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检索条件"机构=Robotics and Control Laboratory Computer Engineering Division"

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Design of MIMO controller for a manipulator using Tabu Search algorithm

Design of MIMO controller for a manipulator using Tabu Searc...

引用

International Conference on Intelligent and Advanced Systems, ICIAS

作者： I. Hassanzadeh S. Mobayen H. Kharrati Research Laboratory of Robotics Control Engineering Department Faculty of Electrical & Computer Engineering University of Tabriz Tabriz Iran

In this paper, we present an optimum approach to design a MIMO controller for a manipulator using discrete tabu search (TS) algorithm. In the first step, the TS algorithm is reviewed and then we employ the proposed method in order to assign efficiently the optimal PID controller parameters. The design goal is to minimize the integral absolute error and reduce transient response by minimizing overshoot, settling time and rise time of the system. A 5-bar-linkage is considered as a case study. We define an objective function including these indexes. Then by minimizing this function using discrete TS algorithm, controller parameters design is performed efficiently and quickly. Superior features of this algorithm are fast tuning of PID parameters, rapid convergence, less computational burden and capability to avoid from local minima. Simulation results demonstrate that our proposed TS method compared with other heuristic method, i.e., the genetic algorithm (GA) is more efficient in terms of improving the step response of the robot.

关键词： Robots Algorithm design and analysis Manipulators Cost function MIMO Mathematical model Heuristic algorithms

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Maximum Likelihood SLAM in Dynamic Environments

Maximum Likelihood SLAM in Dynamic Environments

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International Conference on Tools for Artificial Intelligence (ICTAI)

作者： Nikos Mitsou Costas Tzafestas School of Electrical and Computer Engineering Division of Signal Control and Robotics National and Technical University of Athens Athens Greece

Simultaneous Localization and Mapping in dynamic environments is an open issue in the field of robotics. Traditionally, the related approaches assume that the environment remains static during the robot's exploration phase. In this work, we overcome this assumption and propose an algorithm that exploits the dynamic nature of the environment during robot exploration so as to improve the localization process. We use a Histogram Grid to store all the past occupancy values of every cell and thus to select the most probable pose of the robot based on the occupancy evolution. Experiments on a simulated robot indicate the effectiveness of the proposed approach.

关键词： Simultaneous localization and mapping Histograms Maximum likelihood detection Intelligent robots Sonar detection Filtering algorithms Clustering algorithms Artificial intelligence Robot control Kalman filters

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Temporal Occupancy Grid for mobile robot dynamic environment mapping

Temporal Occupancy Grid for mobile robot dynamic environment...

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Mediterranean Conference on control and Automation (MED)

作者： Nikos C. Mitsou Costas S. Tzafestas School of Electrical and Computer Engineering Division of Signal Control and Robotics National and Technical University of Athens Athens Greece

Mapping dynamic environments is an open issue in the field of robotics. In this paper, we extend the well known Occupancy Grid structure to address the problem of generating valid maps for dynamic indoor environments. We propose a spatiotemporal access method to store all sensor values (instead of preserving only one value for each cell as in the common occupancy grid case). By searching for similar time series, we can detect moving objects that appear only in a limited number of possible configurations (e.g. doors or chairs). Simulated experiments demonstrate the potentialities of the proposed system.

关键词： Mobile robots Robot sensing systems Signal mapping Sonar detection Filtering algorithms Grid computing Robot control Mesh generation Indoor environments Spatiotemporal phenomena

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Learning Cooperative Object Pushing with Variable Contact Point

Learning Cooperative Object Pushing with Variable Contact Po...

