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Vision-Guided Mobile Robot Navigation

Vision-Guided Mobile Robot Navigation

引用

IEEE International Conference on Networking, Sensing and Control

作者： An-Min Zou Zeng-Guang Hou Min Tan Derong Liu Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences China Department of Electrical and Computer Engineering University of Illinois Chicago IL USA

In this paper, the vision-based navigation problem for mobile robots in indoor environments is discussed. Corridor guidelines between the walls and the floor are used to guide the robot to move in the middle of the hallway. A neural network method is proposed to calibrate the camera, and then the corridor guidelines are transformed from image coordinates to robot coordinates. The corridor guidelines are extracted using the least square estimator. The backstepping method is employed to design the controller that guarantees the robot to move in the desired path. Experimental and simulation results show the efficiency of the proposed method

关键词： Mobile robots Navigation Guidelines Robot kinematics Motion planning Indoor environments Neural networks Robot vision systems Cameras Least squares approximation

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Path Planning for Mobile Robots Using Straight Lines

Path Planning for Mobile Robots Using Straight Lines

引用

IEEE International Conference on Networking, Sensing and Control

The problem of path planning of mobile robots typically consists of two subproblems: path generation and path tracking. In this paper, the path of a mobile robot is generated by a sequence of straight lines, and then the kinematic controller is designed by using coordinate transformation in order to drive the robot to move in the desired path. Stability of the proposed controller is guaranteed by the Lyapunov theory. Simulation results show the efficiency of the proposed method

关键词： Path planning Mobile robots Robot kinematics Motion control Backstepping Tracking robotics and automation Laboratories Intelligent systems Neural networks

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Motion and squeeze force control for omnidirectional wheeled mobile robots

Motion and squeeze force control for omnidirectional wheeled...

引用

American Control Conference (ACC)

作者： Xuyue Deng Dongbin Zhao Jianqiang Yi J.T. Wen Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

For a redundantly-actuated wheeled mobile robot, the squeeze force between the robot body and its wheels does not contribute to the motion of the robot, but to squeeze the related rigid bodies each other. It is good to control the squeeze force, regulate it to zero if possible, from the view of energy efficiency or life span of joint components. Thus a scheme controlling robot motion while controlling squeeze force is proposed as the following procedure: After a stable controller is presented for robot motion control, a squeeze force controller is designed to regulate the squeeze force to zero. The proposed scheme is demonstrated in robot regulation and tracking control problem. A "PD+" controller is adopted for robot regulation, a modified inverse dynamics control is applied for robot tracking control. In both robot control problems, an integral feedback squeeze force controller is used to minimize the squeeze force. The presented simulation results verify the effect of the proposed scheme

关键词： Force control Mobile robots Wheels Motion control Robot control Robot motion Kinematics Force feedback Energy efficiency Feedback control

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Cooperation: Concepts and General Typology

Cooperation: Concepts and General Typology

引用

IEEE International Conference on systems, Man and Cybernetics

作者： Alaa M. Khamis Mohamed S. Kamel Miguel A. Salichs Pattern Analysis and Machine Intelligence (PAMI) Laboratory University of Waterloo Canada RoboticsLab Department of Systems Engineering and Automation Carlos III Technical University of Madrid Spain PAMI Laboratory Electrical and Computer Engineering Department University of Waterloo Canada

Life on this planet is full of astonishing examples of cooperation. Individual species depend upon one another for sustenance, often forming surprising alliances to achieve a common goal: continuance of the species. The majority of living things also display amazing altruism in order to protect and provide the best care for their offspring, incomparable to any form of sacrifice shown by human beings. Studying the cooperation patterns between living things and their intelligent behaviors has been source of inspiration for many new algorithms, theories and systems. This paper addresses the concept of cooperation and why it is important. It highlights the available biologically-inspired models and algorithms, and their potential applications. The paper also presents a general typology of cooperation patterns, which can help to understand how systems could work cooperatively in an intelligent manner.

关键词： Intelligent systems Biological system modeling Intelligent robots Artificial intelligence Cybernetics Planets Displays Protection Humans Multiagent systems

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Exponential Convergence Flow Control Model for Congestion Control

Exponential Convergence Flow Control Model for Congestion Co...

