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International Conference on Mechatronics (ICM)

作者： Mahsa Aliakbar Golkar Sarah Taghavi Namin Hossein Aminaiee Control and Intelligent Processing Center of Excellence Robotics and AI Laboratory Department of Electrical and Computer Engineering University of Tehran Iran

Designing an appropriate cooperation protocol in multi-robot systems such as multi-robot object manipulation systems is a challenging task. In this paper designing and implementing a cooperation protocol between two robots pushing an object toward an arbitrary goal configuration is investigated. The proposed method benefits from task decoupling which simplifies the cooperation protocol design. Each robot gets its proper action from a particular fuzzy inference system independently. The fuzzy controllers outputs are low-level robot commands by which the need to a robot path planning algorithm is eliminated. Simulation results show that robots could push the object to the goal configuration cooperatively. Experiments have been conducted to approve the proposed system.

关键词： Fuzzy control Robot kinematics Protocols Fuzzy systems Electric variables control control systems Multirobot systems Path planning Inference algorithms Mobile robots

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Graph signature for self-reconfiguration planning of modules with symmetry

Graph signature for self-reconfiguration planning of modules...

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Masoud Asadpour Mohammad Hassan Zokaei Ashtiani Alexander Sproewitz Auke Ijspeert Control and Intelligent Processing Center of Excellence ECE Department University of Tehran Iraq Bio Inspired Robotics Group BIRG. Ecole Polytechnique Federale de Lausanne Switzerland

In our previous works we had developed a framework for self-reconfiguration planning based on graph signature and graph edit-distance. The graph signature is a fast isomorphism test between different configurations and the graph edit-distance is a similarity metric. But the algorithm is not suitable for modules with symmetry. In this paper we improve the algorithm in order to deal with symmetric modules. Also, we present a new heuristic function to guide the search strategy by penalizing the solutions with more number of actions. The simulation results show the new algorithm not only deals with symmetric modules successfully but also finds better solutions in a shorter time.

关键词： Orbital robotics Switches Intelligent robots USA Councils Testing Computational efficiency Computational modeling Algorithm design and analysis Stability Table lookup

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Is There any Analogy Between Foot Stability and Dynamic Grasp?

Is There any Analogy Between Foot Stability and Dynamic Gras...

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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pages 526-1042

作者： Adel Akbarimajd Majid Mili Ahmadabadi Robotics and AI Laboratory Control and Intelligent Processing Center of Excellence ECE Department University of Tehran Iran

ISBN: (纸本)9781424420575

Similarities between foot stability in single support phase of dynamic legged locomotion and dynamic grasp during nonprehensile carrying of an object on a palm are studied. Both foot stability and dynamic grasp conditions are driven mathematically. Then it is shown that these two conditions share the same basic dynamical concepts. It is also revealed that dynamic grasp and foot stability conditions have structurally the same equations when the palm -in object manipulation- and the ground -in legged locomotion- are horizontal. In this situation, parameters of the equations are very similar. It is demonstrated that the effects of violation of foot stability and dynamic grasp conditions are behaviorally the same. In addition to analytical discussions, some simulation examples in ADAMS are provided to validate the presented models and the results.

关键词： Foot Stability analysis Robots Legged locomotion Manipulator dynamics Robot kinematics Sufficient conditions

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Graph Signature for Self-Reconfiguration Planning

Graph Signature for Self-Reconfiguration Planning

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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pages 526-1042

作者： Masoud Asadpour Alexander Sproewitz Aude Billard Pierre Dillenbourg Auke Jan Ijspeert ECE Dept. University of Tehran Control and Intelligent Processing Center of Excellence Iran Bio-Inspired Robotics Group (BIRG) Switzerland Learning Algorithms and Systems Laboratory (LASA) Switzerland Centre de Recherche et d Appui pour la Formation Switzerland Centre de Recherche et d'Appui pour la Formation (CRAFT) Ecole Polytechnique Fédérale de Lausanne (EPFL) Switzerland Bio-Inspired Robotics Group (BIRG)

ISBN: (纸本)9781424420575

This project incorporates modular robots as building blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection/disconnection of modules and rotations of the degrees of freedom. This paper introduces a new approach to self-reconfiguration planning for modular robots based on the graph signature and the graph edit-distance. The method has been tested in simulation on two type of modules: YaMoR and M-TRAN. The simulation results shows interesting features of the approach, namely rapidly finding a near-optimal solution.

