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Control of a Quadruped Robot with Bionic Springy Legs in Trotting Gait

Journal of Bionic engineering 2014年第2期11卷 188-198页

作者： Mantian Li Zhenyu Jiang Pengfei Wang Lining Sun Shuzhi Sam Ge State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China Institute of Intelligent Systems and Information Technology University of Electronic Seience and Technology of China Chengdu 610000 P.R. China Department of Electrical and Computer Engineering the National University of Singapore Singapore 117576 Singapore

Legged robots have better performance on discontinuous terrain than that of wheeled robots. However, the dynamic trotting and balance control of a quadruped robot is still a challenging problem, especially when the robot has multi-joint legs. This paper presents a three-dimensional model of a quadruped robot which has 6 Degrees of Freedom （DOF） on torso and 5 DOF on each leg. On the basis of the Spring-Loaded Inverted Pendulum （SLIP） model, body control algorithm is discussed in the first place to figure out how legs work in 3D trotting. Then, motivated by the principle of joint function separation and introducing certain biological characteristics, two joint coordination approaches are developed to produce the trot and provide balance. The robot reaches the highest speed of 2.0 m.s-1, and keeps balance under 250 Kg.m.s-1 lateral disturbance in the simulations. The effectiveness of these approaches is also verified on a prototype robot which runs to 0.83 m.s-1 on the treadmill, The simulations and experiments show that legged robots have good biological properties, such as the ground reaction force, and spring-like leg behavior.

关键词： legged robots locomotion control quadruped robot trotting gait

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Distributed Adaptive Sensor Fault Tolerant Control for Smart Buildings

Distributed Adaptive Sensor Fault Tolerant Control for Smart...

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IEEE Annual Conference on Decision and Control

作者： Panayiotis M. Papadopoulos Vasso Reppa Marios M. Polycarpou Christos G. Panayiotou KIOS Research Center for Intelligent Systems and Networks Department of Electrical and Computer Engineering University of Cyprus Nicosia 1678 Cyprus Laboratory of Signals and Systems (UMR CNRS 8506) CentraleSupelec-CNRS-University Paris-Sud Univ. Paris-Saclay 91192 Gif-sur-Yvette France

ISBN: (纸本)9781479978878

This paper presents a model-based distributed fault-tolerant control (FTC) scheme with emphasis on compensating the effects of sensor faults in multi-zone heating, ventilating and air-conditioning (HVAC) systems. A bank of local adaptive FTC agents are designed to accommodate possible sensor faults in HVAC systems, modeled as a set of interconnected, nonlinear subsystems. In order to compensate the fault effects that may propagate in the neighboring subsystems, each local FTC utilizes the information generated by a local monitoring agent that diagnoses the sensor faults and performs an adaptive estimation of the isolated sensor faults. The local monitoring and control agents are allowed to exchange information with neighboring agents. Simulation results are used to illustrate the effectiveness of the proposed methodology applied to a seven-zone HVAC system.

关键词： High Voltage Alternating Current systems fault-tolerant control adaptive estimation Sensors Agents SUB-SYSTEM

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Real-time optimal scheduling of smart power distribution systems using integrated receding horizon control and convex conic programming

Real-time optimal scheduling of smart power distribution sys...

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2014 IEEE Industry Application Society Annual Meeting, IAS 2014

作者： Moghadasi, Seyedmahdi Kamalasadan, Sukumar Power Energy and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of North Carolina at Charlotte CharlotteNC United States

ISBN: (纸本)9781479922888

In this paper, we propose a convex Optimal Power Flow (OPF) formulation integrated within Receding Horizon Control (RHC) method using Second Order Conic Programming (SOCP). The main advantages of the proposed method are a) global optimal scheduling with faster computation time b) dynamic equation models with real-time control c) integration of uncertain resources and measurements. The effectiveness of this method is evaluated using a 32 bus power distribution test system, considering various network constraints that include market interaction, energy storage dynamics and uncertain model of wind generation. The efficiency of the proposed method compared to RHC AC Optimal Power Flow (RHC-ACOPF) architecture is also evaluated. The results show that the proposed architecture outperforms the RHC-ACOPF in computation time and guaranties the global optimal solution. Also the proposed method provides effective usage of energy storage system as the RHC integration allows including dynamic modeling of energy storage within the optimization algorithm. © 2014 IEEE.