引用

IEEE International Conference on Networking, Sensing and Control

作者： Weirong Liu Jianqiang Yi Dongbin Zhao J.T. Wen Laboratory of Complex Systems & Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing China Department of Electrical Computer and Sysrems Engineering Rensselaer Polytechnic Institute Troy NY USA

Recently, many new flow control mechanisms derived from the classic Kelly model are proposed to solve network congestion problems. They perform well in stability, fairness or robustness. However, most of them have convergence rates that are linear since in classic Kelly model, the link price is only positive. In addition, some needs to introduce extra packet headers to get the price information. In this paper, we present a novel flow control model based on Kelly model in which link price can be negative to improve the convergence rate. Further, the proposed model uses two bits of ECN field in IP header to feedback price instead of introducing new packet header data. By this approach, we can implement flow control schemes achieving exponential convergence in traditional TCP/IP datagram format. NS2 simulation results show that our model can keep the advantages of other flow mechanisms, such as fairness and asymptotic stability with more rapid convergence rate

关键词： Convergence Robust stability Feeds TCPIP Optimal control Aggregates Lagrangian functions Asymptotic stability High-speed networks Wireless networks

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A Smooth Control to Avoid Congestion for Wireless Network

A Smooth Control to Avoid Congestion for Wireless Network

引用

IEEE International Conference on Networking, Sensing and Control

作者： Weirong Liu Jianqiang Yi Dongbin Zhao J.T. Wen Laboratory of Complex Systems & Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China Department of Electrical Computer and Sysrems Engineering Rensselaer Polytechnic Institute Troy NY USA

In wireless network, TCP Reno and TCP Vegas do not work well as they do in wired network, because they take packet losses or timeout as the signal of congestion. However, in wireless network, temporary link outages or fading-induced bit errors result in packet losses, so the TCP decreases the cwnd improperly. Some variations of TCP have been developed to improve the transport protocol performance for wireless network. These approaches progress along two directions. One direction is to hide any losses not related to congestion from the sender, so that the sender can only detect the packet losses due to congestion, such as I-TCP or snoopy protocol. However these protocols are not fit for ad hoc network in which there are no middle base stations between the wire link and the wireless link. Thus, the other direction, explicit congestion notification (ECN), is a promising direction in the wireless network. In the paper, we propose a new protocol based on expanded ECN mechanism to respond to packet losses in the wireless environment more properly. The paper gives the idea to construct the new mechanism, called TCP 3-states/ECN2, and analyses the stability of the new mechanism. By using the NS-2 simulator, the paper compares the new mechanism on throughput, drop ratio and delay time with TCP Reno and TCP Vegas. The simulation result indicates TCP 3-states/ECN2 mechanism can get better tradeoff of throughput and delay time, so it can work well in wireless environment

关键词： Wireless networks TCPIP Wireless application protocol Wire Transport protocols Base stations Throughput Delay effects IP networks Bit error rate

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Robust Adaptive Control for Complex systems Employing ANN Emulation of Nonlinear Functions

Robust Adaptive Control for Complex Systems Employing ANN Em...

引用

Seminar on Neural Network Applications in electrical engineering

作者： Georgi M. Dimirovski Yuanwei Jing Yanxin Zhang Miomir K. Vukobratovic Faculty of Electrical Engineering SS Cyril and Methodius University Skopje Macedonia Department of Computer Engineering Dogus University Kadikoy Istanbul Turkey School of Information Science and Engineering Northeastern University Shenyang China Laboratory of Robotics & Flexible Automation Mihajlo Pupin Institute Belgrade Serbia

A new robust adaptive control design synthesis, which employs both high-order neural networks and math-analytical results, for a class of complex nonlinear mechatronic systems possessing similarity property has been derived. This approach makes an adequate use of the structural feature of composite similarity systems and neural networks to resolve the representation issue of uncertainty interconnections and subsystem gains by on-line updating the weights. This synthesis does guarantee the real stability in closed-loop but requires skills to obtain larger attraction domains. Mechatronic example of an axis-tray drive system, possessing uncertainties, is used to illustrate the proposed technique

关键词： Robust control Adaptive control Emulation Network synthesis Neural networks Mechatronics Uncertainty Artificial neural networks Control system synthesis Stability

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A Study of real-time EMG-driven Arm Wrestling Robot

