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IEEE International Symposium on computer Aided Control system Design (CACSD)

作者： T.J. Koo B. Sinopoli A. Sangiovanni-Vincentelli S. Sastry Robotics and Intelligent Machines Laboratory Department of Electrical Engineering and Computer Sciences University of California Berkeley CA USA

This paper presents a formal methodology for the design, implementation and validation of reactive systems. The methodology has been applied to the design of a flight management systems for a model helicopter in the BEAR project. POLIS, a design tool developed at the University of California at Berkeley, is extensively used. The automation of the design problem and the validation techniques provided by this tool allow one to shorten prototyping time and to prove the correctness of the properties of the system. Automatic code generation guarantees error free implementation, which is fundamental in safety critical applications. Simulation of the entire design is performed using Ptolemy, a hierarchical heterogeneous simulation environment.

关键词： Unmanned aerial vehicles Flexible manufacturing systems Safety Control systems intelligent robots Timing Computational modeling Automatic control engineering management intelligent vehicles

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Virtual reality in telerobotics: the state-of-the-art

Virtual reality in telerobotics: the state-of-the-art

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： S.G. Tzafestas C.S. Tzafestas Intelligent Robotics and Automation Laboratory Electrical and Computer Engineering Department National and Technical University of Athens Athens Greece

This paper presents state-of-the-art issues concerning virtual reality (VR) as applied to robotics and control. After a short outline of the fundamental VR notions, the use of VR in robot (manipulator, mobile) telecontrol is discussed and some principal results are provided. Two representative examples are briefly described along with some concluding remarks.

关键词： Virtual reality Telerobotics Robot control Virtual environment Mobile robots Humans Geometry intelligent robots robotics and automation Laboratories

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Team scheduling by genetic search

Team scheduling by genetic search

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Proceedings of the International Conference on intelligent Processing and Manufacturing of Materials, IPMM

作者： Tiehua Zhang W.A. Gruver M.H. Smith Intelligent Robotics and Manufacturing System Laboratory Simon Fraser University Burnaby BC Canada Department of Electrical Engineering and Computer Science University of California Berkeley Berkeley CA USA

We consider a photographic studio that must schedule multiple teams of photographers to a large number of elementary and secondary schools. The photographers' schedules are to be optimized so that time constraints are satisfied and each team is able to at least visit two schools daily. A multiple travelling salesman model is used where the total distance traveled and time consumed can be evaluated in a single cost function to achieve overall optimality. A genetic algorithm has been applied to solve the problem. The results show that this approach rapidly provides an effective means for solving the problem.

关键词： Genetics Job shop scheduling Educational institutions Processor scheduling intelligent robots Packaging Manufacturing systems Laboratories USA Councils Cost function

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Recent algorithms for fuzzy and neurofuzzy path planning and navigation of autonomous mobile robots

Recent algorithms for fuzzy and neurofuzzy path planning and...

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European Control Conference (ECC)

作者： Costas S. Tzafestas Spyros G. Tzafestas Intelligent Robotics and Automation Laboratory Electrical and Computer Engineering Department National Technical University of Athens Zografou 157 73 Athens Greece

This paper reviews a number of recent algorithms for mobile robot path planning, navigation and motion control, which employ fuzzy logic and neuro-fuzzy learning and reasoning. Starting with a discussion of the structure of fuzzy and neuro-fuzzy systems, two fuzzy obstacle avoidance path planning algorithms are presented followed by a 3-level neuro-fuzzy local and global path planning scheme. Then the motion planning and control problem is considered. A fuzzy path tracking strategy is outlined, followed by a fuzzy navigation algorithm among polygonal obstacles and a learning-by-doing neuro-fuzzy motion planning scheme. The paper ends with a hybrid robust motion control technique which combines the minimum interference and sliding mode control principles with fuzzy inference. A representative set of examples are included which illustrate the performance of the algorithms under various realistic conditions.

关键词： Navigation Collision avoidance Robot kinematics Mobile robots Path planning Neurons

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Towards variable-time-delays-robust telemanipulation through master state prediction

Towards variable-time-delays-robust telemanipulation through...

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IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： P.A. Prekopiou S.G. Tzafestas W.S. Harwin Dept. of Electr. & Comput. Eng. Nat. Tech. Univ. of Athens Greece Intelligent Robotics & Automation Laboratory Department of Electrical & Computer Engineering National and Technical University of Athens Zografou Greece The Human-Robot Interface Laboratory Department of Cybernetics University of Reading Reading UK

This paper presents the conceptual framework and simulation results on a general technique for time delay compensation in teleoperation, based on the prediction of the human arm position and force, i.e. effectively the master state. This is shown to be significantly less complex and more intuitive than predicting the slave and environment dynamics. Simple polynomial or spline predictors, employing no knowledge of the human arm dynamics, are shown to produce good performance for small time delays when the master force and position are smooth. However, for real life force profiles, better performance is achieved by employing a human arm model and predicting the neural input to it.