关键词： Convex optimization

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Computational approaches for bad data handling in power system synchrophasor networks 19

Computational approaches for bad data handling in power syst...

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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Venayagamoorthy, Ganesh K. Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering Clemson University ClemsonSC29634 United States

ISBN: (纸本)9783902823625

The state estimators used in real-time power system control centers now process bad data as a standard routine. W ith the introduction and deployment of phasor measurement units (PMUs), it is possible to model power systems, even with their time-varying nature, in real-t ime. However, PMUs remain vulnerable to providing bad data for several reasons. In this paper, a new intelligent framework, the cellular computational n etwo rk (CCN), is introduced for the decentralized predictive modeling and dynamic state estimation (DSE) of a power system with PMU data. Th e CCN-bas ed DSE is res ilient to interactions between multiple segments of bad data from one or more PMUs. © IFAC.

关键词： Phasor measurement units

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Smart meter deployment: US initiatives

Smart meter deployment: US initiatives

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2014 IEEE Power and Energy Society Innovative Smart Grid Technologies Conference, ISGT 2014

作者： Milam, Megan Kumar Venayagamoorthy, G. Real-Time Power and Intelligent Systems Laboratory Holcombe Department of Electrical and Computer Engineering Clemson University Clemson SC 29631 United States

ISBN: (纸本)9781479936526

The purpose of this study is to summarize the status of current smart meter deployment initiatives in the United States. This paper presents the findings from a survey that was sent to US utility companies listed on the Department of Energy's smart grid website under the Recovery Act Smart Grid program. The survey provides information such as: the duration of the project, regions covered, budget, number of meters deployed (for residential, commercial, and industrial use), benefits (financial- and performance-based for customer and power companies), and obstacles. Emphasis is given to the successes and setbacks the companies faced during implementation. This study is aimed at bringing awareness to the electricity community of the overall progress across the U.S. towards development and deployment of Advanced Metering Infrastructure (AMI) systems and their impacts. © 2014 IEEE.

关键词： Advanced metering infrastructures

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An approach to determination of simple circular waits in reconfigurable multi-vehicle systems

An approach to determination of simple circular waits in rec...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Tamara Petrovic Stjepan Bogdan Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS)

ISBN: (纸本)9781479974108

Resource allocation systems are used for modeling and control of flexible manufacturing systems, multi-vehicle systems, traffic networks, etc. Methods for control of these systems are often based on the identification of a special structural property, simple circular wait of resources, and interrelations between simple circular waits. In this paper we study reconfigurable resource allocation systems, which require that control algorithm is modified online and, therefore, has low running time. In this paper we propose dynamical algorithms for determination of simple circular waits in reconfigurable systems, which are based on Johnson's algorithm, and aim at identifying only changes in the set of simple circular waits. Running time of the proposed algorithms is lower than running time of standard static methods. Algorithms are tested for a family of multi-vehicle systems and results confirm the advantages of using the dynamic algorithms.

关键词： Vehicles Heuristic algorithms Resource management Motion segmentation Algorithm design and analysis Complexity theory System recovery

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Path assignment and resource allocation control in reconfigurable multi-vehicle system

Path assignment and resource allocation control in reconfigu...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Tamara Petrovic Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS)

ISBN: (纸本)9781479974108

In this paper we study control of reconfigurable multi-vehicle system. Our method builds upon an existing deadlock-free resource allocation control method that is based on the identification of higher-level deadlocks. We identify a smaller set of cyclic circular waits to be controlled, and provide an algorithm for determination of such cyclic circular waits. Furthermore, we propose a path assignment algorithm that aims at lowering the structural complexity of the corresponding resource allocation system, while taking into account path length. Methods are tested in a simulation environment and results show their efficiency.

