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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator systems (HAPTICS)

作者： Chung Hyuk Park Ayanna M. Howard Human Automation Systems (HumAnS) Laboratory School of Electrical and Computer Engineering Georgia Institute of Technology USA

ISBN: (纸本)9781424468218;9781424468225

In this paper, we propose a new concept of haptic exploration using a mobile manipulation system, which combines the mobility and manipulability of the robot with haptic feedback for user interaction. The system utilizes and integrates heterogeneous robotic sensor readings to create a real-time spatial model of the environment, which in turn can be conveyed to the user to explore the haptically represented environment and spatially perceive the world without direct contact. The real-world values are transformed into an environmental model (an internal map) by the sensors, and the environmental model is used to create environmental feedback on the haptic device which interacts in the haptically augmented space. Through this multi-scale convergence of dynamic sensor data and haptic interaction, our goal is to enable real-time exploration of the world through remote interfaces without the use of predefined world models. In this paper, the system algorithms and platform are discussed, along with preliminary results to show the capabilities of the system.

关键词： Haptic interfaces Mobile robots Humans Robot sensing systems Manipulator dynamics control systems Sensor systems Force feedback Medical robotics Real time systems

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Multi-model fitting using Particle Swarm Optimization for 3D perception in robot vision

Multi-model fitting using Particle Swarm Optimization for 3D...

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IEEE International Conference on Robotics and Biomimetics

作者： Kai Zhou Michael Zillich Markus Vincze Alen Vrečko Danijel Skočaj Institute of Automation and Control University of Technology Vienna Austria Visual Cognitive Systems Laboratory University of Ljubljana Slovenia

ISBN: (纸本)9781424493197

Attention operators based on 2D image cues (such as color, texture) are well known and discussed extensively in the vision literature but are not ideally suited for robotic applications. In such contexts it is the 3D structure of scene elements that makes them interesting or not. We show how a bottom-up exploration mechanism that selects spaces of interest (SOIs) based on scene elements that pop out from planes is used within a larger architecture for a cognitive system. This mechanism simplifies the object localization as single plane detection, which is however not practical when dealing with real scenes that contains objects with complicated structures (e.g. objects in a multi-layer shelf). Therefore, the key work required for this situation is the multi-plane estimation, which is solved in this paper using Particle Swarm Optimization (PSO).

关键词： Biomimetics Robots Conferences

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Preface

Communications and Control Engineering

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Communications and control Engineering 2011年第9780857292551期 vii-xi页

作者： Sun, Zhendong Ge, Shuzhi Sam College Automation Science & Engineering Center for Control and Optimization South China University of Technology Guangzhou510640 China Robotics Institue and Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China Chengdu China Department of Electrical and Computer Engineering The National University of Singapore Singapore Singapore

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Optimal control over Unreliable Networks with Uncertain Loss Rates

Optimal Control over Unreliable Networks with Uncertain Loss...

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American control Conference

作者： Markus J. Kogel Rainer Blind Frank Allgower Laboratory for Systems Theory and Automatic Control Institute for Automation Engineering Otto-von-Guericke University Magdeburg Magdeburg Germany Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781424474264

In this work, we consider an optimal control problem for Networked control systems (NCS), where the loop is closed via an unreliable network. In order to inform the controller about the fates of the control packets, the actuator sends acknowledgements to the controller. In this work, different types of acknowledgements are considered. Since all packets are send over a network, we consequently assume, that all packets can get lost, i.e. the measurement packets, the control packets as well as the acknowledgement packets. The loss of these packets is modeled by independent and identically distributed (iid) Bernoulli processes. Finally, we assume that the parameters of these loss processes are not known exactly. Using this setup, we derive bounds for the uncertainty in the loss rates. Moreover, we present an algorithm to design a sub-optimal controller which can tolerate a given amount of network uncertainties.

关键词： Communication Networks Optimal control Networked control systems TCP/UDP Unreliable Parameters Optimal control Packet Networked control systems networks(communications) controllers

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Vehicle placement to intercept moving targets

Vehicle placement to intercept moving targets

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作者： Bopardikar, Shaunak D. Smith, Stephen L. Bullo, Francesco Center for Control Dynamical Systems and Computation University of California at Santa Barbara Santa Barbara CA 93106 United States Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA 02139 United States

ISBN: (纸本)9781424474264

We address optimal placement of vehicles with simple motion, to intercept a mobile target that arrives stochastically on a line segment. The optimality of vehicle placement is measured through a cost function associated with intercepting the target. With a single vehicle, we assume that the target either moves with fixed speed and in a fixed direction or moves to maximize the vertical height or intercept time. We show that each of the corresponding cost functions is convex, has smooth gradient and has a unique minimizing location, and so the optimal vehicle placement is obtained by any standard gradient-based optimization technique. With multiple vehicles, we assume that the target moves with fixed speed and in fixed direction. We present a discrete time partitioning and gradientbased algorithm, and characterize conditions under which the algorithm asymptotically leads the vehicles to a set of critical configurations of the cost function. © 2010 AACC.

