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Recent advances on the energy management of a Hybrid Electric Vehicle

Recent advances on the energy management of a Hybrid Electri...

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Mediterranean Conference on Control & Automation

作者： D. S. Efstathiou A. K. Petrou P. Spanoudakis N. C. Tsourveloudis K. P. Valavanis Intelligent Systems and Robotics Lab Technical University of Crete Chania Greece Machine Tools Laboratory Technical University of Crete Chania Greece Department of Electrical and Computer Engineering University of Denver Denver CO 80208 USA

ISBN: (纸本)9781467325301

This paper presents new innovative subsystems of the ER11 prototype urban vehicle which is powered by hydrogen fuel cells and ultra-capacitors. The subsystems described here are: 1) the energy management system, which is responsible for the optimization of the fuel efficiency and the increased mileage of the vehicle, 2) the driver's monitoring and control panel and 3) the power transmission system, which offers the possibility of continuous change of gear. The powertrain of the test-bed vehicle consists of an electric motor, a fuel (Η2) cell system, an ultra-capacitor bank and a DC/DC converter. Testing verified that the proposed energy management system is benefitted by the variable transmission of power leading to less fuel consumption.

关键词： Recent advances energy management Hybrid Electric Vehicle

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Overcoming Occlusions in Eye-in-Hand Visual Search

Overcoming Occlusions in Eye-in-Hand Visual Search

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American Control Conference

作者： Sina Radmard David Meger Elizabeth A. Croft James J. Little Collaborative Advanced Robotics and Intelligent Systems Laboratory Mechanical Engineering Department University of British Columbia V6T1Z4 Canada Laboratory for Computational Intelligence Department of Computer Science University of British Columbia V6T1Z4 Canada

ISBN: (纸本)9781457710957

In this paper we propose a method for handling persistent visual occlusions that disrupt visual tracking for eye-in-hand systems. This approach provides an efficient strategy for the robot to "look behind" the occlusion while respecting the robot's physical constraints. Specifically, we propose a decoupled search strategy combining a naive pan tilt search with a sensor placement approach, to reduce the strategy's computational cost. We proceed by mapping limited environmental data into the robot configuration space and then planning within a constrained region. We use a particle filter to continuously estimate the target location, while our configuration-based cost function plans a goal location for the camera frame, taking into account robot singularity, self-collision and joint limit constraints. To validate our algorithm, we implemented it on an eye-in-hand robot system. Experimental results for various situations support the feasibility of our approach for quickly recovering fully occluded moving targets. Finally we discuss the implications of this approach to mobile robot platforms.

关键词： Joints Cameras Robot vision systems Target tracking Planning

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New simplified model for an under-actuated quadruped robot in bounding motion

New simplified model for an under-actuated quadruped robot i...

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2011 2nd International Conference on Control, Instrumentation and Automation, ICCIA 2011

作者： Kazemi, Hamed Majd, Vahid Johari Moghaddam, Majid M. Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Modares University Tehran Iran Robotics and Mechatronics Laboratory Mechanical Engineering Department Tarbiat Modares University Tehran Iran

ISBN: (纸本)9781467316903

In this paper, a quadruped robot is studied in bounding motion. A new simplified model of quadruped robot in bounding motion with four actuated and two unactuated joints is developed. The kinetic and potential energies of the under-actuated mechanical model of the quadruped robot are obtained and the dynamics of the robot model is derived using the Lagrangian method. It is shown that the dynamical equation of the proposed simplified model belongs to a class of second-order nonholonomic mechanical systems. The main motivation of this paper is to obtain quadruped model in bounding motion such that one can apply different control methods directly or after transformation in the obtained dynamic equations. Utilizing MATLAB, dynamics of the planar model has been simulated in backward and forward states. Physical parameters of the Little-Dog robot as an instance of the quadruped robot are considered in simulation The simulation is without control and therefore is unstable but it illustrates robot's manner in bounding motion before instability. © 2011 IEEE.

关键词： Potential energy

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A highly interpretable fuzzy rule base using ordinal structure for obstacle avoidance of mobile robot

A highly interpretable fuzzy rule base using ordinal structu...