关键词： System recovery Vehicles Resource management Motion segmentation Control systems Heuristic algorithms Superluminescent diodes

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Minimal exposure path algorithms for directional sensor networks

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Wireless Communications and Mobile Computing 2014年第10期14卷 979-994页

作者： Liu, Liang Zhang, Xi Ma, Huadong Beijing Key Lab of Intelligent Telecommunications Software and Multimedia Beijing University of Posts and Telecommunications Beijing 100876 China Networking and Information Systems Laboratory Department of Electrical and Computer Engineering Texas AandM University College Station TX 77843 United States

As a fundamental problem of wireless sensor networks, the minimal exposure path problem corresponding to the sensor network's worst-case coverage plays an important role in the applications for detecting intrusions. However, most existing works about minimal exposure path are based on omnidirectional sensors. In contrast, this paper studies the minimal exposure path problem for two different types of directional sensing models: the binary sector model and directional sensitivity model. For the binary sector model, we construct a special Voronoi diagram, called sector centroids-based Voronoi diagram, to transform the minimal exposure path problem from a continuous geometric problem into a discrete geometric problem. By using the sector centroids-based Voronoi diagram, we develop an approximate algorithm to find the minimal exposure path in the sensors deployment field. For the directional sensitive model, we formulate the minimal exposure path problem by using two sensing intensity functions: all-sensor intensity function and maximum-sensor intensity function and then generate two weighted grids to convert the minimal exposure path problem into two discrete geometric problems. On the basis of the aforementioned weighted grids, we also develop two approximation algorithms to find the minimal exposure path for the directional sensitive model. We conduct extensive experiment simulations to validate and evaluate our proposed models and algorithms. Copyright © 2012 John Wiley & Sons, Ltd. As a fundamental problem of wireless sensor networks, the minimal exposure path problem corresponding to the sensor network's worst-case coverage plays an important role in the applications for detecting intrusions. This paper studies the minimal exposure path problem for two different types of directional sensing models: the binary sector model and directional sensitivity *** construct a special Voronoi diagram and two weighted grids to transform the minimal exposure path problem f

关键词： Wireless sensor networks

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A p300 model for cerebot - A mind-controlled humanoid robot 2

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2nd International Conference on Robot Intelligence Technology and Applications, RiTA 2013

作者： Li, Mengfan Li, Wei Zhao, Jing Meng, Qinghao Zeng, Ming Chen, Genshe Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin300072 China Department of Computer & Electrical Engineering and Computer Science California State University BakersfieldCA93311 United States Intelligent Fusion Technology Inc. GermantownMD20876 United States

ISBN: (纸本)9783319055817

In this paper, we present a P300 model for control of Cerebot - a mind-controlled humanoid robot, including a procedure of acquiring P300 signals, topographical distribution analysis of P300 signals, and a classification approach to identifying subjects’ mental activities regarding robot-walking behavior. We design two groups of image contexts to visually stimulate subjects when acquiring neural signals that are used to control a simulated or real NAO robot. Our study shows that the group of contexts using images of robot behavior delivers better performance. © Springer International Publishing Switzerland 2014.

关键词： Anthropomorphic robots

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Control Strategies for a Humanoid Robot to Drive and then Egress a Utility Vehicle for Remote Approach

Control Strategies for a Humanoid Robot to Drive and then Eg...

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IEEE-RAS International Conference on Humanoid Robots

作者： Hyobin Jeong Jaesung Oh Mingeuk Kim Kyungdon Joo In So Kweon Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory School of Mechanical Aerospace & Systems Engineering Department of Electrical Engineering Korea Advanced Institute of Science and Technology Department of Electrical Engineering KAIST

ISBN: (纸本)9781479968862

This paper proposes strategies for the driving and egress of a vehicle with a humanoid robot. To drive the vehicle, the RANSAC method was used to detect obstacles, and the Wagon model was used to control the steering and velocity of the vehicle with only a limited number of sensors which were installed on the humanoid robot. Additionally, a manual teleoperating method was used with the lane projection technique. For the egress motion, gain override and the Cartesian position/force control technique were used to interact with the vehicle structure. To overcome the disadvantages of a highly geared manipulator, a special technique was used that included modelled friction compensation and a non-complementary switching mode. DRC-HUBO+ used the proposed method to perform a vehicle driving and egress task in the DRC finals 2015.

关键词： Humanoid robots EGRESS vehicle Vehicle driving Automobile driving UTILITY VEHICLES control strategy friction compensation DRIVES Steering

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