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A Novel Approach based on Evolutionary Game Theoretic model for Multi Player Pursuit Evasion

A Novel Approach based on Evolutionary Game Theoretic model ...

2010 International Conference on Computer,Mechatronics,Control and Electronic Engineering(2010计算机、机电、控制与电子工程国际会议 CMCE 2010)

作者： Renping Liu Cai ze-su College of Information Engineering North China University of Technology Beijing 100144 China State Key Laboratory Robotics and System(HIT) Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781424479573

In this paper, we consider a novel Three Hierarchical decomposition approach for Multi-Player Pursuit Evaders (MPPE) game. In multi-player pursuit evasion game, hierarchical framework is applied widely in order to decompose the original complicated multiplayer game into multiple small scale games. In this paper, we first study the number of pursuers which necessitates;the capture condition and the time of all evaders have been captured. Then, describe the Distributed Task Assignment Stage Based on dynamic Coalition Formation. Last, a novel multi-agent Qlearning approach based on Evolutionary Game Theoretic model is used for pursue. Experimental results obtained on two different environments of a well-known pursuit domain show the effectiveness and robustness of the proposed Hierarchical architecture and learning approach.

关键词： Pursuit Evasion Q-learning, Evolutionary Game Theory Coalition Formation

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An approach for corresponding vertexes of robots and application in formation control

An approach for corresponding vertexes of robots and applica...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Wang-bao Xu Xue-bo Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang 150080 China School of Electronics and Information Engineering Liaoning University of Science and Technology Anshan 114051 China

Determinating corresponding vertexes of robots is the precondition and base for utilizing artificial moment method to control multi-robot formation. In this paper, a new criterion based on generalized assignment problems is proposed to determine corresponding vertexes of robots, and its character is discussed. Then, according to the minimum increment principle, a new method for generalized assignment problems is presented, and the program is given in MATLAB language. Finally, numerical experiments were done. Both theory and results of experiments show that the criterion is as good as the distance-optimization correspondence, and the method has many advantages, such as low time complexity, and solutions being very close to the optimal solution, so they are feasible and valid.

关键词： Lead Control systems Moment methods Mobile robots MATLAB Information science

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Notice of Modification

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仿生工程学报(英文版) 2010年第1期7卷 112-112页

作者： Dapeng Yang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China

Dear readers,In the paper "An Anthropomorphic Robot Hand Developed Based on Underactuated Mechanism and Controlled by EMG Signals", Journal of Bionic Engineering, 2009, 6, 255-263, by Dapeng Yang et al., we adopted an experi-mental method already developed by the DLR (German Aerospace Center). Unfortunately, we did not cite their main works properly at that time. We sincerely apologize for this mistake to Dr. Cas'tellini, Dr. van der Smagt and other coauthors.

关键词： Center works Robot paper Based main Hand van EMG der Cas

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Ontology-Based Product Knowledge Integration in Mobile Environment

Ontology-Based Product Knowledge Integration in Mobile Envir...

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International Conference on Control, Automation, robotics and Vision

作者： Cao.LI Zongwu.XIE Kui.SUN Hong.LIU Yongjun.ZHENG State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P.R.China School of Architecture Design and the Built Environment Nottingham Trent University Nottingham UK

ISBN: (纸本)9781424478149

This paper is to develop an ontology-based mobile environment for collaborative product design and manufacture, which enables geographically dispersed team members to collaborate over the internet within the total design or manufacturing process, including product design specification, conceptual design, detail design, manufacture and recycling. In this paper, a database which based on a new method named ontology is built up to demonstrate the all related information in order to achieve an efficient and convenient management. According these two achievements, a new data management system is built and tested in the mobile device and compared to the traditional data management system at the end of this paper.

关键词： ontology mobile web

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Terramechanics-based high-fidelity dynamics simulation for wheeled mobile robot on deformable rough terrain

Terramechanics-based high-fidelity dynamics simulation for w...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Liang Ding Keiji Nagatani Keisuke Sato Andres Mora Kazuya Yoshida Haibo Gao Zongquan Deng Department of Aerospace Engineering University of Tohoku Sendai Japan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China Harbin Institute of Technology Harbin Heilongjiang CN

Numerical simulation analysis of the motion of wheeled mobile robots is significant for both their R&D and control phases, especially due to the recent increase in the number of planetary exploration missions. Using the position/orientation of the rover body and all the joint angles as generalized coordinates, the Jacobian matrices and recursive dynamic models are derived. Terramechanics models for calculating the forces and moments that act on the wheel-as a result of the deformable soil-are introduced in consideration of the effect of normal force. A rough terrain modeling method is developed for estimating the wheel-soil interaction area, wheel sinkage, and the terminal coordinate. A simulation program that includes the above techniques is developed using Matlab and SpaceDyn Toolbox. Experimental results from a 4-wheeled mobile robot moving on Toyoura soft sand are used to verify the fidelity of the simulation. A simulation example of a robot moving on a random rough terrain is also presented.

