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NONLINEAR NETWORK STRUCTURES FOR FEEDBACK CONTROL

Asian Journal of Control 2008年第4期1卷

作者： F.L. Lewis Dept. of Electical Engineering The University of Texas at Arlington U.S.A. F. L. Lewis was born in Wärzburg. Germany subsequently studyning in Chile and Goruonstoun School in Scotland. He obtained the Bachelor's Degree in Physics/Electrical Engineering and the Master's of Electrical Engineering Degree at Rice University in 1971. He spent six years in the U.S. navy serving as Navigator aboard the frigate USS Trippe (FF-1075) and Executive Officer and Acting Commanding Officer aboard USS Salinan (ATF-161). In 1977 he received the Master's of Science in Aeronautical Engineering from the University of West Florida. In 1981 he obtained the Ph.D. degree at The Georgia Institute of Technology in Atlanta where he was employed as a professor from 1981 to 1990 and is currently an Adjunct Professor. He is a Professor of Electrical Engineering at The University of Texas at Arlington where he was awarded the Moncrief-O'Donnell Endowed Chair in 1990 at the Automation and Robotics Research Institute. Dr. Lewis has studied the geometric analytic and structural properties of dynamical systems and feedback control automation. His current interests include robotics intelligent control neural and fuzzy systes nonlinear systems and manufacturing process control. He is the author/co-author of 2 U.S. patents 124 journal papers 20 chapters and encyclopedia articles 210 refereed conference papers seven books: Optimal Control Optimal Estimation Applied Optimal Control and Estimation Aircraft Control and Simulation Control of Robot Manipulators Neural Network Control High-Level Feedback Control with Neural Networks and the IEEE reprint volume Robot Control. Dr. Lewis is a registered Professional Engineer in the State of Texas and was selected to the Editorial Boards of International Journal of Control Neural Computing and Applications and Int. J. Intelligent Control Systems. He is the recipient of an NSF Research Initiation Grant and has been continuously funded by NSF since 1982. Since 1991 he has received $1.8 m

A framework is given for controller design using Nonlinear Network Structures, which include both neural networks and fuzzy logic systems. These structures possess a universal approximation property that allows them to be used in feedback control of unknown systems without requirements for linearity in the system parameters or finding a regression matrix. Nonlinear nets can be linear or nonlinear in the tunable weight parameters. In the latter case weight tuning algorithms are not straightforward to obtain. Feedback control topologies and weight tuning algorithms are given here that guarantee closed-loop stability and bounded weights. Extensions are discussed to force control, backstepping control, and output feedback control, where dynamic nonlinear nets are required.

关键词： Intelligent feedback control neural networks neural network structures basis function networks fuzzy control fuzzy-neural networks universal approximation adaptive nonparametric control learning control systems

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Surface modeling of complicated geometries with incomplete erroneous data points- An extension to B-spline approach

Surface modeling of complicated geometries with incomplete e...

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2005 27th Annual International Conference of the Engineering in Medicine and Biology Society, IEEE-EMBS 2005

作者： Jafari, Ali Farahmand, Farzam Meghdari, Ali Mechanical Engineering Department Sharif University of Technology Tehran Iran Biomechanics Section Sharif University of Technology Tehran Iran Centre of Excellence of Design Robotics and Automation Sharif University of Technology Tehran Iran

ISBN: (纸本)0780387406

Based on the analogy between the B-spline curve modeling and the force-deflection behavior of a beam subjected to lateral point loads, an extension to the B-spline surface modeling method was introduced. The proposed method has strong extrapolating capability and can develop accurate surface models over an incomplete net of data points without affecting the original data. Extrapolation of the incomplete part of the data net Is conducted simultaneously with interpolation of the existing part, with no need to recalculation. Approximation or data smoothing is a natural extension of the method, however, the smoothing intensity can be controlled continuously without reducing the number of spline intervals. The performance of the method was evaluated on some known analytical surfaces and produced more accurate results in comparison with the regular B-spline approach. The results indicate that the proposed method can also filter erroneous data points and reconstruct the original surface successfully. © 2005 IEEE.