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作者： Samsudin, Khairulmizam Ahmad, Faisul Arif Mashohor, Syamsiah Intelligent System and Robotics Laboratory Institute of Advanced Technology Universiti Putra Malaysia 43400 Serdang Selangor Malaysia Department of Computer and Communication Systems Faculty of Engineering Universiti Putra Malaysia 43400 Serdang Selangor Malaysia

Conventional fuzzy logic controller is applicable when there are only two fuzzy inputs with usually one output. Complexity increases when there are more than one inputs and outputs making the system unrealizable. The ordinal structure model of fuzzy reasoning has an advantage of managing high-dimensional problem with multiple input and output variables ensuring the interpretability of the rule set. This is achieved by giving an associated weight to each rule in the defuzzification process. In this work, a methodology to design an ordinal fuzzy logic controller with application for obstacle avoidance of Khepera mobile robot is presented. The implementation will show that ordinal structure fuzzy is easier to design with highly interpretable rules compared to conventional fuzzy controller. In order to achieve high accuracy, a specially tailored Genetic Algorithm (GA) approach for reinforcement learning has been proposed to optimize the ordinal structure fuzzy controller. Simulation results demonstrated improved obstacle avoidance performance in comparison with conventional fuzzy controllers. Comparison of direct and incremental GA for optimization of the controller is also presented. © 2010 Elsevier B.V. All rights reserved.

关键词： Genetic algorithms

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Modified Banker's algorithm for scheduling in multi-AGV systems

Modified Banker's algorithm for scheduling in multi-AGV syst...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Luka Kalinovcic Tamara Petrovic Stjepan Bogdan Vedran Bobanac Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Laboratory for Renewable Energy Sources Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In today's highly complex multi-AGV systems key research objective is finding a scheduling and routing policy that avoids deadlock while assuring that vehicle utilization is as high as possible. It is well known that finding such an optimal policy is a NP-hard task in general case. Therefore, big part of the research is oriented towards finding various suboptimal policies that can be applied to real world plants. In this paper we propose modified Banker's algorithm for scheduling in multi-AGV systems. A predetermined mission's path is executed in a way that some non-safe states are allowed in order to achieve better utilization of vehicles. A graph-based method of polynomial complexity for verification of these states is given. Algorithm is tested on a layout of a real plant for packing and warehousing palettes. Results shown at the end of the paper demonstrate advantages of the proposed method compared with other methods based on Banker's algorithm.

关键词： Vehicles System recovery Layout Resource management Job shop scheduling Workstations

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New simplified model for an under-actuated quadruped robot in bounding motion

New simplified model for an under-actuated quadruped robot i...

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International Conference on Control, Instrumentation, and Automation

作者： Hamed Kazemi Vahid Johari Majd Majid M. Moghaddam Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran Intelligent Control Systems Laboratory Tarbiat Modares University Tehran Iran Robotics and Mechatronics Laboratory Mechanical Engineering Department Tarbiat Moalem University Tehran Iran Mechanical Engineering Department Tarbiat Modares University Tehran Iran

关键词： Mathematical model Legged locomotion Dynamics Equations Joints Robot kinematics

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Reports of the AAAI 2010 fall symposia

Reports of the AAAI 2010 fall symposia

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作者： Azevedo, Roger Biswas, Gautam Bohus, Dan Carmichael, Ted Finlayson, Mark A. Hadzikadic, Mirsad Havasi, Catherine Horvitz, Eric Kanda, Takayuki Koyejo, Oluwasanmi Lawless, William F. Lenat, Doug Meneguzzi, Felipe Mutlu, Bilge Oh, Jean Pirrone, Roberto Raux, Antoine Sofge, Donald A. Sukthankar, Gita Van Durme, Benjamin Yorke-Smith, Neil Department of Educational and Counseling Psychology McGill University Canada Center for Intelligent Systems Vanderbilt University United States Microsoft Research Redmond United States Department of Software and Information Systems University of North Carolina Charlotte United States Complex Systems Institute United States Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology United States Media Lab. Massachusetts Institute of Technology United States ATR Intelligent Robotics and Communication Laboratories Kyoto Japan Department of Electrical and Computer Engineering University of Texas Austin United States Department of Mathematics Paine College Augusta GA United States Cycorp Austin TX United States Robotics Institute Carnegie Mellon University United States Department of Computer Sciences University of Wisconsin Madison United States University of Palermo Italy Honda Research Institute United States Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory Washington DC United States Department of Electrical Engineering and Computer Science University of Central Florida United States Department of Computer Science Johns Hopkins University United States American University of Beirut Lebanon SRI International's Artificial Intelligence Center United States

The Association for the Advancement of Artificial Intelligence (AAAI) presented the 2010 Fall Symposium Series on November 11-13, 2010. The eight symposia included Cognitive and Metacognitive Educational systems, Commonsense Knowledge, Complex Adaptive systems: Resilience, Robustness, and Evolvability, Computational Models of Narrative, Dialog with Robots, Manifold Learning and Its Applications, Proactive Assistant Agents and Quantum Informatics for Cognitive, Social, and Semantic Processes. Cognitive and Metacognitive Educational systems aimed to provide a comprehensive definition of metacognitive educational systems that is inclusive of the theoretical, architectural, and educational aspects of this field. The AAAI Commonsense Knowledge Fall Symposium had the goal of bringing together the diverse elements of this community whose work benefits from or contributes to the representation of general knowledge about the world. One of the specific goals of Proactive symposium was to gather the researchers from various projects in assistant agents to share their wisdom in retrospect.

