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Modelling of a complex system using the dynamic rule prediction

WSEAS Transactions on Systems 2006年第12期5卷 2833-2838页

作者： Damangir, Soheil Jafarijashemi, Ghazaleh Zohoor, Hassan School of Mechanical Engineering Sharif University of Technology Tehran Iran Taylor's College Subang Jaya Kuala Lumpur Malaysia Academy of Sciences of I.R. Iran Tehran Iran Center of Excellence in Design Robotics and Automation Sharif University of Technology Tehran Iran

Presented in this paper are a method, named the Dynamic Rule Prediction (DRP), which predicts the behavior of a system and its application in designing a controller. The aim of the study is to overcome some of the limitations and shortcoming of the other modeling methods. The effectiveness of this method is verified. The controller based on DRP possesses two main features. It can control the system without any prior knowledge of the controlled plant. It is, also, superior as its high-speed prediction. This paper focuses on the robot manipulator controllers and applications of this approach in it.

关键词： Large scale systems

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PID neural network control of SUT building energy management system

PID neural network control of SUT building energy management...

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

作者： M. Fardadi A.S. Ghafari S.K. Hannani Center of Excellence in Energy Conversion School of Mechanical Engineering Sharif University of Technology Tehran Iran Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran

PID neural network controller design for Sharif University of Technology (SUT) building energy management system (BEMS) is addressed in this paper. The most important characteristics of process systems are time delay with model uncertainties. Artificial neural networks can perform adaptive controller properties through learning processes. PID neural network has the advantage of both conventional PID controllers and the neural structure. Simulation results using modified Hooke-Jeeves optimization method show that this controller has short convergence time and quick learning speed and the performance of the closed loop system is very good

关键词： Three-term control Neural networks Control systems Energy management Artificial neural networks Buildings Delay effects Uncertainty Adaptive systems Programmable control

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Modeling of human driving behavior based on piecewise linear model

Modeling of human driving behavior based on piecewise linear...

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IEEE International Symposium on Industrial Electronics 2005, ISIE 2005

作者： Kim, Jong-Hae Okuma, Shigeru Kim, Young-Woo Hwang, Don-Ha Kim, Min-Huei Kim, Dong-Hee Dept. of Electrical Engineering and Computer Science Graduate School of Engineering Nagoya University Japan Space Robotics Research Center Toyota Technological Institute Nagoya City Japan Changwon Korea Republic of Dept. of Electrical and Automation Eng. Yeungnam College of Sci. and Tech. Daegu Korea Republic of Dept. of Electrical Engineering Yeungnam University Kyongsan Kyungbuk Korea Republic of

ISBN: (纸本)0780387384

This paper presents the development of the modeling strategy of the human driving behavior based on the expression as Piecewise Linear (PWL) model focusing on the driver's stopping maneuver. The driving data are collected by using the three-dimensional driving simulator based on CAVE, which provides stereoscopic immersive vision. In our modeling, the relationship between the driver's sensory information and the operation of the driver such as braking amount is expressed by PWL model, which is a class of Hybrid Dynamical System (HDS). The identification problem for the PWL model is formulated as the Mixed Integer Linear Programming (MILP) by transforming the switching conditions into binary variables. From the obtained results, it is found that the driver appropriately switches the 'control low' according to the sensory information. These results enable us to capture not only the physical meaning of the driving skill, but also the decision-making aspect (switching conditions) in the driver's stopping maneuver. © 2005 IEEE.

关键词： Behavioral research

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Modeling of human driving behavior based on piecewise linear model

Modeling of human driving behavior based on piecewise linear...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Jong-Hae Kim S. Okuma Young-Woo Kim Don-Ha Hwang Min-Huei Kim Dong-Hee Kim Department of Electrical Engineering and Computer Science Graduate School of Engineering University of Nagoya Japan Space Robotics Research Center Toyota Technological Institute Nagoya Japan Industry Applications Research Laboratory Korea Electrotechnology Research Institute Changwon South Korea Department of Electrical & Automation Engineering Yeungnam College of Science and Technology Daegu South Korea Department of Electrical Engineering Yeungnam University Kyungbuk South Korea

This paper presents the development of the modeling strategy of the human driving behavior based on the expression as Piecewise Linear (PWL) model focusing on the driver’s stopping maneuver. The driving data are collected by using the three-dimensional driving simulator based on CAVE, which provides stereoscopic immersive vision. In our modeling, the relationship between the driver’s sensory information and the operation of the driver such as braking amount is expressed by PWL model, which is a class of Hybrid Dynamical System (HDS). The identification problem for the PWL model is formulated as the Mixed Integer Linear Programming (MILP) by transforming the switching conditions into binary variables. From the obtained results, it is found that the driver appropriately switches the ‘control low’ according to the sensory information. These results enable us to capture not only the physical meaning of the driving skill, but also the decision-making aspect (switching conditions) in the driver’s stopping maneuver.

关键词： Humans Piecewise linear techniques Hidden Markov models Decision making Computer science Space technology robotics and automation Switches Automatic control Service robots

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Dynamics modeling of "Cedra" rescue robot on uneven terrains

Dynamics modeling of "Cedra" rescue robot on uneven terrains

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2004 ASME International Mechanical engineering Congress and Exposition, IMECE

作者： Meghdari, A. Mahboobi, S.H. Gaskarimahalle, A.L. Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran

In this paper an effective approach for kinematic and dynamic modeling of high mobility wheeled mobile robots (WMR) has been presented. As an example of these robots, the method has been applied on CEDRA rescue robot which is a complex, multibody mechanism. The model is derived for 6-DOF motions enabling movement in x, y, z directions, as well as pitch, roll and yaw rotations. Forward kinematics equations are derived using Denavit-Hartenberg method and the wheels Jacobian matrices. Moreover the inverse kinematics of the robot is obtained and solved for the wheel velocities and steering commands in terms of desired velocity, heading and measured link angles. Finally dynamical analysis of the rover has been thoroughly studied. Due to the complexity of this multi-body system especially on rough terrain, Kane's method of dynamics has been used to model this problem. The approach has been developed in such a way that it can easily be extended to other mechanisms and rovers. Copyright © 2004 by ASME.