关键词： Splines

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An intelligent system for Aerial image Retrieval and Classification

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3rd Hellenic Conference on Artificial Intelligence, SETN 2004

作者： Gasteratos, Antonios Zafeiridis, Panagiotis Andreadis, Ioannis Laboratory of Robotics and Automation Section of Production Systems Department of Production and Management Engineering Democritus University of Thrace Building of University’s Library Kimmeria XanthiGR-671 00 Greece Laboratory of Electronics Section of Electronics and Information Systems Technology Department of Electrical and Computer Engineering Democritus University of Thrace Vassilisis Sophias 12 XanthiGR-671 00 Greece

ISBN: (纸本)3540219374

Content based image retrieval is an active research area of pattern recognition. A new method of extracting global texture energy descriptors is proposed and it is combined with features describing the color aspect of texture, suitable for image retrieval. The same features are also used for image classification, by its semantic content. An exemplar fuzzy system for aerial image retrieval and classification is proposed. The fuzzy system calculates the degree that a class, such as sea, clouds, desert, forests and plantations, participates in the input image. Target applications include remote sensing, computer vision, forestry, fishery, agricultures, oceanography and weather forecasting. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Fuzzy systems

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Design of the Leg Mechanism of a Water Surface Runner

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Journal of robotics and Mechatronics 2004年第3期16卷 304-311页

作者： Higuchi, Masaru Tanaka, Hideo Tsutsumi, Shingo Takeda, Yukio Funabashi, Hiroaki Department of Mechanical Sciences and Engineering Tokyo Institute of Technology 2-12-1 Oh-okayama Meguro-ku Tokyo 152-8552 Japan CAD Application Department Armonicos Co. Ltd. Act Tower 21F 111-2 Itaya-machi Hamamatsu Shizuoka430-7721 Japan Development section 1 Robot Plant Robotics Automation Division Yasukawa Electric Corporation 11-1 Kosagidatyou Yahatanisi-ku Kitakyushu-city Fukuoka806-0056 Japan Shibaura Institute of Technology 3-9-14 Shibaura Minato-ku Tokyo 108-8548 Japan

We designed the leg mechanism of a water surface runner to generate motion with sufficient force to support and propel it the water with minimum power consumption. We studied force acting between the foot and water when the foot impacted on the water and strokes into the water experimentally. We propose leg motion so that the foot is not pulled downward by water based on observation of water behavior. Based on this formulation and idea, we obtained optimal foot motion through simulations and designed the leg mechanism, then designed and built a prototype water surface runner. We discuss its motion and the force acting on the foot together with experimental results. © Fuji Technology Press Ltd.

关键词： Machine design

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Productivity improvement through automation of the leather cutting process

Productivity improvement through automation of the leather c...

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2003 Asian Conference on Sensors, AsiaSENSE 2003

作者： Khalid, Anizah Elamvazuthi, Irraivan Kamaruddin, Susana Azmi, Mohd Shahrul Nidzam, Mohd Industrial Automation and Robotics Programme SIRIM Berhad 1 Persiaran Dato' Menteri P.O.Box 7035 Section 2 Shah Alam40911 Malaysia

ISBN: (纸本)0780381017

The manufacture of leather furniture involves several processes. Of particular interest to us is the nesting and cutting processes. The nesting problem in the leather industry is the problem of placing a set of irregularly shaped pieces (called templates) on a plane irregularly shaped surface, such that no templates overlap and that the trim loss produced when cutting out the templates is minimised. The current manual nesting process has many shortcomings that results in low productivity. In order to overcome the shortcomings, automation has been introduced in the leather cutting process. This paper discusses the automation of the leather cutting process and the productivity improvement as a direct result of it. © 2003 IEEE.

关键词： Productivity

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Design calculations in the development of a semi-automated weaving system

Design calculations in the development of a semi-automated w...

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2003 Asian Conference on Sensors, AsiaSENSE 2003

作者： Elamvazuthi, Irraivan Nidzam, Mohd Sabilan, Sarkowi Kamaruddin, Susana Azmi, Mohd Shahrul Nazri, Ahmad Industrial Automation and Robotics Programme SIRIM Berhad 1 Persiaran Dato' Menteri P.O.Box 7035 Section 2 Shah Alam40911 Malaysia

ISBN: (纸本)0780381017

SIRIM Berhad has improved the traditional weaving machine by incorporating new technologies. The main purpose of the semi-automated system is to increase productivity and to reduce labour fatigue. Initially, an experimental work was carried out to obtain the necessary data that is important for the design of the semi-automated weaving system. Subsequently, design calculations were applied to determine the correct part that need to be designed. In this paper, we discuss thoroughly the design calculations that were applied in the design of the semi-automated weaving system. © 2003 IEEE.