引用

2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Pages 805-1210

作者： Abdol Hossein Aminaiee Majid Nili Ahmadabadi Robotics and AI Laboratory Control and Intelligent Processing Center of Excellence Department of Electerical and Computer Engineering University of Tehran

ISBN: (纸本)9781424412631;1424412633

Learning in multi-agent environments where each agent's action directly affects other agents would be an important matter and a complicated task. To reduce the learning time and simplifying the learning process, it is suitable to learn individual skills and then provide cooperation and coordination utilizing the learned individual skills. In the approach proposed in this paper, agents benefit from their individual knowledge obtained in the individual learning phase to cooperate with other agents. Cooperative object pushing system is used as a testbed to our proposed method where cooperation and coordination between agents are needed in these systems. Agents independently learn to push the object to the target by using the proposed fuzzy reinforcement learning method. Agents attain their cooperative behaviors properly making use of the coded knowledge in the Q-table. Simulation and experimental results show that by interpreting the knowledge in the Q-table, agents can achieve high level behaviors with a high degree of cooperation.

关键词： Agents Learning Point contacts pushing variable contact

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Enrichment of qualitative beliefs for reasoning under uncertainty

Enrichment of qualitative beliefs for reasoning under uncert...

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FUSION 2007 - 2007 10th International Conference on Information Fusion

作者： Li, Xinde Huang, Xinhan Dezert, Jean Smarandache, Florentin Intelligent Control and Robotics Laboratory Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China ONERA 29 Av. de la Division Leclerc 92320 Châtillon France Department of Mathematics University of New Mexico Gallup NM 87301 United States

ISBN: (纸本)0662478304

This paper deals with enriched qualitative belief functions for reasoning under uncertainty and for combining information expressed in natural language through linguistic labels. In this work, two possible enrichments (quantitative and/or qualitative) of linguistic labels are considered and operators (addition, multiplication, division, etc) for dealing with them are proposed and explained. We denote them qe-operators, qe standing for "qualitative- enriched" operators. These operators can be seen as a direct extension of the classical qualitative operators (q-operators) proposed recently in the Dezert-Smarandache Theory of plausible and paradoxist reasoning (DSmT). q-operators are also justified in details in this paper. The quantitative enrichment of linguistic label is a numerical supporting degree in [0,∞), while the qualitative enrichment takes its values in a finite ordered set of linguistic values. Quantitative enrichment is less precise than qualitative enrichment, but it is expected more close with what human experts can easily provide when expressing linguistic labels with supporting degrees. Two simple examples are given to show how the fusion of qualitative-enriched belief assignments can be done, and a simulation application is given to show its advantage in rough navigation map building of mobile robot.

关键词： Mobile robots

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Multi-Robot Localization and Mapping Strategy: Utilizing Behavior Based Dynamic Tree Structure and Observer-explorer Routine

Multi-Robot Localization and Mapping Strategy: Utilizing Beh...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Kevin K. Leung Garratt Gallagher Robotics Autonomous Systems and Controls Laboratory (RASCAL) Department of Mechanical and Aeronautical Engineering University of California Davis USA Department of Electrical and Computer Engineering Robotics Autonomus Systems and Control Laboratory (RASCAL) Department of Mechanical and Aeronautical Engineering University of California Davis USA

In this paper, we propose a simultaneous localization and map-building (SLAM) strategy to explore unknown environment. Multiple robots are deployed in unknown area and required to localize each other accurately while exploring. Instead of relying on active obstacle detector, we propose a method of exploration which uses only tactile sensors and inter-robot distance measurements. To avoid dead-reckoning and odometry errors, an observer-explorer based routine is adopted. A dynamic spanning tree structure is implemented for multi-robot coordination. Parent (observer) nodes monitor the distances of their children (explorer) nodes. In order to promote completeness of the map, the reconfigurable spanning tree structure favors unexplored area implicitly. An online behavior-based finite state machine drives the configuration of the structure. Our exploration scheme allows the differentiation between robots and obstacles or boundaries. When an obstacle or boundary is detected, it is recorded on a map that is shared with all other robots. The proposed strategy is simulated and results are presented.

