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检索条件"机构=Robotics and Intelligent Systems Laboratory Electrical and Computer Engineering"

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Model development of MIMO nets: a H-EPN based approach

Model development of MIMO nets: a H-EPN based approach

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IEEE Conference on Decision and Control

作者： S. Ramaswamy K.P. Valavanis S. Barber The Laboratory for Intelligent Processes and Systems The Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA The Robotics and Automation Laboratory The Center for Advanced Computer Studies and the Apparel-CIM Center University of Southwestern Louisiana Lafayette LA USA

The construction and analysis of multiple-input multiple-output (MIMO) subnets is discussed. It is shown that hierarchical time-extended Petri nets (H-EPNs) allow the development of structured MIMO subnets through the use of bottom-up Petri net synthesis techniques. The paper analyzes Petri net extensions that allow a truly hybrid approach to Petri net based systems modeling, analysis and development. The case study emphasizes the advantage of the activator arc extension in studying issues such as static priority scheduling, dynamic failure recognition, and rescheduling in manufacturing systems. The SPNP package, suitably modified to handle the H-EPN extensions, is used to analyze the properties of the derived H-EPN model.

关键词： MIMO Petri nets Failure analysis Job shop scheduling Dynamic scheduling Modeling Timing Manufacturing Packaging Solids

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Coordination of distributed fuzzy behaviors in mobile robot control

Coordination of distributed fuzzy behaviors in mobile robot ...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： E. Tunstel NASA Jet Propulsion Laboratory USA CAD Laboratory for Intelligent & Robotic Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

Mobile robot navigation can be achieved using a control system comprised of a collection of special-purpose motion routines, or behaviors. In order to exhibit robust autonomous performance, a suitable strategy for coordinating the behaviors must be adopted. This paper describes an approach to behavior coordination and conflict resolution within the context of a hierarchical architecture of fuzzy behaviors. This architecture can be viewed as a network of distributed intelligent behaviors in which coordination is achieved using weighted decision-making based on behavioral degrees of applicability. Aspects of the coordination and conflict resolution procedures that are based on generalized concepts from fuzzy control are discussed. The strategy is appropriate for fuzzy control of systems that can be represented by hierarchical or decentralized structures.

关键词： Fuzzy control Mobile robots Robot control Control systems intelligent robots Fuzzy systems intelligent systems Decision making Automatic control Laboratories

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Depth extraction using lateral or axial camera motion: an integration of depth from motion and stereo

Depth extraction using lateral or axial camera motion: an in...

引用

IEEE International Conference on Image Processing

作者： A.K. Dalmia M.M. Trivedi Web Systems Group Datacube Inc. Danvers MA USA Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

We present an integrated methodology that can be used to extract the depth from a sequence of images. The method combines the ability of stereo processing to acquire highly accurate depth measurements and the efficiency of spatial and temporal gradient analysis. As a result of this integration, depth measurements of a high quality are obtained at a speed approximately ten-times higher than that of stereo processing. Without any a priori information of the locations of the points in the scene, the correspondence problem in stereo processing is computationally expensive. In our approach, we use the spatial and temporal gradient analysis, which has been shown to provide the depth with a high efficiency but limited accuracy, to guide the stereo matching process. Experiments for lateral and axial camera translations have acquired depth results with a mean error of less than 3 percent.

关键词： Cameras Displacement measurement Robot vision systems computer vision Equations Laboratories Data engineering Velocity measurement Layout Energy resolution

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Design of a structured light sensor for in situ calibration

Design of a structured light sensor for in situ calibration

引用

IEEE International Workshop on intelligent Robots and systems (IROS)

作者： F.W. DePiero R.L. Kress Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA Roboticsand Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA

This paper highlights a ranging sensor that can be calibrated at standoffs of 1 to 3 feet with a depth of field of /spl ap/1 ft. Tests at a 16" standoff have produced a 0.004 inch standard deviation in height measurement errors. The data density and field of view are programmable. The sensor is positioned robotically, allowing it to provide accurate, shed-range measurements prior to manipulation tasks. The sensor head is relatively inexpensive (/spl ap/$10 k) and is designed for in situ calibration. This approach is intended to allow replacement components to be installed, calibrated, and validated without decontamination. Calibration, validation and data acquisition are all designed to be performed remotely and in a highly automated fashion. These in situ features of the design are targeted for the interest of industry with the aim of producing a sensor having a longer lifetime and a lower maintenance cost.