关键词： Semantics

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System design and implementation of social interactive robot Nancy

System design and implementation of social interactive robot...

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International Conference on Information Sciences and Interaction Sciences (ICIS)

作者： Shuzhi Sam Ge Chun Fui Liew Yanan Li Institute of Intelligent Systems University of Electronic Science and Technology Chengdu China Social Robotics Laboratory Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore Social Robotics Laboratory Interactive Digital Media Institute and NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore

This paper presents a social interactive robot Nancy that has been developed in Social robotics laboratory, National University of Singapore. Fundamentally different from factory robots, Nancy's design focuses on social interaction and social intelligent system. The design objectives and consideration are examined in the beginning, followed by the description of hardware and software architectures. Contrast to current existing social robots, Nancy has a graphical user interface (GUI), which acts as an additional channel for human-robot interaction. This GUI helps users to have a better understanding of Nancy's internal states and hence make users feel more comfortable during the interaction with Nancy. Visitors' interaction experience with Nancy is discussed together with Nancy's social skills.

关键词： Robots Graphical user interfaces Servomotors Speech Universal Serial Bus Face Hardware

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Proposal of educational environments with mobile robots

Proposal of educational environments with mobile robots

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IEEE Conference on robotics, Automation and Mechatronics

作者： Silas F. R. Alves Humberto Ferasoli Filho René Pegoraro Marco A. C. Caldeira João M. Rosário Wilson M. Yonezawa Laboratory of Integrated Automation and Robotics Mechanical Project Department Faculty of Mechanical Engineering State University of Campinas Campinas Sao Paulo Brazil Laboratory of Integration of Intelligent Systems and Devices Computer Department Sciences Faculty University of São Paulo State Bauru Brazil

This paper describes an initiative which uses low-cost mobile robots to create robotics courses and learning environment to support the teaching of computing and many other related disciplines. The pursued principle is that lower cost alternatives that can meet the educational needs, since it is accompanied by an environment with friendly software interface. In this sense, the hardware interface was developed to allow the computer to process data from the sensors and actuators of the mobile robot. This architecture is adequate because of the acceptance of students in their use, since the environment is unrolled within a familiar platform to them.

关键词： Robot sensing systems computer architecture computers Mobile robots Educational robots

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Looking around with your brain in a virtual world

Looking around with your brain in a virtual world

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IEEE Symposium on Computational Intelligence, Cognitive Algorithms, Mind, and Brain (CCMB)

作者： Danny Plass-Oude Bos Matthieu Duvinage Oytun Oktay Jaime Delgado Saa Huseyin Guruler Ayhan Istanbullu Marijn van Vliet Bram van de Laar Mannes Poel Linsey Roijendijk Luca Tonin Ali Bahramisharif Boris Reuderink HMI group Faculty of EEMCS University of Twente Netherlands TCTS Laboratory Electrical Engineering University of Mons Belgium Electronics and Communications Corlu Engineering Namik Kemal Üniversitesi Turkey IEE Group of Robotics and Intelligent Systems Universidad del Norte Colombia Faculty of Engineering and Natural Sciences VPA Laboratory Sabanci University Turkey Department of Electronics and Computer Education Faculty of Technical Education Mugla University Turkey Faculty of Computer Engineering Balikesir University Turkey Donders Institute for Brain Cognition and Behaviour Radboud University Nijmegen Nijmegen Netherlands CNBI École Polytechnique Fédérale de Lausanne Switzerland Institute for Computing and Information Sciences Radboud University Nijmegen Nijmegen Netherlands

Offline analysis pipelines have been developed and evaluated for the detection of covert attention from electroen-cephalography recordings, and the detection of overt attention in terms of eye movement based on electrooculographic measurements. Some additional analysis were done in order to prepare the pipelines for use in a real-time system. This real-time system and a game application in which these pipelines are to be used were implemented. The game is set in a virtual environment where player is a wildlife photographer on an uninhabited island. Overt attention is used to adjust the angle of the first person camera, when the player is tracking animals. When making a photograph, the animal will flee when it notices it is looked at directly, so covert attention is required to get a good shot. Future work will entail user tests with this system to evaluate usability, user experience, and characteristics of the signals related to overt and covert attention when used in such an immersive environment.

关键词： Pipelines Accuracy Electrooculography Electrodes Training Electroencephalography Games

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