关键词： Vehicles

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Dual actuation for high speed atomic force microscopy

Dual actuation for high speed atomic force microscopy

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5th IFAC Symposium on Mechatronic systems, MECHATRONICS 2010

作者： Kuiper, S. Fleming, A.J. Schitter, G. Delft Center for Systems and Control Precision and Microsystems Engineering Delft University of Technology Mekelweg 2 2628CD Delft Netherlands School of Electrical Engineering and Computer Science University of Newcastle Callaghan NSW 2308 Australia Automation and Control Institute Vienna University of Technology Gusshausstrasse 27-29 1040 Vienna Austria

ISBN: (纸本)9783902661760

In atomic force microscopy (AFM) the imaging speed is strongly limited by the bandwidth of the feedback loop that controls the interaction between the measurement tip and the sample. A significant increase in closed-loop bandwidth can be achieved by combining a long-range, low-bandwidth actuator with a short-range, high-bandwidth actuator, forming a dual actuated system. This contribution discusses the design of a model-based feedback controller that controls the tip-sample interaction in dual actuated AFM. In order to guarantee closed-loop stability, the dynamic uncertainties of the system are identified and taken into account in the controller design. Two different design cases are discussed, showing the trade-off between the positioning range at lower frequencies and the positioning range at higher frequencies. The designed feedback controller is implemented on the prototype AFM system and demonstrates a disturbance rejection bandwidth of 20 kHz. © 2010 IFAC.

关键词： Atomic force microscopy

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New strategy of the shill: Consistent moving

New strategy of the shill: Consistent moving

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作者： Han, Jing Wang, Lin Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences No. 55 Zhong Guan Cun East Road Beijing 100190 China Department of Automation Shanghai Jiao Tong University No. 800 Dong Chuan Road Shanghai 200240 China

ISBN: (纸本)9787894631046

The collective behavior of a multi-agent system is the macroscopic phenomenon, such as swarm intelligence, flocking, synchronization, pattern formation, etc. This paper addresses the problem of 'soft-control': how to coordinate the collective behavior of multi-agent systems where the interaction rules of the already-existing agents can not be re-designed. One possible way to is to add one or a few 'shills' which can be designed differently from the normal agent, but is treated as a normal agent by the other normal ones. As a case study, we propose a new strategy for the shill, called 'consistent moving', for the purpose of synchronization of the Vicsek's model. This strategy avoids the limitation of 'cheating heading' in previous work. The computer simulation shows that it is possible for a 'clever' shill with 'consistent moving' strategy can change the collective behavior of a group.

关键词： Multi agent systems

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Adaptive robust dynamic surface control of DC torque motors with true parameter estimates

Adaptive robust dynamic surface control of DC torque motors ...

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American control Conference

作者： Zhiping Li Jie Chen Minggang Gan Hao Fang Guozhu Zhang School of Automation Beijing Institute of Technology and Education Ministry Key Laboratory of Complex Systems Intelligent Control and Decision Beijing China

ISBN: (纸本)9781424474264

This paper presents an adaptive robust dynamic surface control (ARDSC) algorithm for the position control of DC torque motors which are modeled as third-order nonlinear systems with parametric and nonlinear uncertainties. Based on the dynamic surface control (DSC) approach, the "explosion of terms" problem in the normal adaptive robust control (ARC) is avoided, which enhances the practicability of the controller. Furthermore, besides theoretically proving that the tracking error is uniformly ultimate bounded or asymptotically converge to zero in presence of parametric uncertainties only, the true estimates of the unknown parameters are achieved by designing a novel adaptation law, which improves the system performance and can be used in system monitor and diagnosis on-line as byproducts. Finally, the comparative simulation results illustrate that the proposed algorithm is very effective.

关键词： torque motors Position control System performance Parametric Unknown parameter asymptotic Self tuning

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Editorial Special issue on approximate dynamic programming and reinforcement learning

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控制理论与应用（英文版） 2011年第3期 309-309页

作者： Silvia Ferrari Jagannathan Sarangapani Frank L. Lewis Laboratory for Intelligent Systems and Control(LISC)Department of Mechanical Engineering & Materials Science Box 90300 Duke University Durham NC 27708-0005 Department of Electrical & Computer Engineering University of Missouri-Rolla MO 65401 U.S.A. Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Ft. Worth Texas 76118-7115 U.S.A.

We are extremely pleased to present this special issue of the Journal of control Theory and *** dynamic programming (ADP) is a general and effective approach for solving optimal control and estimation problems by adapting to uncertain environments over *** optimizes the sensing objectives accrued over a future time interval with respect to an adaptive control law,conditioned on prior knowledge of the system,its state,and uncertainties.A numerical search over the present value of the control minimizes a Hamilton-Jacobi-Bellman (HJB) equation providing a basis for real-time,approximate optimal control.

关键词： reinforcement learning dynamic programming optimal control effective approach prior knowledge control Theory real-time control law problems special search future ADP basis

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Output synchronization of multiple mobile agents

Output synchronization of multiple mobile agents

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2010 International Conference on Networking, Sensing and control, ICNSC 2010

作者： Tan, Fuxiao Liu, Derong Guan, Xinping School of Computer and Information Sciences Fuyang Teachers College Fuyang Anhui 236041 China Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100190 China College of Electrical Engineering Yanshan University Qinhuangdao Hebei 066004 China

ISBN: (纸本)9781424464531

In real-life, many practical applications involve agents that are nonlinear and nonholonomic. This paper investigates output synchronization of multiple mobile agents in a plane. The output synchronization of mobile agent's aims are two aspects: making the speed of each agent synchronized and tracking desired trajectories in a group. First, each agent dynamics is described by an affine control system and the communication topology among the agents is represented by a digraph. Using adjacent information and incidence matrix, a decentralized control law is acquired, which is composed of alignment control and cohesion control. Second, the stability of the group is proved by the decentralized control law and the synchronization control objective is realized. Finally, ten mobile agents are simulated to show the effectiveness of the present control law. ©2010 IEEE.

关键词： Mobile agents

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