关键词： Calibration Testing Measurement standards Measurement errors Robot sensing systems Position measurement Decontamination Data acquisition Sensor phenomena and characterization Costs

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Robot motion planning with many degrees of freedom

Robot motion planning with many degrees of freedom

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IEEE International Conference on systems, Man and Cybernetics

作者： Chenyu Ma Wei Li Yang Yang Liuchen Chang National Laboratory of Intelligent Technology and Systems Department of Computer Science Tsinghua University Beijing China Department of Electrical Engineering University of New Brunswick Canada

ISBN: (纸本)0780325591

Because a robot usually operates in environments with uncertain information, path planning for the robot should be performed in real-time so as to match process speed based on sensors. This paper presents an efficient approach to behavior based motion planning of a manipulator with many degrees of freedom, which is based on an algorithm for fast mapping obstacles from a robot's workspace (W-space) into its configuration space (C-space). In the paper, several types of behaviors are defined to formulate the manipulator motion, while rules of choosing behaviors are also given. The proposed method is suitable for the requirement on real-time robot path planning in uncertain environments.

关键词： Robot motion Motion planning Robot sensing systems Path planning Orbital robotics robotics and automation Manipulators Computational geometry intelligent robots Robot kinematics

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A hybrid neuro-fuzzy system for robot control

A hybrid neuro-fuzzy system for robot control

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IEEE International Conference on systems, Man and Cybernetics

作者： Qunhua Tan Wei Li Liuchen Chang Hong Huang National Laboratory of Intelligent Technology and Systems Department of Computer Science Tsinghua University Beijing China Department of Electrical Engineering University of New Brunswick NB Canada

ISBN: (纸本)0780325591

This paper presents a new method to designing a neurofuzzy controller for a robot. Because control signals from a fuzzy logic controller are determined by response behaviors rather than its analytical models, open-loop responses of the robot are described by a set of two-order systems. Then, the parameters of the fuzzy controller, which are related to this system, are off-line optimized by the Nelder and Mead's simplex algorithm. Next, a neural network is used to train the mapping relationship between the open-loop responses and the optimized parameters of their corresponding fuzzy controllers. In order to control a two-link manipulator with nonlinear dynamics, its open-loop responses are first tested, and its optimal fuzzy logic controller is then determined by perceiving such responses using a neural network based on trained patterns. The advantage of this method is that one does not need to care about the convergence problem during the adaptation process when it is used to design a neurofuzzy controller.

关键词： Fuzzy neural networks Robot control Open loop systems Fuzzy logic Fuzzy control Neural networks Optimal control Manipulator dynamics Design methodology Analytical models

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Preisach modeling of piezoceramic and shape memory alloy hysteresis

Preisach modeling of piezoceramic and shape memory alloy hys...

引用

IEEE Conference on Control Technology and Applications (CCTA)

作者： D. Hughes J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Smart materials such as piezoceramics and shape memory alloys (SMAs) exhibit significant hysteresis and in order to estimate the effect on open and closed loop control a suitable model is needed. One promising candidate is the Preisach independent domain hysteresis model that is characterized by the congruent minor loop and wiping out properties. Comparable minor loop and decaying oscillation test data for a multi-sheet piezoceramic actuator (made of lead zirconate titanate) attached to a flexible beam are presented and are seen to be very consistent with the two Preisach model properties. The commanded parameter is the sheet transverse electric field while the measured parameter is an approximately colocated strain induced in the beam. Equivalent data for a Nitinol SMA wire muscle, attached to the same beam, are also presented. The input and output parameters are the SMA current and a beam strain respectfully. The minor loop and wiping out evidence is less strong than that of the piezoceramic case, but encouraging. In all experiments the quasi-steady state responses were generated in order to avoid exciting beam flexible modes which would complicate the analysis.