关键词： Deformable models Mobile robots Mathematical model Numerical simulation Motion analysis Motion control Jacobian matrices Wheels Robot kinematics Orbital robotics

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Design of a novel finger of DLR/HIT dextrous robot hand based on mechatronic integration

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Journal of Harbin Institute of Technology(New Series) 2009年第3期16卷 376-381页

作者：刘伊威赵京东金明河刘宏 State Key Laboratory of Robotics and System Harbin Institute of Technology

With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics.

关键词： robotic hand sensors mechatronic integration

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Design and implementation of a modular self-reconfigurable robot

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High Technology Letters 2009年第3期15卷 227-232页

作者：赵杰 State Key Laboratory of Robotics and System Harbin Institute of Technology

A novel modular self-reconfigurable robot called UBot is *** robot consists of severalstandard *** module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can connect to adjacent modules.A hook-type mechanism is designed,which can quick-ly and reliably connect to or disconnect from adjacent *** mechanism is self-locking after con-nected,and *** achieve small overall size and mass,compact mechanical structures andelectrical systems are adopted in modular *** modules have embedded power supply and adoptwireless communication,which can avoid cable-winding and improve flexibility of locomotion and self-re-configuration.A group of UBot modules can adapt their configuration and function to the changing envi-ronment without external help by changing their connections and positions .The basic motion and self-re-configuration are proposed,and the experiments of worm-like locomotion are implemented.

关键词： self-reconfigurable robot modular twin-rotation connecting mechanism

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Software implementation of bar tacker control system

Software implementation of bar tacker control system

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GCIS, WRI Global Congress on Intelligent systems

作者： Cui Ma Xiaohui Xie Qiang Sun R. Du Shenzhen Institutes of Advanced Technology Chinese Academy and Sciences Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of technology Harbin Heilongjiang China Chinese University of Hong Kong Hong Kong China

This paper presents a multi-axis control system of bar tacker. A bar tacker must meet the following requirements: feeding accurately, cutting automatically, needle stopping precisely and quickly, et ac. In order to achieve these functions, multi-thread synchronization control was introduced to ensure the multi-axis collaborative motion. And time-based PI method with velocity feed-forward was used to control the needle stop position. The software of this control system was programmed based on embedded Windows platform. At present this control system has been tested in the factory and the test results show that this method can accurately control the multi-axis motion and produce good sewing patterns. Besides lockstitch bar tacker, this control system can also be applied to other intelligent sewing machines by minor changes and improvement.

关键词： Servomotors Needles Position control Instruction sets Pi control Collaboration

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Capillary Forces between Submillimeter Spheres and Flat Surfaces at Constant Liquid Volumes

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Chinese Physics Letters 2009年第12期26卷 198-201页

作者：王乐锋荣伟彬孙立宁陈立国邵兵 State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080

We investigate the capillary forces between submillimeter spheres and flat surfaces at constant liquid volumes theoretically and experimentally. An iterative method is used to estimate the capillary force with contact angles as the boundary conditions and the constant volume as a constraint. The theoretical analysis shows that the maximum capillary force between them decreases with the increase of the liquid bridge volume at small contact angles. The experimental results show that the force is smaller than the theoretical values at the initial separation distances. It is also observed that the force first increases and then decreases with an increasing separation distance in some cases. These phenomena of capillary forces hysteresis are explained according to the wetting hysteresis.

关键词： Soft matter liquids and polymers Surfaces interfaces and thin films

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Design of a control system for a macro-micro dual-drive high acceleration high precision positioning stage for IC packaging

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Science China(Technological Sciences) 2009年第7期52卷 1858-1865页

作者： LIU YanJie LI Teng SUN LiNing State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

A macro-micro dual-drive positioning system showing good potential for high acceleration and high precision positioning required in IC packaging applications is devised in this paper. The dual-drive positioning stage uses a VCM (voice coil motor) driven macro positioning stage and a PZT piezo-electric driven micro positioning stage. The coupling characteristics of the system are analyzed to produce a control structure with a micro positioning stage that can dynamically compensate for the positioning error produced by the macro positioning stage. Models of the two positioning stages are described. The models cover both the mechanism and the actuator. For the macro positioning stage, friction characteristics are taken into account, and a controller with an LQG (linear-quadratic-Gaussian) control algorithm combining a feed-forward compensation algorithm is derived. A PID controller is used to control the micro positioning stage. Detailed designs are derived for the proposed approach, and the performance is validated by simulation.

关键词： macro-micro dual-drive positioning stage control system friction LQG

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