关键词： Tree data structures Robot kinematics Robot sensing systems Simultaneous localization and mapping robotics and automation Distance measurement Automata Service robots Global Positioning System Costs

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Output feedback decoupling of neutral time delay systems

Output feedback decoupling of neutral time delay systems

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Mediterranean Conference on control and Automation (MED)

作者： G. E. Panagiotakis F. N. Koumboulis P. N. Paraskevopoulos Department of Automation Halkis Institute of Technology Psachna Greece Division of Signals Control and Robotics Department of Electrical and Computer Engineering National and Technical University of Athens Athens Greece

The problem of Input Output Decoupling is studied for the case of general neutral multi-delay systems, via proportional realizable output feedback. Using a pure algebraic approach, the necessary and sufficient conditions for the problem to have a realizable solution are established and the general analytical expressions of the proportional realizable controller matrices, are derived.

关键词： Output feedback Delay effects control systems Laplace equations robotics and automation Proportional control Polynomials Matrices Automatic control Robot control

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Model matching of SISO neutral time delay systems via output feedback

Model matching of SISO neutral time delay systems via output...

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Mediterranean Conference on control and Automation (MED)

作者： F. N. Koumboulis N. D. Kouvakas P. N. Paraskevopoulos Department of Automation Halkis Institute of Technology Chalkis Greece Division of Signals Control and Robotics Department of Electrical and Computer Engineering National and Technical University of Athens Athens Greece

The necessary and sufficient conditions for the solvability of the exact model matching problem for general neutral single input-single output multi-delay systems, via a realizable dynamic output feedback and a realizable dynamic precompensator, are established. The general class of the realizable dynamic controllers solving the problem is analytically determined. The results are successfully applied to the model of a cascade connection of two mixers as well as a numerical example.

关键词： Delay effects Output feedback Delay systems robotics and automation Sufficient conditions Automatic control Robot control Proportional control control systems

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control design for unmanned sea surface vehicles: hardware-in-the-loop simulator and experimental results

Control design for unmanned sea surface vehicles: hardware-i...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： P. Krishnamurthy F. Khorrami T. L. Ng IntelliTech Microsystems Inc. Bowie MD USA Control/Robotics Research Laboratory CRRL Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY USA

We address the control design problem for stabilization and tracking of unmanned sea surface vehicles (USSVs). To this end, we describe the design and implementation of a high-accuracy real-time six degree-of-freedom (DOF) hardware-in-the-loop (HITL) simulation platform for use in development and evaluation of controllers for USSVs. The HITL platform incorporates a nonlinear dynamic model of the USSV, emulation of sensors and instrumentation onboard the USSV, and the actual hardware and software components used for control of the USSV in the experimental testbed. Detailed models of hydrodynamic effects, actuators including thrusters/propellers and control surfaces, and disturbances including ocean currents, waves, and wind are included in the dynamic simulation. The fidelity of the developed HITL simulator is demonstrated through comparisons with experimental data collected from a USSV. We also propose a nonlinear backstepping-based controller for stabilization and tracking for USSVs and present closed-loop results from HITL simulation and experimental testing.

关键词： control design Sea surface Vehicle dynamics Emulation Instruments Hardware Software testing Hydrodynamics Actuators Propellers

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Generalized Algebraic Deadlock Avoidance Policies for Sequential Resource Allocation Systems

Generalized Algebraic Deadlock Avoidance Policies for Sequen...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Spyros Reveliotis Elzbieta Roszkowska Jin Young Choi Georgia Institute of Technology School of Industrial and Systems Engineering USA Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Poland Digital Communications Infra Division Samsung Networks Inc. South Korea

Currently, one of the most actively researched approaches regarding the design of deadlock avoidance policies for sequential resource allocation systems is based on concepts and techniques provided by the, so called, theory of regions, that addresses the broader problem of synthesizing PN models with pre-specified behaviors. However, one limitation of the theory of regions and its aforementioned derivatives is that they cannot be applied when the target behavior has a non-convex representation in the underlying state space. In this paper, we show how this problem can be circumvented by appropriately generalizing the employed class of the candidate policies.

关键词： System recovery Resource management Digital audio players State-space methods Space technology Polynomials robotics and automation Discrete event systems Automata Petri nets

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