenarios including power production, start up, emergency stop, shut down and parked, and the simulation results are presented.

关键词： Wind turbines Generators Wind speed Rotors Torque Shafts Prototypes

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A field programmable gate array based modular motion control platform

A field programmable gate array based modular motion control...

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IEEE International Conference on mechatronics

作者： Koc, Osman Naskali, Ahmet Teoman Kunt, Emrah Deniz Sabanovic, Asif Mechatronics Engineering Faculty of Engineering and Natural Sciences Sabanci University Istanbul Turkey

ISBN: (纸本)9781612849836

关键词： Motion control

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Housekeeping with multiple autonomous robots: Representation, reasoning and execution 10

Housekeeping with multiple autonomous robots: Representation...

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2011 AAAI Spring Symposium

作者： Aker, Erdi Erdogan, Ahmetcan Erdem, Esra Patoglu, Volkan Computer Science and Engineering Faculty of Engineering and Natural Sciences Sabanci University Istanbul Turkey Mechatronics Engineering Faculty of Engineering and Natural Sciences Sabanci University Istanbul Turkey

ISBN: (纸本)9781577354987

We formalize actions and change in a housekeeping domain with multiple cleaning robots, and common-sense knowledge about this domain, in the action language C+. Geometric reasoning is lifted to high-level representation by embedding motion planning in the domain description using external predicates. With such a formalization of the domain, a plan can be computed using the causal reasoner CCALC for each robot to tidy some part of the house. We introduce a planning and monitoring algorithm for safe execution of these plans, so that it can recover from plan failures due to collision with movable objects whose presence and location are not known in advance or due to heavy objects that cannot be lifted alone. We illustrate the applicability of this algorithm with a simulation of a housekeeping domain. Copyright © 2011, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Motion planning

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A field programmable gate array based modular motion control platform

A field programmable gate array based modular motion control...

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International Conference on mechatronics (ICM)

作者： Osman Koç Ahmet Teoman Naskali Emrah Deniz Kunt Asif Şabanoviç Mechatronics Engineering Faculty of Engineering and Natural Sciences Sabanci University Istanbul Turkey

The expectations from motion control systems have been rising day by day. As the systems become more complex, conventional motion control systems can not achieve to meet all the specifications with optimized results. This creates the necessity of fundamental changes in the infrastructure of the system. Field programmable gate array (FPGA) technology enables the reconfiguration of the digital hardware, thus dissolving the necessity of infrastructural changes for minor manipulations in the hardware even if the system is deployed. An FPGA based hardware system shrinks the size of the hardware hence the cost. FPGAs also provide better power ratings for the systems as well as a more reliable system with improved performance. As a trade off, the development is rather more difficult than software based systems, which also affects the research and development time of the overall system. In this paper a level of abstraction is introduced in order to diminish the requirement of advanced hardware description language (HDL) knowledge for implementing motion control systems thoroughly on an FPGA. The intellectual property library consists of synthesizable hardware modules specifically implemented for motion control purposes. Other parts of a motion control system, like user interface and trajectory generation, are implemented as software functions in order to protect the modularity of the system. There are also several external hardware designs for interfacing and driving various types of actuators.

关键词： Libraries Manipulators Field programmable gate arrays Software Synchronization Trajectory Table lookup

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Control and measurement delay compensation in bilateral position control

Control and measurement delay compensation in bilateral posi...

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IEEE International Conference on mechatronics

作者： Kuzu, Ahmet Bogosyan, Seta Gokasan, Metin Sabonovic, Asif TUBITAK-BILGEM-BTE 41470 Gebze Kocaeli Turkey University of Alaska Fairbanks ECE Dept 99775 Fairbanks AK United States Istanbul Technical University Electrical and Electronics Eng. Faculty Istanbul 34469 Turkey Sabanci University Faculty of Engineering and Natural Sciences Mechatronics Tuzla Istanbul Turkey

ISBN: (纸本)9781612849836

The main aim of this study is the improvement of the previously presented disturbance observer based bilateral control approaches of the authors with a delay regulator and a model tracking control (MTC) that runs on the slave side. These improvements eliminate the problems related to variable time delay inherent to such systems and model mismatch, respectively, and, hence, addressing the control and measurement delay problems in bilateral control applications. The performance is evaluated experimentally on a single-link arm controlled over the internet. The results demonstrate a significant improvement over the previously presented results obtained under load uncertainties and randomly varying network delays both in the control and feedback loop. © 2011 IEEE.

关键词： Position control

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Control and measurement delay compensation in bilateral position control

Control and measurement delay compensation in bilateral posi...

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International Conference on mechatronics (ICM)

作者： Ahmet Kuzu Seta Bogosyan Metin Gokasan Asif Sabonovic BILGEM-BTE TUBITAK Gebze Kocaeli Turkey ECE Department University of Alaska Fairbanks Fairbanks AK USA Electrical and Electronics Engineering Faculty Istanbul Technical University Istanbul Turkey Faculty of Engineering and Natural Sciences Mechatronics Sabanci University Istanbul Turkey

关键词： Regulators Delay IP networks

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Action-reaction based motion and vibration control of multi-degree-of freedom flexible systems

Action-reaction based motion and vibration control of multi-...

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2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010

作者： Khalil, Islam S. M. Sabanovic, Asif Mechatronics Department Faculty of Engineering and Natural Sciences Sabanci University Istanbul 34956 Turkey

ISBN: (纸本)9781424466696

This paper demonstrates the feasibility of using the Action-Reaction principle in order to identify and observe dynamical system parameter and states respectively by considering the instantaneous system's reaction to an imposed action as a natural feedback from the system. System parameters, dynamics and environmental interaction forces or torques are coupled in this incident natural feedback signal. Therefore, success to determine such natural feedback along with decoupling each of the previous information makes it possible to keep dynamical system free from any attached sensors that in turn implies the possibility of performing motion, vibration and force control assignments through measurement taken from the interface point of the actuator with the dynamical system. Both lumped and distributed flexible system are investigated then experiments are performed on a flexible system with two flexible modes then the possibility of extending the work to systems with infinite modes is discussed. © 2010 IEEE.

关键词： Dynamical systems

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Action-Reaction based motion and vibration control of multi-degree-of freedom flexible systems

Action-Reaction based motion and vibration control of multi-...

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International Workshop on Advanced Motion Control (AMC)

作者： Islam S. M. Khalil Asif Sabanovic Mechatronics Department Faculty of Engineering and Natural Sciences Sabanci University Istanbul Turkey

关键词： Vibration control Force feedback Vibration measurement State feedback Sensor systems Performance evaluation Force control Force measurement Motion measurement Actuators

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Action-reaction based parameters identification and states estimation of flexible systems

Action-reaction based parameters identification and states e...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Islam S. M. Khalil Asif Sabanovic Faculty of Engineering and Natural Sciences Mechatronics Department Sabanci University Istanbul Turkey

This work attempts to identify and estimate flexible system's parameters and states by a simple utilization of the Action-Reaction law of dynamical systems. Attached actuator to a dynamical system or environmental interaction imposes an action that is instantaneously followed by a dynamical system reaction. The dynamical system's reaction carries full information about the dynamical system including system parameters, dynamics and externally applied forces that arise due to system interaction with the environment. This in turn implies that the dynamical system's reaction can be considered as a natural feedback as it carries full coupled information about the dynamical system. The idea is experimentally implemented on a dynamical system with three flexible modes, then it can be extended to the more complicated structures with infinite flexible modes.

关键词： Actuators Torque Equations Current measurement Mathematical model Damping State estimation

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