关键词： Modular self-reconfigurable robots Adaptive furniture Graph isomorphism Graph signature Graph edit distance Modular robots graph editing Line graph Reconfiguration Furnishings signatures Building blocks Degree of freedom crop rotation

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Annual business and news:: Beginning the 31st year of the Journal of Guidance, control, and Dynamics

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JOURNAL OF GUIDANCE control AND DYNAMICS 2008年第1期31卷 1-1页

作者： Schmidt, George T. Aeronautics and Astronautics Massachusetts Institute of Technology (MIT) AIAA Institute of Electrical and Electronics Engineers Russian Federation Academy of Navigation and Motion Control Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla(UMR) Lockheed Electronics Company Center for Space Research University of Texas Austin United States Wright Laboratory Eglin Air Force Base UMR AIAA Guidance Navigation and Control Technical Committee American Automatic Control Council Lockheed Martin Aeronautics Company Palmdale CA United States C4ISR and Unmanned Air Vehicle (UAV) Programs for Air Vehicle Sciences and Systems Accreditation Board Engineering and Technology Inc./Aeronautical National Technical Committee on Guidance Navigation and Control Department of Mechanical and Aerospace Engineering University at Buffalo State University of New York (SUNY) AIAA Technical Committee on GN and C Air Vehicles Directorate Air Force Research Laboratory (AFRL) Wright-Patterson Air Force Base Space Access and Hypersonic Vehicle Guidance and Control Group Control Science Center of Excellence AFRL AIAA Technical Committee on Guidance Navigation and Control Department of Mechanical and Aeronautical Engineering University of California (UC) Davis United States Boeing Company Modernized Flight Control System for the Apache Longbow AIAA Institute of Electrical and Electronics Engineers AHS Jet Propulsion Laboratory California Institute of Technology Boeing Company Flight Sciences and Advanced Design Group Guidance Navigation and Control (GN and C) Systems Engineer Distributed Space Systems NASA Goddard Space Flight Center (GSFC) AIAA GN and C Technical Committee Department of Aerospace Engineering and Engineering Mechanics University of Texas Austin United States Institute of Navigation American Astronautical Society AIAA Guidance Navigation (GN and C) and Control Technical Committee Department of Aerospace Engineering Iowa State University Iowa

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Learning Cooperative Object Pushing with Variable Contact Point

Learning Cooperative Object Pushing with Variable Contact Po...

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2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Pages 805-1210

作者： Abdol Hossein Aminaiee Majid Nili Ahmadabadi Robotics and AI Laboratory Control and Intelligent Processing Center of Excellence Department of Electerical and Computer Engineering University of Tehran

ISBN: (纸本)9781424412631;1424412633

Learning in multi-agent environments where each agent's action directly affects other agents would be an important matter and a complicated task. To reduce the learning time and simplifying the learning process, it is suitable to learn individual skills and then provide cooperation and coordination utilizing the learned individual skills. In the approach proposed in this paper, agents benefit from their individual knowledge obtained in the individual learning phase to cooperate with other agents. Cooperative object pushing system is used as a testbed to our proposed method where cooperation and coordination between agents are needed in these systems. Agents independently learn to push the object to the target by using the proposed fuzzy reinforcement learning method. Agents attain their cooperative behaviors properly making use of the coded knowledge in the Q-table. Simulation and experimental results show that by interpreting the knowledge in the Q-table, agents can achieve high level behaviors with a high degree of cooperation.

关键词： Agents Learning Point contacts pushing variable contact

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Manipulation by Juggling of Planar Polygonal Objects Using Two 3-DOF Manipulators

Manipulation by Juggling of Planar Polygonal Objects Using T...

