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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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Learning Predictive Features in Affordance based Robotic Perception systems

Learning Predictive Features in Affordance based Robotic Per...

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2006 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Gerald Fritz Lucas Paletta Ralph Breithaupt Erich Rome Georg Dorffner JOANNEUM RESEARCH Forschungsgesellschaft mbH Institute of Digital Image Processing Graz Austria ARC (Robot Control Architecture) Department Fraunhofer Institute of Autonomous Intelligent Systems Sankt Augustin Germany Neural Computation and Robotics Sterreichische Studiengesellschaft für Kybernetik (ÖFAI) Vienna Austria

This work is about the relevance of Gibson's concept of affordances for visual perception in interactive and autonomous robotic systems. In extension to existing functional views on visual feature representations, we identify the importance of learning in perceptual cueing for the anticipation of opportunities for interaction of robotic agents. We investigate how the originally defined representational concept for the perception of affordances - in terms of using either optical flow or heuristically determined 3D features of perceptual entities should be generalized to using arbitrary visual feature representations. In this context we demonstrate the learning of causal relationships between visual cues and predictable interactions, and emphasize on a novel framework for cueing and hypothesis verification of affordances that could play an important role in future robot control architectures. We argue that affordance based perception should enable systems to react to environment stimuli both more efficient and autonomous, and provide a potential to plan on the basis of responses to more complex perceptual configurations. We verify the concept with a concrete implementation applying state-of-the-art visual descriptors and regions of interest within a simulated robot scenario and prove that these features were successfully selected for predicting opportunities of robot interaction

关键词： Intelligent robots Robot control Visual perception Animals Digital images Computer architecture Intelligent systems Image motion analysis Concrete Biological system modeling

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Formation control for Mobile Robots in partially known Environments using Mixed Integer Programming and Fuzzy systems

Formation Control for Mobile Robots in partially known Envir...

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SICE Annual Conference

作者： Thomas Kopfstedt Masakazu Mukai Masayuki Fujita Oliver Sawodny Department of Research and Development Diehl BGT Defence Uberlingen Germany Department of Electrical and Electronic Systems Engineering Kyushu University Fukuoka Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan Institute of System Dynamics University of Stuttgart Germany

We consider a setting where a team of multiple robots has to fulfil a mission in a specifically defined formation in a partially known environment. In many real environments, not all obstacles are previously known, but often most of them. For the planning of the optimal trajectory along these obstacles a mixed integer programming algorithm is used. If during the mission at least one of the robots detects a previously unknown obstacle, the control on each robot switches from centralized formation control to decentralized control. In this case, each robot is able to use its own set of fuzzy systems for obstacle avoidance and returns to the optimal trajectory after passing the unknown obstacles. This concept allows the robots to find the optimal trajectories for the mission task in known areas using the mixed integer programming. In unknown or for the mixed integer programming too complex scenarios the robots have to use the information based on their limited onboard sensors. With the sensor information they are in most cases able to find at least a possible way through the obstacles by using a set of onboard fuzzy systems for robot control

关键词： Robot control control systems Mobile robots Linear programming Fuzzy systems Centralized control Robot sensing systems Trajectory Switches Distributed control

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A networked formation control for groups of mobile robots using mixed integer programming

A networked formation control for groups of mobile robots us...

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IEEE International Conference on Computer-Aided Design

作者： Thomas Kopfstedt Masakazu Mukai Masayuki Fujita Oliver Sawodny Department of Research and Development Diehl BGT Defence 88662 Ueberlingen Germany The Department of Electrical and Electronic Systems Engineering Kyushu University Fukuoka Japan The Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan The Institute of System Dynamics University of Stuttgart Stuttgart Germany

In this paper we demonstrate an effective way of description and control for network-controlled formations of mobile robots using minimized inter-robot communication. Therefore we use a global centralized planning algorithm and solve the optimal trajectory problem of the formation of mobile robots by mixed integer quadratic programming (MIQP). This description of formation can be used for non-static formations as well as for formation switching between different kinds of formations where inter-robot collisions will be avoided and the formations are organized as unit-center-referenced formations. The environment itself can be formulated by convex polygons that are described as hybrid systems. The moving along the optimum trajectories is controlled by a controller structure in three levels, whereby the highest level is set on a master robot and controls the general formation using Bluetooth communication between the robots. The control of the position of each robot is realized by an individual controller on every robot and a motor controller for every wheel of each robot. The effectiveness of our formation control structure and the algorithm for the planning of the trajectory is demonstrated in simulations and experiments which also verify the dynamic models of the robots

关键词： Mobile robots Linear programming Communication system control Robot control Trajectory Mobile communication Quadratic programming Communication switching Bluetooth Wheels

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Time-sliding suboptimal regulation of bilinear interconnected systems