A Study of real-time EMG-driven Arm Wrestling Robot

引用

IEEE International Conference on robotics and Biomimetics

作者： Quanjun Song Huanghuan Shen Shuangwei Xie Zhen Gao Ming Liu Yu Yong Yunjian Ge Department of Automation University of Science and Technology Hefei Anhui China Laboratory of Robot Sensing System Institute ofIntelligent Machines Chinese Academy and Sciences Hefei Anhui China Department of Electrical and Computer Systems Engineering Monash University Melbourne VIC Australia

An EMG-driven arm wrestling robot (AWR) is being developed in our laboratories for the purposes of studying neuromuscular control of arm movements. The AWR arm have 2-DOF, integrated with mechanical arm, elbow/wrist force sensors, servo motor, encoder, 3-D MEMS accelerometer, and USB camera, is used to estimate tension developed by individual muscles based on recorded electromyograms (EMGs). The surface electromyographic signal form the upper limb is sampled from a real player in same conditions. By using the method of wavelet packet transformation (WPT) and auto regressive model (AR), the characteristics of EMG signals can be extracted. Artificial neural network is adopted to estimate the elbow joint torque. The effectiveness of the humanoid algorithm using torque control estimated via WRT and neural network is confirmed by experiments. The purpose of this paper is to describe the design objectives, fundamental components and implementation of our real-time, EMG-driven AWR arm.

关键词： Robot sensing systems Elbow Electromyography Artificial neural networks Laboratories Neuromuscular Wrist Force sensors Servomechanisms Servomotors

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Singular Perturbation Control for Vibration Rejection in HDDs with a PZT Active Suspension

Singular Perturbation Control for Vibration Rejection in HDD...

引用

IEEE Conference on Decision and Control

作者： Chee Khiang Pang Frank L. Lewis Sam Shuzhi Ge Guoxiao Guo Ben M. Chen Tong Heng Lee Research Laboratory Research & Development Group Hitachi and Limited Odawara Kanagawa Japan Department of Electrical and Computer Engineering National University of Singapore Singapore Data Storage Institute Singapore Advanced Controls and Sensors Group Automation and Robotics Research Institute University of Texas Arlington USA

ISBN: (纸本)1424401704

In this paper, the SPT (singular perturbation theory) is applied to decompose the VCM's (voice coil motor) and induced PZT active suspension's dynamics into fast and slow subsystems, respectively. The control system is decomposed into fast and slow time scale for controller designs, and control effectiveness is increased to tackle more DOFs (degrees-of-freedom) via inner loop vibration suppression with measured high frequency VCM's and PZT active suspension's dynamics from the piezoelectric elements in the suspension. Experimental results on a commercial HDD with LDV (laser Doppler vibrometer) show effective suppression of the VCM and PZT active suspension's flexible resonant modes as well as an improvement of 39.9% in 3sigma PES (position error signal) during track following when compared to conventional notch-based servos

关键词： Vibration control Control systems Vibration measurement Coils Frequency measurement Time measurement Laser modes Vibrometers Resonance Servomechanisms

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A comparative study of induction motor current signature analysis techniques for mechanical faults detection

A comparative study of induction motor current signature ana...

引用

International Symposium on Diagnostics of Electric Machines, Power Electronics, and Drives, SDEMPED 2005

作者： Tsoumas, Ioannis Mitronikas, Epaminondas Georgoulas, Georgios Safacas, Athanasios Electromechanical Energy Conversion Laboratory Department of Electrical and Computer Engineering University of Patras Greece Laboratory of Automation and Robotics Department of Electrical and Computer Engineering University of Patras Greece

ISBN: (纸本)0780391241

This paper provides a comprehensive comparison of motor current signature analysis techniques for broken rotor bars and air gap eccentricity detection in induction motors. Four characteristic categories of processing methods are investigated, which are Fourier based analysis of the phase currents, parametric and eigenanalysis methods for spectrum estimation of the phase currents, wavelet analysis of the phase currents and current space vector analysis. The analysis is at first performed through simulation of a faulty asynchronous machine in Matlab-Simulink. Subsequent to the simulation results analysis, an experimental fault test rig was designed and implemented for the investigation of the afore-mentioned malfunctions. In this preliminary investigation, each analysis technique along with its advantages and disadvantages is presented and briefly discussed. ©2005 IEEE.

关键词： Induction motors

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