关键词： automation

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Nanokhod - Exploring the surface of mercury

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Space Technology 2002年第1-2期22卷 51-59页

作者： Bertrand, Reinhold Van Winnendael, Michael Brückner, Johannes Von Hoerner and Sulger GmbH Schloplatz 8 Schwetzingen D-68723 Germany ESA Automation and Robotics Section P.O. Box 299 Noordwijk AG 2200 Netherlands Max-Planck-Institut für Chemie Mainz D-55020 Germany

This paper describes the preliminary results of an ESA Technology Research and Development activity called "Robotic Technology for Planetary Exploration" (RTPE). This activity is to prepare the technologies for a Microrover to operate on the Surface of Mercury on the BepiColombo mission. The paper addresses the specific design requirements of a microrover for the surface of Mercury, in particular the characterization of the operating environment. The technological approach as well as the conceptual design guidelines will be documented. © 2002 Lister Science.

关键词： Space research

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European tracked micro-robot for planetary surface exploration

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Space Technology 2001年第2期20卷 55-64页

作者： Bertrand, Reinhold Schaefer, Bernd Van, Winnendael, Michel Rieder, Rudolf Von Hoerner and Sulger GmbH Schloßplatz 8 D-68723 Schwetzingen Germany DLR RB-IOT Postfach 1116 D-82230 Weßling Germany ESA Automation and Robotics Section TOS-MMA P.O. Box 299 2200 AG Noordwijk Netherlands Max-Planck-Institut für Chemie Postfach 3060 D-55020 Mainz Germany

This paper describes the results of development work on a small mobile robot carried out within the framework of ESA's Technological Research and Development Program. The purpose of the vehicle is to deploy instruments or sensor heads, acting as an 'extended robotic arm' rather than covering large distances on various types of terrain, while maximizing the mass allocation for scientific equipment. Even with this limited mobility it becomes possible to expand the investigated area by several orders of magnitude compared to the capabilities of a purely lander-mounted payload. Applications of the vehicle could be projected European or US missions to Mars, or to other celestial bodies such as Moon or Mercury. The requirements call for a simple, robust device with low power consumption and a net vehicle mass of 1.4kg, capable to transport and position a 1.1 kg package of scientific instruments Additionally, 0.5 kg are foreseen for lander-based equipment. In this paper the main requirements are listed and the tracked concept called 'Nanokhod', which was chosen in response to them, is described, with emphasis on the control and data handling aspects, including navigation. © 2000 Lister Science.

关键词： Control system design Data handling systems Microsystems Robot control Robots

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Sensor based detection system for mobile robot

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IFAC Proceedings Volumes 2000年第20期33卷 515-519页

作者： N. Kamenova P. Venkov A. Benhammadi S. Monchaud Department of Electrical Drives Automation Section Robotics Chaire UNESCO Technical University of Sofia 1756 Sofia Bulgaria

The object of this paper is the estimation of the distance between the mobile robot and an obstacle placed along the path of a robot in indoor scene and self localization of robot using the visual sensor. The proposed algorithm is based on a feature extraction and usage of triangulation. Aiming to be analyzed the 3D environment from 2D image we use two images of the scene, taken at two consecutive moments. To extract straight lines from an image we use Hough transform. Experiment’s results using the mobile robot “RL11”, under real conditions, shows its implementation on a various tasks, which require the mobile robot’s localization.

关键词： Mobile robot Localization Vision systems Feature extraction Hough transform Line matching

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Mechatronic Aspects of the Nanokhod Micro-Rover for Planetary Surface Exploration

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IFAC Proceedings Volumes 2000年第26期33卷 289-296页

作者： Reinhold Bertrand Michel van Winnendael Von Hoerner and Sulger GmbH Schloβplatz 8 D-68723 Schwetzingen ESA Automation & Robotics Section P.O. Box 299 2200 AG Noordwijk The Netherlands.

The European Space Agency has commissioned a number of development activities on micro-rovers for planetary surface missions, aiming primarily at geochemistry and exobiology science applications on Mars. This paper addresses the tracked ''Nanokhod'' micro-rover concept. After having reviewed main design requirements, a brief summary of the micro-rover concept will be given. Furthermore, some mechatronic design approaches and the development work on specific components will be addressed more in detail.

关键词： robotics Microsystems Mobile Robots Systems Engineering Control Eingineering

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