关键词： Humans Predictive models Master-slave Delay effects intelligent robots robotics and automation Communication channels Displays Computational modeling computer simulation

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A new solution methodology for fuzzy relation equations 11th

A new solution methodology for fuzzy relation equations

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11th International Conference on Industrial and engineering Applications of Artificial Intelligence and Expert systems, IEA/AIE 1998

作者： Tzafestas, Spyros G. Stamou, Giorgos B. Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Zographou Athens15773 Greece Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Greece

ISBN: (纸本)3540645829

In this paper a general methodology for studying and solving fuzzy relation equations based on sup-t composition, where t is any continuous triangular norm, is proposed. To this end the concept of the "solution matrices" is introduced, as a way of representing the process information required for the resolution. Using this concept, the solution existence of a fuzzy relation equation is first examined. When the relation equation has no solution, the reasons for this lack of solvability are found. Otherwise, the solution set is determined. © Springer-Verlag Berlin Heidelberg 1998.

关键词： Fuzzy systems

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MULTI-AGENT ROBOT ARCHITECTURES: THE DECOMPOSITION ISSUE AND A CASE STUDY

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International Journal on Artificial Intelligence Tools 1998年第2期7卷 163-187页

作者： ELPIDA S. TZAFESTAS SPYROS N. RAPTIS SPYROS G. TZAFESTAS Intelligent Robotics and Automation Laboratory Electrical and Computer Engineering Department National Technical University of Athens Zographou 15773 Greece

In this paper, some fundamental issues of modern multi-agent robot architectures are discussed. It is argued that the multi-agent approach provides the necessary flexibility and adaptivity for such architectures, and that the primary issue in designing a multi-agent robot architecture is the selection of the granularity level, i.e., the decision on decomposing the overall desired functionality physically or across tasks. It is explained why at the various system levels different decomposition grains are needed; physical components, tasks or hybrid. This granularity decision is made on the basis of specific criteria of control localization, knowledge decoupling and interaction minimization so as to identify the decision points of the overall functionality. The above criteria lead to a dual composition-decomposition relation, which provides a good basis for system scaling. The paper specializes the discussion to a proposed neuro-fuzzy multi-agent architecture, which is then applied to design the local path planning system of an indoor mobile robot.

关键词： Multi-agent robot systems distributed artificial intelligence robotic modeling decomposition neuro-fuzzy systems fuzzy agents neural agents robot path planning

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Decentralized Predictive Control of Large Scale systems Using Neuro-Fuzzy Identifiers for their Interconnections

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IFAC Proceedings Volumes 1998年第12期31卷 35-40页

作者： Spyros Tzafestas Efthimios Kyriannakis George Apostolikas Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Zographou 15773 Athens Greece.

This paper proposes an approach for the design of discrete-time decentralized control systems covering not only the case of m-step delay sharing information pattern, but also any general nonclassical information pattern where the non-local information is not spread among the subsystems. It employs the model-based predictive control (MBPC) scheme combined with fuzzy prediction for the interconnections among the subsystems. A state space model is used at each control station to predict the corresponding subsystem output over a long-range time period. The interaction trajectories are considered to be non-linear functions of the states of the subsystems. In all cases, the interconnections and the necessary predictions for them are estimated by an appropriate neuro-fuzzy identifier trained on-line using the back-propagation training algorithm. Representative computer simulation results are provided and compared for nontrivial example systems.

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A Fuzzy Adaptive - Predictive Scheme for the Decentralized Control of a Class of Interconnected systems

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IFAC Proceedings Volumes 1998年第20期31卷 1097-1102页

This paper proposes an approach for the design of discrete-time decentralized control systems with m-step delay sharing information pattern, employing the modelbased predictive control (MBPC) scheme combined with fuzzy prediction for the interconnections among the subsystems. A state-space model is used at each control station to predict the corresponding subsystem output over a long-range time period. The interaction trajectories are considered to be non-linear functions of the states of the subsystems. For all cases the interconnections and the necessary predictions for them are estimated by an appropriate adaptive fuzzy identifier based on the generation of linguistic IF-THEN rules and the on-line construction of a common fuzzy rule base. Representative computer simulation results are provided and compared for nontrivial example systems.

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Dynamic fuzzy control and system stability for the Acrobot

Dynamic fuzzy control and system stability for the Acrobot

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： M.H. Smith T. Zhang W.A. Gruver Department of Electrical Engineering and Computer Science University of California Berkeley CA USA Intelligent Robotics and Manufacturing Systems Laboratory Manufacturing Systems Laboratory Simon Fraser University Burnaby Canada

This paper discusses the swing-up control of a two link robot mechanism known as the Acrobot. Previously, a technique using meta-rules was proposed to compensate for external disturbances when using a dynamic fuzzy controller. In this paper, stability of the meta-rule system is analyzed from a global asymptotic stability viewpoint based on fuzzy characteristic matrices. These matrices are generated from the first phase of a three phase learning process involving the combination of genetic algorithms, dynamic switching fuzzy systems, and meta-rule techniques with the purpose of developing a better performing fuzzy controller.

关键词： Fuzzy control Stability Fuzzy systems Automatic control Fuzzy reasoning Robot kinematics Control systems Leg PD control Genetic algorithms

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