Time-sliding suboptimal regulation of bilinear interconnecte...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： M. de la Sen A.J. Garrido J.C. Soto O. Barambones F.J. Maseda I. Garrido Institute of Research and Development of Processes IIDP. Department of Electricity and Electronics Faculty of Science and Technology University of Basque Country (UPV-EHU) Leioa Spain Department of Systems Engineering and Automatic Control. EUITI de Bilbao University of Basque Country (UPV-EHU) Spain

This paper focuses on the suboptimal regulation of multivariable discrete-time bilinear systems consisting of interconnected bilinear subsystems with respect to a linear quadratic optimal regulation criterion which involves the use of state weighting terms only. Three transformations are used in order to treat the scheme over an equivalent linear system. This leads to the appearance of quadratic weighting terms related to both transformed input and state variables. In this way, a Ricatti matrix-sequence allowing the synthesis of a standard feedback control law is obtained

关键词： Interconnected systems Nonlinear systems controllability Automatic control control systems Power system modeling research and development systems engineering and theory Optimal control Linear systems

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Walker detection in outdoor scenes using spatial-temporal feature analysis of variation regions

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systems and Computers in Japan 2006年第7期37卷 37-46页

作者： Haga, Tetsuji Sumi, Kazuhiko Yagi, Yasushi Advanced Technology R and D Center Mitsubishi Electric Corp. Amagasaki 661-8661 Japan Graduate School of Informatics University of Kyoto Kyoto 606-8501 Japan Institute of Scientific and Industrial Research Osaka University Ibaraki 567-0047 Japan Mitsubishi Electric Corp. Industrial Systems Research Group Advanced Technology R and D Center Information Processing Society of Japan Information Science Research Group Graduate School University of Kyoto Department of Industrial Science Research IEEE Society of Instrument and Control Engineers of Japan Robotics Society of Japan

We propose an image processing algorithm to detect walkers in outdoor images containing movement in the background such as swaying trees or irregular reflections from water. Previously proposed methods to detect walkers focus on the fact that locally distributed movement is reinforced along a spatial and temporal path marked out by an object such as a human that moves at approximately a constant speed and in a straight line while other background movement tends to cancel itself out. However, false alarms can occur with methods that are based on the time-averaged strength of movement due to mistaken associations between moving objects and the fact that temporary movement in high-contrast areas can significantly raise the average value. In our method we use features based on a spatially averaged strength of movement and the uniformity of movement over time in addition to the time-averaged strength of movement, attempting to distinguish walkers from background movement within a feature space made up of these three features. In experiments with real images we have confirmed that the proposed method can reduce the rate of both false positives and false negatives compared to a method that focuses only on the time-averaged strength of movement. In addition, we have constructed an on-line system to implement the proposed method and the results of evaluation experiments conducted in a real-life environ ment over a period of two weeks show that we were able to obtain a level of performances in which the failure rate was less than 1 percent and false alarms occurred less than three times per day. © 2006 Wiley Periodicals. Inc.

关键词： Image processing

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Assessing the regulatory activity of the paretic leg in balance control

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Gait & Posture 2006年 24卷 S74-S75页

作者： Edwin H.F. Van Asseldonk Jaap H. Buurke Gerbert. J. Renzenbrink Frans C.T. Van der Helm Herman Van der Kooij Institute for Biomedical Technology (BMTI) Department of Biomechanical Engineering Enschede The Netherlands Roessingh Research and Development Enschede The Netherlands Roessingh Rehabilitation Centre Enschede The Netherlands Man-Machine Systems & Control Group Biomedical Engineering Group Delft University of Technology Delft The Netherlands

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New solution for Urban traffic: Small-type monorail system

New solution for Urban traffic: Small-type monorail system

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10th International Conference on Automated People Movers 2005

作者： Kuwabara, Takeo Hiraishi, Motomi Goda, Kenjiro Okamoto, Seiichi Ito, Akira Sugita, Yoichi Monorail Systems Integration Department Transportation Systems Division Power and Industrial Systems Transportation Systems Division Power and Industrial Systems Japan Society of Mechanical Engineers 5th Department of the Mechanical Engineering Research Laboratory Research and Development Group Substation Engineering Division Power and Industrial Systems Information Control 2nd Department Hitachi Research Laboratory Research and Development Group Institute of Electrical Engineers of Japan Society of Instrument and Control Engineers