关键词： Mobile robots

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An optimum design and simulation of an innovative mobile robotic nurse unit to assist paraplegic patients

An optimum design and simulation of an innovative mobile rob...

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International Conference on Mechatronics (ICM)

作者： A. Meghdari H. Hosseinkhannazer A. Selkghafari Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran

This paper describes a nursing robot system currently under development at the center of Excellence in Design, robotics and automation. Our goal was to design and fabricate of a robot specifically for paraplegic patients and the design procedure led to a plan, which can be employed in any hospital environment. Through the design procedure, the team members conducted a survey on the robot client's needs and disabilities, which provided a unique view on mechanical design features, in addition to, performing dynamical analysis on the designed mechanisms. Dynamical simulation of mechanisms helped us to find the best design and solutions as well as optimization of parts has resulted in a matchless mobile robot which can serve as nurse, rehabilitation center, physical therapist and virtual physician.

关键词： Mobile robots Rehabilitation robotics robotics and automation Hospitals Prototypes Medical services Medical treatment Spinal cord injury Cardiac disease Cardiovascular diseases

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On the optimum design of fuzzy logic controller for trajectory tracking using evolutionary algorithms

On the optimum design of fuzzy logic controller for trajecto...

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IEEE Conference on Cybernetics and Intelligent Systems

作者： H.N. Pishkenari S.H. Mahboobi A. Meghdari Center of Excellence in Design Robotics and Automation (CEDRA) School of Mechanical Engineering Sharif University of Technology Iran

Differential evolution (DE) and genetic algorithms (GA) are population based search algorithms that come under the category of evolutionary optimization techniques. In the present study, these evolutionary methods have been utilized to conduct the optimum design of the fuzzy controller for mobile robot trajectory tracking. Comparison between their performances has also been conducted. In this paper we present a fuzzy controller to the problem of mobile robot path tracking for the CEDRA rescue robot with a complicated kinematical model. After designing the fuzzy tracking controller, the membership functions would be optimized by evolutionary algorithms in order to obtain more acceptable results.

关键词： Algorithm design and analysis Fuzzy logic Trajectory Evolutionary computation Mobile robots Fuzzy control Genetic programming Control systems Automatic control Design optimization

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Design of one-step-ahead prediction observers for system parameter identification

Design of one-step-ahead prediction observers for system par...

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International Conference on Control, automation, robotics and Vision (ICARCV)

作者： R.N.K. Loh M. Lu School of Electrical and Electronic Engineering Nanyang Technological University Singapore Center for Robotics and Advanced Automation Department of Electrical and Systems Engineering Oakland University Rochester MI USA

A unifying one-step-ahead prediction observer (identifier) for system parameter estimation or identification of autoregressive moving average (ARMA) processes has been developed. Four specific algorithms can be derive... 详细信息

关键词： Parameter estimation Filters Time measurement robotics and automation Systems engineering and theory Erbium State estimation Current measurement Prediction algorithms Equations

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DYNAMIC INTERACTION BETWEEN THE MANIPULATOR AND VEHICLE OF A MOBILE MANIPULATOR

DYNAMIC INTERACTION BETWEEN THE MANIPULATOR AND VEHICLE OF A...

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ASME 1999 International Mechanical engineering Congress and Exposition, IMECE 1999

作者： Meghdari, A. Durali, M. Naderi Colorado School Of Mines Center For Automation And Robotics Research Division Of Engineering Golden Colorado United States School Of Mechanical Engineering Sharif University Of Technology Tehran Iran

ISBN: (纸本)9780791816394

A manipulator mounted on a moving vehicle is called a mobile manipulator. A mobile manipulator with an appropriate suspension system can pass over uneven surfaces, thus having an infinite workspace. If the manipulator could operate while the vehicle is traveling, the efficiency concerning with the time and energy used for stopping and starting will be increased. This paper presents the kinematics and dynamic modeling of a one degree of freedom manipulator attached to a vehicle with a two degrees of freedom suspension system. The vehicle is considered to move with a constant linear speed over an uneven surface while the end effector tracks a desired trajectory in a fixed reference frame. In addition, the effects of dynamic interaction between the manipulator and vehicle (including the suspension system's effects) have been studied. Simulation results from straight line trajectory are presented to illustrate these effects. © 1999 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Manipulators

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Passive compliance of flexible link robots. I. A new computation method

Passive compliance of flexible link robots. I. A new computa...

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International Conference on Advanced robotics (ICAR)

作者： Wei Wang R.N.K. Loh M.H. Ang Center for Robotics and Advanced Automation School of Engineering Oakland University Rochester MI USA Department of Mechanical and Production Engineering National University of Singapore Singapore

The compliance of a robot is an important factor in many robotic tasks which require force in either measurement or control in addition to position control. The compliance of a robot is usually described by the compliance matrix at its end-effector. In this paper, we present a novel framework for computing the end-effector compliance from the compliance offered by the limbs of a serial robot. The new method is computationally more efficient but not less accurate than the existing finite element method. The computational efficiency of the method arises from the fact that external forces are experienced by the end-effector alone and that there are no other external forces applied to the internal limbs. As an approximation computation, this method is also applicable to robots with very flexible links.

关键词： Robots robotics and automation Finite element methods Force control Equations Automatic control Position control Stress Force measurement Capacitive sensors

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