关键词： Piezoelectric materials Shape memory alloys Hysteresis Strain measurement Shape control Open loop systems Testing Actuators Titanium compounds Electric variables measurement

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Synthesized passive feedback control of sensor-rich smart structures-experimental results

Synthesized passive feedback control of sensor-rich smart st...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures Department of Electrical Computer and Systems EngineeringCenter for Advanced Technology in Automation Robotics & Manufacturing Rensselaer Polytechnic Institute RPI Troy NY USA

Passivity based controllers are used in structural control due to their inherent robustness properties. These controllers require sensor/actuator collocation. In this paper, we consider the design of a "squaring down" matrix which renders a system passive by using a linear combination of all collocated and non-collocated sensor/actuator pairs. The design uses experimental transfer functions and does not require the knowledge of the system model. The problem of finding the squaring down matrix is cast as a solution to a set of linear matrix inequalities (LMIs) subject to some additional performance considerations. The design procedure of the squaring down matrix assumes that velocity information is available from the sensors which is not generally the case. We show that the squaring down matrix can be implemented without the use of such velocity information. We provide experimental results gathered from the single link flexible beam setup in the C/sub La/MS laboratory at RPI to show that implementation of passive loops without velocity measurements provides very good results.

关键词： Feedback control Linear matrix inequalities intelligent sensors Control system synthesis Robust control Sensor systems Hydraulic actuators Transfer functions Laboratories Economic indicators

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Object-oriented analysis, modeling, and simulation of a notional air defense system

Object-oriented analysis, modeling, and simulation of a noti...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： B.T. Barcio S. Ramaswamy R. MacFadzean K.S. Barber The Laboratory for Intelligent Processes and Systems Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA Division of Computer and Applied Sciences Georgia Southwestern College Americus GA USA

This paper describes the analysis, modeling, and simulation of a notional air defense system using SMOOCHES (State Machines for Object-Oriented, Concurrent, Hierarchical engineering Specifications). SMOOCHES is an object-oriented environment based on hierarchical state machines and extensions to statecharts, specifically developed as an environment to specify, model, simulate and analyze/evaluate distributed, reactive systems.

关键词： Object oriented modeling Analytical models Radar tracking Target tracking Monitoring Computational modeling Law Legal factors Laboratories intelligent systems

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A high level specification mechanism for the analysis and design of manufacturing systems

A high level specification mechanism for the analysis and de...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： S. Ramaswamy K.S. Barber Division of Computer and Applied Sciences Georgia Southwestern College Americus GA USA The Laboratory of Intelligent Processes and Systems The Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA

A structured development approach to deriving system models that helps to better understand and represent system details is presented. Real-world systems are never completely designed by either top-down or bottom up approaches. Therefore, methods that allow the integration of these two approaches as well as provide a means for analyzing such models are very useful. First, a general purpose system architecture, a corresponding system specification language, and a broad classification of the various concurrent system activities are presented. Second, Petri net (PN) extensions to simplify system specification and modeling are provided. Third, a transformation between the high level specifications to the proposed PN extensions is provided. Finally, a PN system model using the new PN extensions is derived as an example. To facilitate the use of existing PN based analysis and simulation tools a transformation between the PN extensions used in this paper to classical PNs is also illustrated.

关键词： Manufacturing systems Specification languages Aerodynamics Laboratories intelligent manufacturing systems intelligent structures Analytical models Communication system software Hardware System testing

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