In Japan, the first urban straddle type monorail system, Tokyo Monorail, was put into operation in 1964. Since then, four more monorail systems have been constructed with the active participation of Hitachi in Kitakyushu, Osaka, Tama, and Okinawa. The straddle type monorail can be constructed using the space above public roads without disturbing everyday traffic. Monorail trains with rubber tires are environmentally friendly and produce little noise and vibration. The straddle type monorail has become an important part of the urban public transportation system, chiefly because of its many advantages over other transportation means including the subway. These advantages include (1) improved environment, (2) a shorter construction period, and (3) lower costs. Thus, the monorail system in Japan is an effective solution to environmental problems and traffic congestion in urban cities, which also stimulates local economy. The demand for urban monorail systems has recently begun to come from smaller local cities where the daily ridership is much lower than that in Tokyo, Osaka, Kitakyushu, and other major cities in Japan. To enhance the financial viability of monorail construction in smaller cities and to construct smaller monorails, the Japan Monorail Association (JMA) set up a research committee to investigate the development of a small monorail. This committee, mainly headed by Hitachi, carried out comprehensive research of the market demand for monorail systems and initiated the development of a compact monorail. Hitachi developed a number of new design elements including an articulated bogie to enable trains to negotiate sharp curves. We also worked to design a compact and light monorail that makes use of next-generation signal systems. These basic elements can also be used for other people-mover systems in amusement parks, airports, and business complexes.

关键词： Railroad traffic control

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Learning and recognizing behavioral patterns using position and posture of human body and its application to detection of irregular states

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systems and Computers in Japan 2005年第13期36卷 45-56页

作者： Aoki, Shigeki Iwai, Yoshio Onishi, Masaki Kojima, Atsuhiro Fukunaga, Kunio Graduate School of Engineering Osaka Prefecture University Sakai 599-8531 Japan Bio-Mimetic Control Research Center RIKEN Nagoya 463-0003 Japan Library and Science Information Center Osaka Prefecture University Sakai 599-8531 Japan Department of Electronic Control Engineering Kumamoto National College of Technology Japan Robotics Society of Japan Japan Sharp Corporation Japan Bio-Mimetic Control Research Center RIKEN Japan IEEJ Japan Image and Information Media Society Faculty of Liberal Arts and Sciences Osaka Prefecture University Japan Information Processing Society Japan Society for Artificial Intelligence Department of Informatics Faculty of Engineering Institute of Systems Control and Information Engineers Japan IEEE

It is generally considered that human behavior includes both regularities and habits. In this paper, the regularities and habits of behavior are called the behavioral pattern, and we wish to learn and recognize them. The conventional approaches considered behavioral patterns but used only infrared sensors or information about whether electrical appliances were on or off. Thus, it was difficult to recognize in detail how a person was performing motions in the room. In order to realize a procedure for the detailed recognition of motion in ordinary environments, on the other hand, a large number of models must be prepared beforehand. To deal with this problem, this paper proposes the following technique. Motions conducted in the learning period are automatically classified and individual models are constructed. Then, motions can be recognized in detail without preparing a large number of models, and behavioral patterns can be recognized by considering the sequence of motions. In experiments, human motions and behavioral patterns in an indoor environment were learned and recognized, and the effectiveness of the method was demonstrated. © 2005 Wiley Periodicals, Inc.

关键词： Pattern recognition

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development of a vision system for an outdoor service robot to collect trash on streets

Development of a vision system for an outdoor service robot ...

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Eighth IASTED International Conference on Computer Graphics and Imaging, CGIM 2005

作者： Fuchikawa, Y. Nishida, T. Kurogi, S. Kondo, T. Ohkawa, F. Suehiro, T. Watanabe, Y. Kawamura, Y. Obata, M. Miyagawa, H. Kihara, Y. Department of Control Engineering Kyushu Institute of Technology Kitakyushu Fukuoka 804-8550 Japan Department of Systems Innovation and Informatics Kyushu Institute of Technology Iizuka Fukuoka 820-8502 Japan Mechanics and Electronics Research Institute Fukuoka Industrial Technology Center Kitakyushu Fukuoka 807-0831 Japan FAIS Robotics Research Institute Kitakyushu Fukuoka 808-0135 Japan Yaskawa Information Systems Co. Kitakyushu Fukuoka 806-0037 Japan Kihara Iron Works Kitakyushu Fukuoka 820-1111 Japan

ISBN: (纸本)0889865140

The outdoor service robot which we call OSR-01 is presently under development intending for cleaning up urban areas by means of collecting discarded trash such as PET bottles, cans, plastic bags and so on. We, in this paper, describe the architecture of OSR-01 consisting of hardwares such as sensors, a manipulator, driving wheels, etc. for searching for and picking up trash, and softwares such as fast pattern matching for identifying various trash and distance measurement for picking up via the manipulator. After describing the vision system in detail, which is one of the most critical parts of the trash collection task, we show the result of an open experiment in which OSR-01 collects plastic PET bottles on a real shopping street in the special zone for robot research and development in Kitakyushucity.

关键词： Computer vision

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