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2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Pages 805-1210

作者： Adel Akbarimajd Majid Nili Ahmadabadi Control and Intelligent Processing Center of Excellence Robotics and AI Lab. ECE Department University of Tehran Iran

ISBN: (纸本)1424412633

Dynamic object manipulation of planar polygonal objects using two 3-DOF planar manipulators is studied. The object rests on the palm of a manipulator and the manipulator throws the object into kinematical workspace of the other one. The second manipulator catches the object and carries it into the goal configuration. Manipulation task is modeled and dynamic grasp condition is obtained for the instances that the manipulators carry the object on their palms. In addition, a manipulation planning strategy is devised. The planning strategy uses time of free flight as a free parameter to determine the throw and catch states. Proposed manipulation method is verified by a set of simulations in ADAMS+SIMULINK.

关键词： Nonprehensile Manipulation Dynamic object manipulation Multirobot object manipulation Juggling

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A recomniender system based on invasive weed optimization algorithm

A recomniender system based on invasive weed optimization al...

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2007 IEEE Congress on Evolutionary Computation, CEC 2007

作者： Rad, Hoda Sepehri Lucas, Caro Robotics and Machine Intelligence Group School of Electrical and Computer Engineering University of Tehran P.O.Box: 11365 - 4563 Tehran Iran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran P.O. Box: 11365- 4563 Tehran Iran School of Cognitive Sciences IPM P.O. Box: 10395 - 5746 Tehran Iran

ISBN: (纸本)1424413400

Recommender systems intend to help users find their interested items from among a large number of items. We continue our previous work that emphasizes on "prioritized user-profile" approach as an effective approach to increase the quality of the recommendations. Prioritized user-profile is an approach that tries to implement more personalized recommendation by assigning different priority importance to each of the features of the user-profile for different users. In order to find the optimal priorities for each user an optimization algorithm is needed. In this paper, we employ a new optimization algorithm namely Invasive Weed Optimization (IWO) for this purpose. IWO is a relatively new and simple algorithm inspired from the invasive habits of growth of weeds in nature. Experimental results showed that IWO achieved the best accuracy in predicting users' interests compared to two other prioritized approaches which were based on Genetic Algorithm (GA) and Particle Swarm Optimization (PSO) and to standard user-based Pearson algorithm on a movie dataset. © 2007 IEEE.

关键词： Genetic algorithms

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A new architecture to execute CAs-based path-planning algorithm in mobile robots

A new architecture to execute CAs-based path-planning algori...

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2006 IEEE International Conference on Mechatronics, ICM

作者： Akbarimajd, Adel Lucas, Caro Robotics and AI Lab. Department of Electrical and Computer Engineering University of Tehran Iran Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Engineering University of Tehran Iran

ISBN: (纸本)0780397134

Several path-planning algorithms for mobile robots have been introduced. Proper architectures for mobile robots to implement the path-planning algorithms are also of interest. If the mobile robots are to perform complicated tasks including complex sensing and planning operations and have accepted performance, must be autonomous: capable of acquiring information and performing tasks without programmatic intervention. In this paper we employ a layered architecture for mobile robots to perform our previously introduced cellular automata based path planning technique. It employs an abstraction approach which makes the complexity manageable. The architecture has an important feature which is its internal artifacts;it has some beliefs about the world and these beliefs are represented in artifacts and most actions are planned and performed with respect to these artifacts © 2006 IEEE.

关键词： Algorithms

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Two Dimensional Dynamic Manipulation of a Disc Using Two Manipulators

Two Dimensional Dynamic Manipulation of a Disc Using Two Man...

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IEEE International Conference on Mechatronics and Automation

作者： Borhan Beigzadeh Majid Nili Ahmadabadi Ali Meghdari Center of Excellence in Design Robotics and Automation (CEDRA) ME Department Sharif University of Technology Iran Control and Intelligent Processing Center of Excellence Robotics and AI Laboratory ECE Department University of Tehran Iran

In this paper, we analyze a dynamic object manipulation (DOM) problem; throwing upward and catching a disc using two planar manipulators. The manipulators control the disc xy position dynamically and use its angular movement as a free parameter. We use a simple model for the system. Each manipulator has three links and three active joints. In addition, the disc has considerable radius and mass. Therefore, we design a simple mechanism in the palm to damp a portion of the impact

关键词： Manipulator dynamics robotics and automation Intelligent robots Leg Grippers Motion planning Humans Design automation Process control Force control

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